CN109578191B - Intelligent fault diagnosis and processing method for main connection, main distribution and proportional valve hydraulic following system of speed regulator - Google Patents

Intelligent fault diagnosis and processing method for main connection, main distribution and proportional valve hydraulic following system of speed regulator Download PDF

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CN109578191B
CN109578191B CN201910024087.9A CN201910024087A CN109578191B CN 109578191 B CN109578191 B CN 109578191B CN 201910024087 A CN201910024087 A CN 201910024087A CN 109578191 B CN109578191 B CN 109578191B
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涂勇
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China Yangtze Power Co Ltd
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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
    • F03B11/00—Parts or details not provided for in, or of interest apart from, the preceding groups, e.g. wear-protection couplings, between turbine and generator
    • F03B11/008—Measuring or testing arrangements
    • 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
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • 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
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    • Y02E10/20—Hydro energy

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Abstract

The intelligent fault diagnosis and processing method for the main connection, main distribution and proportional valve hydraulic following system of the speed regulator comprises the following steps: governor electric control system, K1*、K12*And assigning an initial value. The opening feedback of the guide vane is collected in real time to be Y, and the opening of the guide vane output by a PID module of an electrical control system of the speed regulator is given to be YGiven aSetting M for main position of guide vane opening control module output by speed regulator hydraulic servo systemGiven theMain position feedback M, and the proportional valve position output by the main configuration control module is given as BGiven aAnd the position of the proportional valve is fed back to B and other data. Judgment | BGiven a-B | being greater than a threshold value B if BGiven a‑B︱>b, keeping time longer than t1, reporting that the hydraulic pressure of the proportional valve follows the fault, and entering fault treatment. If the standby machine exists and has no fault, the standby machine is switched; if the standby machine has a fault or is not available, the cutting machine is operated manually, and if the fault is manually recovered, the cutting machine is switched to a non-manual state. The method can quickly and accurately diagnose the faults of the main connection, main distribution and proportional valve hydraulic following systems, and avoid a series of problems that the load of the unit cannot be normally adjusted due to the expansion of accidents, even the load fluctuates greatly and the like.

Description

Intelligent fault diagnosis and processing method for main connection, main distribution and proportional valve hydraulic following system of speed regulator
Technical Field
The invention belongs to the field of automatic control of hydropower stations, and particularly relates to an intelligent fault diagnosis and processing method for a main connection and main distribution system of a speed regulator and a hydraulic following system of a proportional valve.
Background
In the process of normally adjusting load during grid-connected operation of the water turbine generator set, if the executing elements such as a proportional valve, a main pressure distributing valve and a servomotor have faults such as intermittent jamming and refusing to operate or oil leakage and pressure relief of a control oil way, the faults are not timely diagnosed and processed, so that the load of the water turbine generator set cannot be normally adjusted, even the load of the water turbine generator set greatly fluctuates, and a series of problems are caused, the safe and stable operation of the water turbine generator set is seriously influenced, and the accident shutdown is caused. The fault diagnosis technology of the hydraulic following system of the water turbine generator set falls behind at present, the criterion is not appropriate, and the fault misjudgment and the fault missing judgment of the hydraulic following system are easy to occur.
Disclosure of Invention
The invention provides an intelligent fault diagnosis and processing method for a main connection, main distribution and proportional valve hydraulic following system of a speed regulator, which can quickly and accurately diagnose faults of the main connection, main distribution and proportional valve hydraulic following system, improve the accuracy and real-time performance of fault diagnosis and avoid a series of problems that the load of a unit cannot be normally adjusted even the load fluctuates greatly due to expansion of accidents.
The technical scheme adopted by the invention is as follows:
the intelligent fault diagnosis and processing method for the main connection, main distribution and proportional valve hydraulic following system of the speed regulator comprises the following steps:
the method comprises the following steps: governor electric control system, K1*、K12*And assigning an initial value.
Secondly, the step of: the speed regulator electric control system collects the guide vane opening feedback in real time to be Y, and the guide vane opening output by the speed regulator electric control system PID module is given to be YGiven aSetting M of main position of guide vane opening control module output by speed regulator hydraulic servo systemGiven aMain position feedback M, and the proportional valve position output by the main configuration control module is given as BGiven theAnd the position of the proportional valve is fed back to B and other data.
③: judgment | BGiven a-B | being greater than a threshold value B if BGiven the-B︱>b, keeping time more than t1, reporting the hydraulic pressure of the proportional valve to follow the fault, and entering the fault processing
Figure GDA0003592772420000011
Step (2); otherwise, entering the fourth step.
Fourthly, the method comprises the following steps: judgment | MGiven aWhether the M | is larger than a threshold value M or not, and if so, entering a fifth step; otherwise, the second step is entered.
Fifthly: calculating the moving speed V of the main positionM。
Sixthly, the method comprises the following steps: calculating the characteristic value K1 ═ VM/(MGiven the-M)。
Seventhly: and the standard characteristic value K1*For comparison, if K1/K1*Less than or equal to 0.01, keeping time longer than t2, reporting the hydraulic pressure of the main distribution valve to follow the fault, and entering the fault treatment
Figure GDA0003592772420000012
Step (2); otherwise, K1*＝(K1+K1*) And/2, entering the step (viii).
And (v): calculating the moving acceleration a of the main connection positionY。
Ninthly; calculating the characteristic value K1K 2 aY/﹛KM*[KY*(YGiven a-Y)-M)]﹜。
R and standard characteristic value K12*Ratio of performanceIn comparison, if K1 x K2/K12*<0.01, and the holding time is more than t3, the hydraulic pressure of the main connecting valve follows the fault, enters the fault processing step I
Figure GDA0003592772420000021
Step (2); otherwise, K12*＝(K1*K2+K12*) And/2, entering the second step.
Figure GDA0003592772420000022
If there is a standby machine and there is no fault, the standby machine is switched to enter the second step; if the standby machine has a fault or is not available, the cutting machine is operated manually, and if the fault is manually reset and the cutting machine is switched to a non-machine-operated state, the second step is carried out.
The invention relates to a fault intelligent diagnosis processing method for a main connection system, a main distribution system and a proportional valve hydraulic following system of a speed regulator, which has the advantages that:
1. by adopting the method, the fault of the hydraulic following system of the proportional valve can be quickly and accurately diagnosed.
2. By adopting the method, the faults of the main distribution hydraulic following system can be quickly and accurately diagnosed.
3. By adopting the method, the fault of the main hydraulic following system can be quickly and accurately diagnosed.
4. By adopting the method, whether the position of the hydraulic pressure following system fault is a proportional valve, a main distribution valve or a main connection valve can be definitely diagnosed.
5. The main matching following fault criterion in the method can be self-learned, self-corrected and self-adaptive according to the actual running condition, and the reliability and the accuracy of fault diagnosis are high.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic diagram of a governor hydraulic servo system of the present invention.
FIG. 2 is a flow chart of a fault diagnosis processing method of a main distribution and proportional valve hydraulic following system of a speed regulator.
Wherein: guide vane with opening degree feedback of Y and output of PID module of speed regulator electrical control systemThe opening degree is given as YGiven aThe dead zone of the opening degree is YDead zoneThe gain coefficient of the guide vane opening control module is KYThe main position of the output of the guide vane opening control module is given as MGiven aThe main position feedback is M, and the gain coefficient of the main control module is KMThe proportional valve position output by the main control module is given as BGiven aProportional valve position feedback is B, proportional valve gain factor K1The main gain coefficient is K2.
Detailed Description
The intelligent fault diagnosing and treating method for main connection, main distribution and proportional valve hydraulic following system of speed regulator is one real-time automatic intelligent fault diagnosing and treating method for main connection, main distribution and proportional valve hydraulic following system of speed regulator and for self-learning, self-correcting and self-adapting fault criterion of hydraulic following system.
There are two closed loop feedbacks for the governor hydraulic servo system as shown in fig. 1: a guide vane opening control ring and a main distribution control ring. In a hydraulic servo system of the speed regulator, a proportional valve belongs to an electro-hydraulic conversion unit, and ideally, the proportional valve is equivalent to a proportional link; the device is mainly arranged in a hydraulic amplifying unit, and ideally, the device is equivalent to that an integral link and a proportional link are connected in series; the main part is connected with a hydraulic execution unit, which ideally corresponds to an integral link.
Assuming that the feedback of the opening degree of the guide vane is Y, the opening degree of the guide vane output by a PID module of the electric control system of the speed regulator is given as YGiven aThe gain coefficient of the guide vane opening control module is KYThe main position of the output of the guide vane opening control module is given as MGiven aThe feedback of the main position is M, and the moving speed V of the main positionMThe gain coefficient of the main distribution control module is KMThe proportional valve position output by the main control module is given as BGiven aThe proportional valve position feedback is B, the proportional valve gain factor is K1, and the main trim gain factor is K2. In the ideal case where the delay and inertia effects are neglected, the following two equations must be true.
B＝BGiven a (1)
K1*KM*(MGiven a-M)＝M’＝VM (2)
KY*(YGiven a-Y)＝MGiven the (3)
K2*M＝Y’ (4)
Is represented by the formula (2)
K1＝VM/KM*(MGiven a-M) (5)
Is prepared from (2), (3) and (4)
K2*K1*KM*[KY*(YGiven a-Y)-M)]＝Y”＝aY (6)
Namely K1K 2 aY/﹛KM*[KY*(YGiven a-Y)-M)]﹜ (7)
(1) The formula is the criterion of the following fault of the proportional valve under the ideal condition, if the proportional valve is jammed or has other faults, BGiven a＝B。
(3) The formula is a criterion of main distribution following faults under an ideal condition, and if the main distribution has faults of jamming or oil leakage, pressure relief and the like from a proportional valve to a main distribution control oil path, the characteristic value of K1 is relative to the standard characteristic value K1*Significant changes will occur.
(7) The formula is the criterion of the main connection following fault under the ideal condition, and if the main connection is blocked or the main connection control oil circuit is mainly matched to generate oil leakage and pressure relief and other faults, the characteristic value of K1 x K2 is relative to the standard characteristic value K12*Significant changes will occur.
Considering that in the actual application process, a certain time delay exists in the response of the proportional valve, the main distribution and the main connection, a certain time delay also exists in the acquisition and processing of feedback signals of the proportional valve, the main distribution and the main connection, action dead zones are connected with the proportional valve, the main distribution and the main connection, and the criteria of the on-site adopted proportional valve, the main distribution and the main connection following faults are optimized as follows:
the proportional valve follows the fault criterion: an | BGiven a-B︱>b, the holding time is greater than t 1.
Main distribution following fault criterion: | MGiven the-M︱>m，K1/K1*Less than or equal to 0.01, and the retention time is more than t 2.
Main connection following fault criterion: | KY*(YGiven a-Y)-M︱>m，K1*K2/K12*<0.01, the hold time is greater than t 3.
The main connection following fault criterion standard characteristic value K12 in the method of the invention*Main distribution following fault criterion characteristic value K1*The method can self-learn, self-correct and self-adapt according to the actual operation condition, thereby reducing the risk of fault misjudgment and improving the reliability of fault diagnosis.
The main distribution of the speed governor and the hydraulic following fault diagnosis method of the proportional valve comprise the following steps:
the method comprises the following steps: governor electric control system, K1*、K12*And assigning an initial value.
Secondly, the step of: the speed regulator electric control system collects the guide vane opening feedback in real time to be Y, and the guide vane opening output by the speed regulator electric control system PID module is given to be YGiven aSetting M of main position of guide vane opening control module output by speed regulator hydraulic servo systemGiven aMain position feedback M, and the proportional valve position output by the main configuration control module is given as BGiven aAnd the position of the proportional valve is fed back to B and other data.
The guide vane opening control module of the speed regulator hydraulic servo system is a data processing function block in the speed regulator electric control system and gives Y to the input data guide vane openingGiven aPerforming difference operation with guide vane opening feedback Y, and then using gain coefficient KYCarrying out proportional amplification, and finally outputting a control signal with a given main position MGiven a。
The main distribution control module is a data processing function block in the speed regulator electric control system and gives M to the main position of input dataGiven aThe difference value operation is carried out by taking the position feedback of the main position as M, and then the gain coefficient K is usedMProportional amplification is carried out, and finally, a control signal is output and a proportional valve position is given to BGiven a。
③: judgment | BGiven a-B | being greater than a threshold value B if BGiven the-B︱>b, keeping time more than t1, reporting the hydraulic pressure of the proportional valve to follow the fault, and entering the fault processing step I
Figure GDA0003592772420000041
Step (2); otherwise, entering the fourth step.
Fourthly, the preparation method comprises the following steps: judgment | MGiven aWhether the M | is larger than a threshold value M or not, and if so, entering a fifth step; otherwise, the second step is entered.
Fifth, the fifth step: calculating the moving speed V of the main positionM。
Sixthly, the method comprises the following steps: calculating the characteristic value K1 ═ VM/(MGiven a-M)。
Seventh, the method comprises the following steps: and the standard characteristic value K1*For comparison, if K1/K1*Less than or equal to 0.01, keeping time longer than t2, reporting main distribution valve hydraulic pressure following fault, entering fault processing
Figure GDA0003592772420000042
Step (2); otherwise, K1*＝(K1+K1*) And/2, entering the step (viii).
And (v): calculating the moving acceleration a of the main connecting positionY。
Ninthly: calculating the characteristic value K1K 2 aY/﹛KM*[KY*(YGiven the-Y)-M)]﹜。
R: and the standard characteristic value K12*For comparison, if K1X K2/K12*<0.01, the holding time is more than t3, the hydraulic pressure of the main connecting valve follows the fault, and the fault processing is carried out
Figure GDA0003592772420000043
Step (2); otherwise, K12*＝(K1*K2+K12*) And/2, entering the second step.
Figure GDA0003592772420000044
: processing faults, if a standby machine exists and no fault exists, switching the standby machine, and entering the second step; if the standby machine has a fault or is not available, the cutting machine is operated manually, and if the fault is manually reset and the cutting machine is switched to a non-machine-operated state, the second step is carried out.
The method is suitable for a hydroelectric generating set using a proportional valve (or a redundant configuration of the proportional valve plus a stepping motor and the like) and a main distribution and servomotor as an execution structure form, and aims to rapidly and intelligently diagnose and process the faults of a hydraulic following system, such as intermittent jamming and refusing of faults of execution elements of a governor proportional valve, a main distribution valve, a servomotor and the like or oil leakage and pressure relief of a control oil way and the like, in the grid-connected operation process of the generating set, improve the accuracy and real-time performance of fault diagnosis, and avoid a series of problems that the load of the generating set cannot be normally adjusted even the load fluctuates greatly and the like due to the expansion of accidents.

Claims (4)

1. The intelligent fault diagnosis and processing method for the main connection, main distribution and proportional valve hydraulic following system of the speed regulator is characterized by comprising the following steps of:
the method comprises the following steps: governor electric control system, K1*、K12*Assigning an initial value;
secondly, the step of: the speed regulator electric control system collects the guide vane opening feedback in real time to be Y, and the guide vane opening output by the speed regulator electric control system PID module is given to be YGiven aSetting M of main position of guide vane opening control module output by speed regulator hydraulic servo systemGiven aMain position feedback M, and the proportional valve position output by the main configuration control module is given as BGiven aThe proportional valve position feedback is B data;
③: judgment | BGiven a-B | being greater than a threshold value B if BGiven a-B︱>b, keeping the time longer than t1, reporting the hydraulic pressure of the proportional valve to follow the fault, and entering the fault processing step one
Figure FDA0003592772410000011
Step (2); otherwise, entering the fourth step;
fourthly, the method comprises the following steps: judgment | MGiven aWhether the M | is larger than a threshold value M or not, and if so, entering a fifth step; otherwise, entering the second step;
fifthly: calculating the moving speed V of the main positionM；
Sixthly, the method comprises the following steps: calculating the characteristic value K1 ═ VM/(MGiven a-M)；
Seventh, the method comprises the following steps: and the standard characteristic value K1*For comparison, if K1/K1*Less than or equal to 0.01, and the retention time is more than t2The hydraulic pressure of the distributing valve follows the fault and enters the fault processing step
Figure FDA0003592772410000012
Step (1); otherwise, K1*＝(K1+K1*) Step eight, entering the step eight;
and (v): calculating the moving acceleration a of the main connecting positionY；
Ninthly; calculating the characteristic value K1K 2 aY/﹛KM*[KY*(YGiven a-Y)-M)]﹜；
R and standard characteristic value K12*For comparison, if K1X K2/K12*<0.01, the holding time is more than t3, the hydraulic pressure of the main connecting valve follows the fault, and the fault processing is carried out
Figure FDA0003592772410000013
Step (2); otherwise, K12*＝(K1*K2+K12*) Step 2, entering the step II;
Figure FDA0003592772410000014
processing faults, if a standby machine exists and no fault exists, switching the standby machine, and entering the second step; if the spare machine has a fault or is not available, the cutting machine is operated manually, and if the fault is manually recovered and the cutting machine is switched to a non-machine-operated state, the second step is carried out.
2. The intelligent fault diagnosis and processing method for the main connection, main distribution and proportional valve hydraulic following system of the speed regulator according to claim 1, characterized in that:
the feedback of the opening degree of the guide vane is Y, and the opening degree of the guide vane output by a PID module of an electric control system of the speed regulator is given as YGiven aThe gain coefficient of the guide vane opening control module is KYThe main position of the output of the guide vane opening control module is given as MGiven aThe main position feedback is M, and the main position moving speed VMThe gain coefficient of the main distribution control module is KMThe proportional valve position output by the main control module is given as BGiven aThe proportional valve position feedback is B, the characteristic value K1 and the main gain coefficient is K2;under the ideal condition of neglecting the time delay and inertia effect, the following two equations are necessarily true;
B＝Bgiven a (1)
K1*KM*(MGiven a-M)＝M’＝VM (2)
KY*(YGiven a-Y)＝MGiven a (3)
K2*M＝Y’ (4)
Is represented by the formula (2)
K1＝VM/KM*(MGiven a-M) (5)
Is prepared from (2), (3) and (4)
K2*K1*KM*[KY*(YGiven a-Y)-M)]＝Y”＝aY (6)
I.e. K1K 2 aY/﹛KM*[KY*(YGiven a-Y)-M)]﹜ (7)
(1) The formula is the criterion of the following fault of the proportional valve under the ideal condition, if the proportional valve is jammed or has other faults, BGiven a＝B；
(3) The formula is a criterion of main distribution following fault under an ideal condition, and if the main distribution is blocked or the oil leakage and pressure relief fault occurs from a proportional valve to a main distribution control oil path, the characteristic value of K1 is relative to the standard characteristic value K1*Can be changed obviously;
(7) the formula is the criterion of the main connection following fault under the ideal condition, and if the main connection is blocked or the main connection control oil circuit is mainly matched to generate oil leakage and pressure relief fault, the characteristic value of K1 x K2 is relative to the standard characteristic value K12*Significant changes will occur.
3. The intelligent fault diagnosis and processing method for the main connection, main distribution and proportional valve hydraulic following system of the speed regulator according to claim 1, characterized in that: the criteria of the proportional valve, the main distribution and the main connection following faults adopted on the site are optimized as follows:
the proportional valve follows the fault criterion: an | BGiven a-B︱>b, the holding time is more than t 1;
main matching following fault criterion: | MGiven a-M︱>m，K1/K1*Less than or equal to 0.01, and the retention time is more than t 2;
main connection following fault criterion: | KY*(YGiven a-Y)-M︱>m，K1*K2/K12*<0.01, the hold time is greater than t 3.
4. The intelligent fault diagnosis and processing method for the main connection, main distribution and proportional valve hydraulic following system of the speed regulator according to claim 1, characterized in that: in the method, a main connection following fault criterion standard characteristic value K12*Main-distribution following fault criterion characteristic value K1*The device can self-learn, self-correct and self-adapt according to the actual operation condition.
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