CN110334374B - Diagnosis control method, system, storage medium and terminal based on water turbine main valve opening data process - Google Patents
Diagnosis control method, system, storage medium and terminal based on water turbine main valve opening data process Download PDFInfo
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- CN110334374B CN110334374B CN201910339955.2A CN201910339955A CN110334374B CN 110334374 B CN110334374 B CN 110334374B CN 201910339955 A CN201910339955 A CN 201910339955A CN 110334374 B CN110334374 B CN 110334374B
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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
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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
- F03B15/02—Controlling by varying liquid flow
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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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
Abstract
The invention discloses a diagnosis control method, a system, a storage medium and a terminal based on a hydraulic turbine main valve opening data process, wherein the method comprises the following steps: setting a process relation between water turbine main valve data and time, wherein the data comprises control data and non-control data; the control data is opening degree, and the non-control data comprises one or more of main valve opening/closing speed, servomotor oil pressure, servomotor stroke, main valve opening/closing time, motor current and motor voltage; setting a limit process interval of each datum, detecting the opening of a main valve of the water turbine in real time, and diagnosing and reporting errors of the opening when the opening exceeds the limit process interval; and/or: and detecting non-control data of the main valve of the water turbine in real time, and diagnosing and reporting errors of the non-control data when the non-control data exceeds a limit process interval. The invention diagnoses and reports errors when the process of the opening data and the non-control data of the main valve of the water turbine is abnormal without carrying out corresponding control, and only operates after comprehensively diagnosing the data process.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a diagnosis control method, a diagnosis control system, a storage medium and a terminal based on a water turbine main valve opening data process.
Background
The control object is also called controlled object. In an automatic control system, it is generally referred to that the equipment or process to be controlled is the object, such as the control of a reactor or a rectification equipment, or the control of a heat transfer process or a combustion process. From the perspective of quantitative analysis and design, the control object is only a part of factors influencing input and output parameters of the object in the controlled equipment or process, and is not the whole equipment. In an automatic control system, actuators (regulator valves) and measurement transmitting devices other than controllers (regulators) are included as objects of control in a broad sense. As a narrow control target, the end parameters (input and output) include a controlled parameter, a control parameter, and a disturbance parameter (collectively referred to as a process parameter or process data), which are linked to each other by the internal state of the main valve opening of the hydraulic turbine.
In the prior art, for a control mode, a preset value + fixed flow control is adopted for the control mode of a control object, a complex control system is simplified into a simplified control model based on simple input-based execution output, at the moment, the control model and a controlled object do not have any relation, once an input signal is in error, the control is in error, the usability of the input signal cannot be identified, and only basic automatic control is realized. The similar control objects are controlled by the same control model. In one example, the controller only performs corresponding data discrimination on the analog quantity signal (i.e., the process parameter or the process data) received from the external sensor or other detection unit, and controls the start and stop of the corresponding operating device according to the discrimination result. But the actual situation is: even if the control objects of the same type are different from one another, the different control objects have different characteristics, and the existing control mode cannot automatically identify the characteristics of each specific control object, and certainly cannot realize differential control according to the characteristics of the specific objects. In the control process, only whether the controlled parameter reaches the preset value is concerned, and the change process of the controlled parameter is not monitored, so that comprehensive self-diagnosis and predictive control cannot be realized because the change process of the controlled parameter is not concerned.
However, in the case of the detection element, since the conventional control method is performed on the premise that the detection element is normally operated, in practice, errors may occur in the reliable detection element. The detection element is only subjected to simple diagnosis and treatment within the detection range, the requirement on the reliability of the detection element is high, and the detection element with high import price is adopted in a large quantity. Even if the fault-tolerant control system is adopted, comprehensive self-diagnosis and processing are not carried out on the fault-tolerant control system, and when the detection elements are abnormally changed or fail, the control system can be mistakenly operated or cannot work, and the fault-tolerant control function is not realized.
It is also becoming increasingly recognized in engineering practice that the most reliable control systems may not necessarily be assembled by the most reliable sensing elements and actuators, but rather, it is possible to construct a highly reliable control system from less reliable elements, as long as the design, assembly and use are appropriate.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a diagnosis control method, a diagnosis control system, a storage medium and a diagnosis control terminal based on the water turbine main valve opening data process, and solves the problem that the whole automatic control system is influenced because the whole data is not analyzed, namely, the corresponding start-stop operation is carried out when the data of a data acquisition end is abnormal in the prior art.
The purpose of the invention is realized by the following technical scheme:
according to a first aspect of the present application, there is provided a diagnostic control method based on a hydraulic turbine main valve opening data process, comprising the steps of:
setting a process relation of water turbine main valve data and time, wherein the data comprises control data and at least one non-control data related to the control data; the control data is opening degree, and the non-control data comprises one or more of main valve opening/closing speed, servomotor oil pressure, servomotor stroke, main valve opening/closing time, motor current and motor voltage;
setting a limit process interval of each data;
detecting the opening degree of a main valve of the water turbine in real time, and diagnosing and reporting errors of the opening degree when the opening degree exceeds a limit process interval; and/or:
and detecting non-control data of the main valve of the water turbine in real time, and diagnosing and reporting errors of the non-control data when the non-control data exceeds a limit process interval.
Further, when the opening degree detected in real time exceeds the limit process interval and the non-control data is within the limit process interval, the opening degree of the main valve of the water turbine is subjected to fault-tolerant control based on the non-control data, namely, the opening degree of the main valve of the water turbine is indirectly controlled based on the non-control data.
When the non-control data of the main valve of the water turbine detected in real time exceeds the limit process interval, the opening of the main valve of the water turbine is subjected to predictive control on the basis of the opening, namely, when the non-control data diagnosis reports errors, the opening of the main valve of the water turbine is subjected to predictive control in an advancing and/or retarding mode on the basis of the opening data.
Further, the setting of the limit process interval of each data includes the following sub-steps:
the method comprises the steps that a limit working condition of the opening of a main valve of the water turbine under normal operation is set manually, and a limit process interval of opening data and non-control data of the main valve of the water turbine under the limit working condition is obtained, namely the maximum value and the minimum value of the data when the opening of the main valve of the water turbine under the normal operation has the limit working condition; or:
automatically setting a limit process interval according to opening data and non-control data of the opening data detected after the opening of the main valve of the water turbine is put into operation, namely obtaining the maximum value and the minimum value of each data of the opening of the main valve of the water turbine in the operation process; or:
and simulating the maximum value and the minimum value of data obtained when the limit working condition occurs during the operation of the main valve opening of the water turbine in a software simulation mode to set a data limit process interval.
Further, the limit process section is replaced by a positive and negative deviation range, and the positive and negative deviation range is obtained in a mode comprising the following steps:
in the actual operation of the opening of the main valve of the water turbine, continuously detecting the opening of the main valve of the water turbine and the process relation between the non-control data related to the opening and the time;
acquiring an average value of a data time process, and establishing a standard normal distribution rule curve;
and determining the positive and negative deviation range of the data process according to the average value and the standard normal distribution rule curve.
Further, the non-control data includes the data detection value itself and/or a change speed of the data detection value.
According to a second aspect of the present application, there is provided a diagnostic control system based on a hydraulic turbine main valve opening data process, comprising:
a data setting module: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for setting the process relation of water turbine main valve data and time, and the data comprises control data and at least one non-control data related to the control data; the control data is opening degree, and the non-control data comprises one or more of main valve opening/closing speed, servomotor oil pressure, servomotor stroke, main valve opening/closing time, motor current and motor voltage;
a limit interval setting module: a limit process section for setting each data;
the control data detection and judgment module: the system is used for detecting the opening degree of a main valve of the water turbine in real time, and when the opening degree exceeds a limit process interval, the diagnosis of the opening degree reports errors; and/or:
the non-control data detection and judgment module: the method is used for detecting the non-control data of the main valve of the water turbine in real time, and diagnosing and reporting errors of the non-control data when the non-control data exceed the limit process interval.
Further, in the control data detecting and determining module, when the opening degree detected in real time exceeds the limit process interval, and the non-control data is within the limit process interval, the non-control data is used as a basis to perform fault-tolerant control on the opening degree of the main valve of the water turbine, that is, the non-control data is used as a basis to indirectly control the opening degree of the main valve of the water turbine.
Furthermore, in the non-control data detection and judgment module, when the non-control data of the water turbine main valve detected in real time exceeds the limit process interval, the opening of the water turbine main valve is subjected to predictive control according to the opening, namely, under the condition that the non-control data diagnosis reports errors, the opening of the water turbine main valve is subjected to predictive control in an advance and/or delay mode according to the opening data.
Further, the setting mode of the limit interval setting module includes:
the method comprises the steps that a limit working condition of the opening of a main valve of the water turbine under normal operation is set manually, and a limit process interval of opening data and non-control data of the main valve of the water turbine under the limit working condition is obtained, namely the maximum value and the minimum value of the data when the opening of the main valve of the water turbine under the normal operation has the limit working condition; or:
automatically setting a limit process interval according to opening data and non-control data of the opening data detected after the opening of the main valve of the water turbine is put into operation, namely obtaining the maximum value and the minimum value of each data of the opening of the main valve of the water turbine in the operation process; or:
and simulating the maximum value and the minimum value of data obtained when the extreme working condition occurs during the operation of the main valve opening of the water turbine in a software simulation mode to set a data limit process interval.
Further, the limit process interval is replaced by a positive deviation range and a negative deviation range;
wherein the limit interval setting module is replaced by a positive and negative deviation range setting module, which comprises the following submodules: a data acquisition sub-module: the method is used for continuously detecting the opening of the main valve of the water turbine and the process relation between the non-control data and time related to the opening in the actual operation of the main valve of the water turbine; a data calculation submodule: the method is used for obtaining the average value of the data time process and establishing a standard normal distribution rule curve; a positive and negative deviation range determination submodule: determining the positive and negative deviation range of the data process according to the average value and the standard normal distribution rule curve;
the control data detection and judgment module is used for detecting the control data of the opening of the main valve of the water turbine in real time, and when the opening exceeds the positive and negative deviation range, the opening is reported to be wrong;
the non-control data detection and judgment module is used for detecting the non-control data of the opening of the main valve of the water turbine in real time, and when the non-control data exceeds the positive and negative deviation range, the error is reported to the non-control data.
Further, the non-control data includes the data detection value itself and/or a change speed of the data detection value.
According to a third aspect of the present application, there is provided a storage medium having stored thereon computer instructions, which when executed, perform the steps of the diagnostic control method based on a hydraulic turbine main valve opening data process.
According to a third aspect of the present application, there is provided a terminal comprising a memory and a processor, wherein the memory stores computer instructions executable on the processor, and the processor executes the computer instructions to execute the steps of the diagnostic control method based on the hydraulic turbine main valve opening data process.
The beneficial effects of the invention are:
(1) The invention diagnoses and reports errors when the process of the control data (opening) and the non-control data (one or more of the opening/closing speed of the main valve, the oil pressure of the servomotor, the stroke of the servomotor, the opening/closing time of the main valve, the current of the motor and the voltage of the motor) of the main valve of the water turbine is abnormal, and does not carry out corresponding control, and only carries out corresponding operation after the comprehensive diagnosis and analysis of the whole data process, thereby effectively avoiding the control failure caused by the faults or defects of the control system. The application of the invention will bring profound influence to the traditional automatic control technology.
(2) Two preferred embodiments of the invention independently realize predictive control and fault-tolerant control respectively through monitoring the time process of data, independent learning and the characteristics of a main valve of a water turbine on the basis of original basic automatic control; the requirement for the reliability of the detection element is reduced due to the comprehensive diagnosis and fault-tolerant control functions, the imported detection element can be replaced by a domestic detection element, and a control system with high reliability can be formed by low-reliability elements as long as the design, assembly and use are proper.
(3) In another preferred embodiment of the invention, the dynamic characteristics of the main valve of the water turbine can be accumulated and calculated for a long time, the self characteristics of the main valve of the water turbine are utilized to realize self learning and autonomous improvement, and the differential control of similar objects is realized.
(4) In the working process of the control system, comprehensive self-diagnosis is realized through the characteristics of the control system, self-control is realized according to the diagnosis result, and the intervention of human beings on the control process is reduced or not relied.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a block diagram of the system of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that directions or positional relationships indicated by "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are directions or positional relationships described based on the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Furthermore, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
The embodiment discloses a diagnosis control method based on a water turbine main valve opening data process, so that when data abnormality occurs at a data acquisition end, the whole data is analyzed to perform corresponding start-stop operation on the corresponding water turbine main valve opening, and influence on a whole automatic control system is avoided.
Specifically, the present embodiment is described by taking a main valve of a hydraulic turbine as an example, and as shown in fig. 1, the diagnostic control method based on the data process of the opening degree of the main valve of the hydraulic turbine includes the following steps:
s1: setting a process relation of water turbine main valve data and time, wherein the data comprises control data and at least one piece of non-control data related to the control data; the control data is opening degree, and the non-control data comprises one or more of main valve opening/closing speed, servomotor oil pressure, servomotor stroke, main valve opening/closing time, motor current and motor voltage.
The control data is main monitoring control data and control basis (namely the opening) of the main valve of the water turbine, and the non-control data is other data (namely one or more of main valve opening/closing speed, servomotor oil pressure, servomotor stroke, main valve opening/closing time, motor current and motor voltage) related to the control data.
Preferably, in this embodiment, the non-control data includes the process data detection value itself and/or a variation speed of the process data detection value.
In the present embodiment, the control target is the opening degree of the main valve of the hydraulic turbine, and the control data is the opening degree. And the corresponding non-control data comprises one or more of main valve opening/closing speed, servomotor oil pressure, servomotor stroke, main valve opening/closing time, motor current and motor voltage.
That is, in a normal case, the control of the opening degree of the main valve of the water turbine is mainly based on the opening degree, and thus the data may be control data. However, the main valve opening/closing speed, the relay oil pressure, the relay stroke, the main valve opening/closing time, the motor current, and the motor voltage of the main valve of the hydraulic turbine are related to the opening degree, and therefore are non-control data in the present embodiment.
And S2, setting a limit process interval of each datum.
Wherein, the step S2 is used for initializing the setting, and the step specifically includes the following three cases:
(1) The method comprises the steps that the limit working condition of the opening of a main valve of the water turbine under normal operation is set manually, and the limit process interval of the opening data and the non-control data of the main valve of the water turbine under the limit working condition is obtained, namely the maximum value and the minimum value of the data when the opening of the main valve of the water turbine under the limit working condition occurs in normal operation; or:
(2) Automatically setting a limit process interval according to opening data and non-control data of the opening data detected after the opening of the main valve of the water turbine is put into operation, namely obtaining the maximum value and the minimum value of each data of the opening of the main valve of the water turbine in the operation process; or:
(3) And simulating the maximum value and the minimum value of data obtained when the limit working condition occurs during the operation of the main valve opening of the water turbine in a software simulation mode to set a data limit process interval.
Specifically, in the present embodiment, the actual maximum and minimum opening degrees of the main valve opening degree of the water turbine, the maximum and minimum values of the main valve opening time length, the maximum and minimum values of the main valve closing time length, the maximum and minimum values of the main valve opening/closing speed, the maximum and minimum values of the relay oil pressure, the maximum and minimum values of the relay stroke, the maximum and minimum values of the motor current, and the maximum and minimum values of the motor voltage can be obtained by any one of the three manners described above.
The data obtained above is set as the limit process section of each process data. The limit value set can be the actual value or a percentage of the actual value.
S3, detecting the opening of a main valve of the water turbine in real time, and when the opening exceeds a limit process interval, diagnosing and reporting errors to the opening; and/or: and detecting non-control data of a main valve of the water turbine in real time, and diagnosing and reporting errors of the non-control data when the non-control data exceeds a limit process interval.
Wherein, for the control data exceeding the limit interval and the non-control data exceeding the limit interval, the following three conditions are included:
(1) When the input channel of the data is detected to be faulty, that is, the data cannot be detected or cannot be acquired (at this time, the limit interval is considered to be exceeded).
In the present embodiment, the opening analog input channel, specifically, the opening of the main valve of the hydraulic turbine, is failed, and the opening data cannot be obtained.
(2) When the detected data signal is not in the detection range of the input channel, namely the data exceeds the normal detection range.
In the present embodiment, the signal input through the opening analog input channel of the main valve opening of the hydraulic turbine is more than the range of the data that can be detected by the analog input channel.
(3) When the detected data signal is not within the limit process interval set in step S2.
In the present embodiment, the opening degree, the main valve opening/closing speed, the relay oil pressure, the relay stroke, the main valve opening/closing time, the motor current, and the motor voltage are specifically within the limit process section in step S2.
In this step, when any one of the above three cases occurs, that is, there is a possibility that an abnormality (such as a breakdown of a data detection sensor for control data, a breakdown of a data detection device for non-control data, or a breakdown of both transmission paths, etc.) occurs for the data itself, instead of the environment.
Therefore, when the control data exceeds the limit process interval or the non-control data exceeds the limit process interval, an error reporting mode is adopted instead of directly using the control data as the basis to control the opening of the main valve of the water turbine.
Based on the above three steps, in one preferred scheme of this embodiment, an implementation manner of fault-tolerant control is adopted, and the fault-tolerant control mainly solves a situation of error report of control data, specifically:
when the opening detected in real time exceeds the limit process interval and the non-control data is within the limit process interval, carrying out fault-tolerant control on the opening of the main valve of the water turbine based on the non-control data, namely, indirectly controlling the opening of the main valve of the water turbine based on the non-control data, and ensuring that the opening of the main valve of the water turbine is not reported by the control data to cause control failure and quit operation.
That is, in the case of the present embodiment, when the opening of the main valve of the water turbine exceeds the limit interval, the opening of the main valve of the water turbine is not controlled by the opening data, but the opening of the main valve of the water turbine is controlled by one or more types of non-control data among the opening/closing speed of the main valve, the hydraulic pressure of the relay, the stroke of the relay, the opening/closing time of the main valve, the current of the motor, and the voltage of the motor. Specifically selecting several or which ones, and setting according to the actual situation.
For example, the main valve opening/closing speed, the relay oil pressure, the relay stroke, the main valve opening/closing time, the motor current, and the motor voltage when the main valve of the water turbine operates by (autonomous learning and autonomously correcting, preference) the opening degree of the main valve.
And when the opening is higher than the maximum value or the minimum value in the limit interval, continuously controlling the automatic operation of the main valve opening of the water turbine or judging whether the operation of the main valve opening of the water turbine is normal according to the main valve opening/closing speed, the servomotor oil pressure, the servomotor stroke, the main valve opening/closing time, the motor current and the motor voltage which are obtained by the calculation. And correspondingly, generating an alarm signal corresponding to the control data.
In this way, it is possible to diagnose and report an error in the sensor signal for detecting the opening degree, which is the source of the control data.
In addition, in the above description, the opening/closing speed of the main valve of the hydraulic turbine, the hydraulic pressure of the relay, the stroke of the relay, the opening/closing time of the main valve, the current of the motor, and the voltage of the motor are collected data whose opening degree is within the limit process section (that is, the collection of the non-control data is based on the control data being within the limit process section) in a normal case. Specifically, the method comprises the following steps:
detecting the opening time length of the main valve, if the opening time length of the main valve exceeds the allowable process interval range (namely, when the non-control data is not in the limit interval set in the step S3), sending an alarm signal that the opening time length of the main valve of the water turbine exceeds the allowable change interval, otherwise (namely, when the non-control data is in the limit interval set in the step S3), automatically calculating the opening time length of the main valve in the whole process, and continuously and autonomously learning and autonomously correcting in the control process.
The opening/closing speed of the main valve of the water turbine, the oil pressure of the servomotor, the stroke of the servomotor, the closing time of the main valve, the current of the motor and the voltage of the motor are similar, and the description is omitted.
Based on the above three steps, in another preferred solution of this embodiment, an implementation manner of predictive control is adopted, where the predictive control mainly solves the problem of error reporting of non-control data, specifically:
when the non-control data of the main valve of the water turbine detected in real time exceeds the limit process interval, the opening is used as the basis to carry out predictive control on the opening of the main valve of the water turbine, namely under the condition that the non-control data diagnosis is wrong, the opening of the main valve of the water turbine is controlled in an advance and/or delay mode according to the opening data.
Because when the control data is in the limit process interval, the non-control data does not act as the control basis of the opening degree of the main valve of the water turbine, but the non-control data exceeds the limit process interval, the problem of the related content can be also explained (the problem occurs in the acquisition end or the data acquisition), so that the error condition can be reported according to the non-control data at the moment, and the opening degree of the main valve of the water turbine is controlled in an advance and/or delay mode.
Specifically, in the case of the present embodiment, when the opening is in the limit process section, and one or more of the main valve opening/closing speed, the relay oil pressure, the relay stroke, the main valve opening/closing time, the motor current, and the motor voltage of the main valve of the hydraulic turbine are outside the limit process section, the main valve opening of the hydraulic turbine is controlled to be advanced and/or retarded with reference to the opening.
Where the predictive control and fault tolerant control are "and/or" relationships exist.
In addition, based on any implementation of the above, in this embodiment, the limit process section is replaced by a positive and negative deviation range, where the positive and negative deviation range is obtained by the following steps:
s21': in the actual operation of the opening of the main valve of the water turbine, continuously detecting the opening of the main valve of the water turbine and the process relation between the non-control data related to the opening and the time;
s22': acquiring the average value of the data time process, and establishing a standard normal distribution rule curve;
s23': and determining the positive and negative deviation range of the data process according to the average value and the standard normal distribution rule curve.
That is, the present embodiment further provides a diagnostic method, which can replace the limit process interval with the positive and negative deviation range in the data judgment, and report an error, and perform fault-tolerant control and predictive control in the preferred scheme on the main valve opening of the water turbine when it is judged that the process data including the control data and the non-control data exceeds the positive and negative deviation range and does not meet the requirement of the normal distribution rule.
By adopting the mode, the judgment interval of the data is more in accordance with objective rules, the differentiation control of similar objects is realized, and the problems that the prior art cannot automatically identify the characteristic of the opening degree of the main valve of each specific water turbine and cannot realize the differentiation control according to the characteristic of the specific object are solved.
The manner of setting the positive and negative deviation ranges is the same as the manner of setting the limit process interval, and is not described herein again.
In addition, in this embodiment, the average value of the change and the positive and negative deviation ranges determined according to the normal distribution rule may be calculated from the process data of the opening degree of the main valve of the water turbine, and the temporal transition condition may be determined to determine the temporal change trend of the process data of the opening degree of the main valve of the water turbine, and the operation condition and the trend analysis of the opening degree of the main valve of the water turbine may be diagnosed to evaluate the health deterioration condition of the opening degree of the main valve of the water turbine.
In general, the limit process interval is used for a period of time when the opening of the main valve of the hydraulic turbine starts to be started, and data for calculating the positive and negative deviation range is less. And the positive and negative deviation range is used for replacing the limit process interval after the operation is carried out for a period of time, so that the data judgment has the characteristic of the opening degree of the main valve of the water turbine.
Also, it is preferable that the positive and negative deviation ranges are variable, and the ratio is smaller in the case of more data. For example, in the initial case of use, a float of 60% around the mean value can be used, while in the later case a float of 95% or even 99% around the mean value can be used.
Example 2
The embodiment also provides a diagnosis control system based on the water turbine main valve opening data process, the inventive concept of the system is the same as that of the embodiment 1, when the data acquisition end is abnormal, the whole data is analyzed, and the corresponding water turbine main valve opening is correspondingly started and stopped, so that the influence on the whole automatic control system is avoided. Specifically, as shown in fig. 2, a diagnostic control system based on a hydraulic turbine main valve opening data process includes:
a data setting module: the method comprises the steps of setting a process relation of main valve data of the water turbine and time, wherein the data comprise control data and at least one piece of non-control data related to the control data; the control data is opening degree, and the non-control data comprises one or more of main valve opening/closing speed, servomotor oil pressure, servomotor stroke, main valve opening/closing time, motor current and motor voltage;
a limit interval setting module: a limit process section for setting each data;
the control data detection and judgment module: the system is used for detecting the opening degree of a main valve of the water turbine in real time, and when the opening degree exceeds a limit process interval, the diagnosis of the opening degree reports errors; and/or:
the non-control data detection and judgment module: the method is used for detecting the non-control data of the main valve of the water turbine in real time, and diagnosing and reporting errors of the non-control data when the non-control data exceed the limit process interval.
Preferably, in the present embodiment, in the control data detecting and determining module, when the opening degree detected in real time exceeds the limit process interval, and the non-control data is within the limit process interval, the non-control data is used as a basis to perform the fault-tolerant control on the opening degree of the main valve of the hydraulic turbine, that is, the non-control data is used as a basis to perform the indirect control on the opening degree of the main valve of the hydraulic turbine.
Preferably, in this embodiment, in the non-control data detecting and determining module, when the non-control data of the main valve of the hydraulic turbine detected in real time exceeds the limit process interval, the opening is used as a basis to perform predictive control on the opening of the main valve of the hydraulic turbine, that is, in the case of error diagnosis of the non-control data, the opening is used as a basis to perform predictive control on the opening of the main valve of the hydraulic turbine in an early and/or late manner according to the opening data.
Preferably, in this embodiment, the setting manner of the limit interval setting module includes:
the method comprises the steps that a limit working condition of the opening of a main valve of the water turbine under normal operation is set manually, and a limit process interval of opening data and non-control data of the main valve of the water turbine under the limit working condition is obtained, namely the maximum value and the minimum value of the data when the opening of the main valve of the water turbine under the normal operation has the limit working condition; or:
automatically setting a limit process interval according to opening data and non-control data of the opening data detected after the opening of the main valve of the water turbine is put into operation, namely obtaining the maximum value and the minimum value of each data of the opening of the main valve of the water turbine in the operation process; or:
and simulating the maximum value and the minimum value of data obtained when the extreme working condition occurs during the operation of the main valve opening of the water turbine in a software simulation mode to set a data limit process interval.
Preferably, in this embodiment, the limit process section is replaced by a positive and negative deviation range;
wherein the limit interval setting module is replaced by a positive and negative deviation range setting module, which comprises the following sub-modules: a data acquisition sub-module: the method is used for continuously detecting the opening of the main valve of the water turbine and the process relation between the non-control data and time related to the opening in the actual operation of the main valve of the water turbine; a data calculation submodule: the method is used for obtaining the average value of the data time process and establishing a standard normal distribution rule curve; a positive and negative deviation range determination submodule: determining the positive and negative deviation range of the data process according to the average value and the standard normal distribution rule curve;
the control data detection and judgment module is used for detecting the control data of the opening of the main valve of the water turbine in real time, and when the opening exceeds the positive and negative deviation range, the opening is reported in error;
the non-control data detection and judgment module is used for detecting the non-control data of the opening of the main valve of the water turbine in real time, and when the non-control data exceeds the positive and negative deviation range, the error is reported to the non-control data.
Preferably, in this embodiment, the non-control data includes the data detection value itself and/or a change speed of the data detection value.
For a description of relevant parts in the diagnostic control system based on the hydraulic turbine main valve opening data process provided in the embodiment of the present invention, reference is made to detailed descriptions of corresponding parts in the diagnostic control method based on the hydraulic turbine main valve opening data process provided in embodiment 1 of the present invention, and details are not repeated herein. In addition, parts of the above technical solutions provided in the embodiments of the present invention that are consistent with the implementation principles of the corresponding technical solutions in the prior art are not described in detail, so as to avoid redundant description.
Example 3
Based on the implementation of embodiment 1, the present embodiment further provides a storage medium, on which computer instructions are stored, and when the computer instructions are executed, the steps of the diagnostic control method based on the water turbine main valve opening data process described in embodiment 1 are executed.
Based on such understanding, the technical solution of the present embodiment or parts of the technical solution may be essentially implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Example 4
Based on the implementation of embodiment 1, this embodiment further provides a terminal, including a memory and a processor, where the memory stores computer instructions executable on the processor, and the processor executes the steps of the diagnostic control method based on the hydraulic turbine main valve opening data process described in embodiment 1 when executing the computer instructions.
Each functional unit in the embodiments provided by the present invention may be integrated into one processor, or each unit may exist alone physically, or two or more units are integrated into one unit.
It is to be understood that the above-described embodiments are illustrative only and not restrictive of the broad invention, and that various other modifications and changes in light thereof will be apparent to those skilled in the art from this disclosure. This need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the invention.
Claims (6)
1. The diagnosis control method based on the hydraulic turbine main valve opening data process is characterized in that: the method comprises the following steps:
s1: setting a process relation of water turbine main valve data and time, wherein the data comprises control data and at least one piece of non-control data related to the control data; the control data is opening degree, and the non-control data comprises one or more of main valve opening/closing speed, servomotor oil pressure, servomotor stroke, main valve opening/closing time, motor current and motor voltage;
s2: setting a limit process interval of each data; wherein, the limit process interval of each data setting comprises the following substeps:
the method comprises the steps that a limit working condition of the opening of a main valve of the water turbine under normal operation is set manually, and a limit process interval of opening data and non-control data of the main valve of the water turbine under the limit working condition is obtained, namely the maximum value and the minimum value of the data when the opening of the main valve of the water turbine under the normal operation has the limit working condition; or:
automatically setting a limit process interval according to opening data and non-control data of the opening data detected after the opening of the main valve of the water turbine is put into operation, namely obtaining the maximum value and the minimum value of each data of the opening of the main valve of the water turbine in the operation process; or:
simulating the maximum value and the minimum value of data obtained when the limit working condition occurs during the operation of the main valve opening of the water turbine in a software simulation mode to set a data limit process interval;
s3: detecting the opening degree of a main valve of the water turbine in real time, and when the opening degree exceeds a limit process interval, diagnosing and reporting errors to the opening degree; and/or:
detecting non-control data of a main valve of the water turbine in real time, and diagnosing and reporting errors of the non-control data when the non-control data exceeds a limit process interval;
the control data exceeds the limit interval and the non-control data exceeds the limit interval, and the following three conditions are included:
(1) When the input channel of the data is detected to be faulty, namely the data cannot be detected or cannot be acquired, the data is considered to exceed the limit interval; specifically, an opening analog quantity input channel of the opening of a main valve of the water turbine fails, and opening data cannot be acquired;
(2) When the detected data signal is not in the detection range of the input channel, namely the data exceeds the normal detection range; specifically, a signal input through an opening analog quantity input channel of the opening of a main valve of the water turbine exceeds the range of data which can be detected by the analog quantity input channel;
(3) When the detected data signal is not within the limit process interval set in step S2; specifically, whether the opening, the main valve opening/closing speed, the servomotor oil pressure, the servomotor stroke, the main valve opening/closing time, the motor current, and the motor voltage are within the limit process interval in step S2 or not;
when any one of the above three conditions occurs, namely, the data itself may be abnormal, including damage to the data detection sensor of the control data, damage to the data detection device of the non-control data, or damage to the transmission path of the two, instead of the environment; therefore, when the control data exceeds the limit process interval or the non-control data exceeds the limit process interval, an error reporting mode is adopted instead of directly using the control data as a basis to control the opening of the main valve of the water turbine;
the method further comprises one or both of the following two steps:
when the opening degree detected in real time exceeds the limit process interval and the non-control data is within the limit process interval, carrying out fault-tolerant control on the opening degree of the main valve of the water turbine based on the non-control data, namely, indirectly controlling the opening degree of the main valve of the water turbine based on the non-control data; when the opening of the main valve of the water turbine exceeds the limit interval, the opening data is not used for controlling the opening of the main valve of the water turbine, but one or more non-control data of the opening/closing speed of the main valve, the oil pressure of a servomotor, the stroke of the servomotor, the opening/closing time of the main valve, the current of a motor and the voltage of the motor is used for controlling the opening of the main valve of the water turbine; detecting the opening time length of a main valve, if the opening time length of the main valve exceeds the allowable process interval range, sending an alarm signal that the opening time length of the main valve of the water turbine main valve exceeds the allowable change interval, otherwise, automatically calculating the opening time length of the main valve in the whole process, and continuously and autonomously learning and autonomously correcting in the control process; the opening/closing speed of a main valve of the water turbine, the oil pressure of the servomotor, the stroke of the servomotor, the closing time of the main valve, the current of the motor and the voltage of the motor are also the same;
when the non-control data of the main valve of the water turbine detected in real time exceed the limit process interval, the opening is used as the basis to carry out predictive control on the opening of the main valve of the water turbine, namely under the condition that the non-control data diagnosis is wrong, the opening of the main valve of the water turbine is controlled in an advance and/or delay mode according to the opening data; when the opening is in the limit process interval, and one or more of the main valve opening/closing speed, the servomotor oil pressure, the servomotor stroke, the main valve opening/closing time, the motor current and the motor voltage of the main valve of the water turbine are outside the limit process interval, the opening of the main valve of the water turbine is controlled in advance and/or in delay by referring to the opening;
the limit process interval is replaced by a positive and negative deviation range, wherein the positive and negative deviation range is obtained in the following mode:
s21': in the actual operation of the opening of the main valve of the water turbine, continuously detecting the opening of the main valve of the water turbine and the process relation between the non-control data related to the opening and the time;
s22': acquiring the average value of the data time process, and establishing a standard normal distribution rule curve;
and S23': determining the positive and negative deviation range of the data process according to the average value and the standard normal distribution rule curve;
when the process data including the control data and the non-control data are judged to exceed the positive and negative deviation range and do not meet the requirement of a normal distribution rule, error reporting is carried out on the opening of the main valve of the water turbine, and fault-tolerant control and predictive control in an optimal scheme are carried out;
calculating a variation average value and the positive and negative deviation ranges determined according to a standard normal distribution rule according to the process data of the opening of the main valve of the water turbine, determining the variation trend of the process data of the opening of the main valve of the water turbine along with time according to the migration condition of the process data along with time, diagnosing the operation condition and trend analysis of the opening of the main valve of the water turbine, and evaluating the health deterioration condition of the opening of the main valve of the water turbine;
the limit process interval is used for a period of time when the opening of the main valve of the water turbine is started, and data for calculating the positive and negative deviation ranges are less at the moment; the positive and negative deviation range is used for replacing a limit process interval after the operation is carried out for a period of time, so that the data judgment has the characteristic of the opening degree of a main valve of the water turbine;
the positive and negative deviation range is variable, and the proportion is smaller under the condition that more data are available; including, in the initial case of use, a 60% float around the mean value can be used, while in the later case a 95% or even 99% float around the mean value can be used.
2. The diagnostic control method based on the procedure of the data on the opening degree of the main valve of the hydraulic turbine according to claim 1, wherein: the non-control data includes the data detection value itself and/or the variation speed of the data detection value.
3. Diagnosis control system based on hydraulic turbine main valve opening data process, its characterized in that: the method comprises the following steps:
a data setting module: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for setting the process relation of water turbine main valve data and time, and the data comprises control data and at least one non-control data related to the control data; the control data is opening degree, and the non-control data comprises one or more of main valve opening/closing speed, servomotor oil pressure, servomotor stroke, main valve opening/closing time, motor current and motor voltage;
a limit interval setting module: a limit process window for setting respective data, comprising:
the method comprises the steps that a limit working condition of the opening of a main valve of the water turbine under normal operation is set manually, and a limit process interval of opening data and non-control data of the main valve of the water turbine under the limit working condition is obtained, namely the maximum value and the minimum value of the data when the opening of the main valve of the water turbine under the normal operation has the limit working condition; or:
automatically setting a limit process interval according to opening data and non-control data of the opening data detected after the opening of the main valve of the water turbine is put into operation, namely obtaining the maximum value and the minimum value of each data of the opening of the main valve of the water turbine in the operation process; or:
simulating the maximum value and the minimum value of data obtained when the limit working condition occurs during the operation of the main valve opening of the water turbine in a software simulation mode to set a data limit process interval;
the control data detection and judgment module: the system is used for detecting the opening degree of a main valve of the water turbine in real time, and diagnosing and reporting errors of the opening degree when the opening degree exceeds a limit process interval; and/or:
the non-control data detection and judgment module: the system is used for detecting the non-control data of the main valve of the water turbine in real time, and diagnosing and reporting errors of the non-control data when the non-control data exceeds a limit process interval;
the control data exceeds the limit interval and the non-control data exceeds the limit interval, and the following three conditions are included:
(1) When the input channel of the data is detected to be in fault, namely the data cannot be detected or cannot be acquired, the data is considered to exceed the limit interval; specifically, an opening analog quantity input channel of the main valve opening of the water turbine breaks down, and opening data cannot be obtained;
(2) When the detected data signal is not in the detection range of the input channel, namely the data exceeds the normal detection range; specifically, a signal input through an opening analog quantity input channel of the opening of a main valve of the water turbine exceeds the range of data which can be detected by the analog quantity input channel;
(3) When the detected data signal is not within the limit process interval set in step S2; specifically, whether the opening degree, the opening/closing speed of the main valve, the oil pressure of the servomotor, the stroke of the servomotor, the opening/closing time of the main valve, the current of the motor and the voltage of the motor are within the limit process interval in the step S2;
when any one of the above three conditions occurs, namely, the data itself may be abnormal, including damage to the data detection sensor of the control data, damage to the data detection device of the non-control data, or damage to the transmission path of the two, instead of the environment; therefore, when the control data exceeds the limit process interval or the non-control data exceeds the limit process interval, an error reporting form is adopted instead of directly using the control data as the basis to control the opening of the main valve of the water turbine;
in the control data detection and judgment module, when the opening degree detected in real time exceeds a limit process interval and the non-control data is within the limit process interval, carrying out fault-tolerant control on the opening degree of the main valve of the water turbine based on the non-control data, namely carrying out indirect control on the opening degree of the main valve of the water turbine based on the non-control data; when the opening of the main valve of the water turbine exceeds a limit interval, the opening data is not used for controlling the opening of the main valve of the water turbine, but one or more non-control data of the opening/closing speed of the main valve, the oil pressure of a servomotor, the stroke of the servomotor, the opening/closing time of the main valve, the current of a motor and the voltage of the motor are used for controlling the opening of the main valve of the water turbine; detecting the opening time length of a main valve, if the opening time length of the main valve exceeds the allowable process interval range, sending an alarm signal that the opening time length of the main valve of the water turbine main valve exceeds the allowable change interval, otherwise, automatically calculating the opening time length of the main valve in the whole process, and continuously and autonomously learning and autonomously correcting in the control process; the opening/closing speed of a main valve of the water turbine, the oil pressure of the servomotor, the stroke of the servomotor, the closing time of the main valve, the current of the motor and the voltage of the motor are also the same;
and/or:
in the non-control data detection and judgment module, when the non-control data of the water turbine main valve detected in real time exceeds a limit process interval, the opening is used as the basis to carry out predictive control on the opening of the water turbine main valve, namely under the condition that the non-control data diagnosis is wrong, the opening of the water turbine main valve is subjected to predictive control in an advance and/or delay mode according to the opening data; when the opening is in the limit process interval, and one or more of the main valve opening/closing speed, the servomotor oil pressure, the servomotor stroke, the main valve opening/closing time, the motor current and the motor voltage of the main valve of the water turbine are outside the limit process interval, the reference opening controls the opening of the main valve of the water turbine in advance and/or delay;
the limit process interval is replaced by a positive and negative deviation range, wherein the positive and negative deviation range is obtained in a mode comprising the following steps:
s21': in the actual operation of the opening of the main valve of the water turbine, continuously detecting the opening of the main valve of the water turbine and the process relation between the non-control data and time related to the opening of the main valve of the water turbine;
s22': acquiring an average value of a data time process, and establishing a standard normal distribution rule curve;
s23': determining the positive and negative deviation range of the data process according to the average value and the standard normal distribution rule curve;
when the process data including the control data and the non-control data exceed the positive and negative deviation range and do not meet the requirement of a normal distribution rule, error reporting is carried out on the opening of the main valve of the water turbine, and fault-tolerant control and predictive control in the optimal scheme are carried out;
calculating the average value of the change and the positive and negative deviation range determined according to the standard normal distribution rule according to the process data of the opening of the main valve of the water turbine, determining the change trend of the process data of the opening of the main valve of the water turbine along with the time according to the migration condition of the time, diagnosing the operation condition and trend analysis of the opening of the main valve of the water turbine, and evaluating the health deterioration condition of the opening of the main valve of the water turbine;
the limit process interval is used for a period of time when the opening of the main valve of the water turbine starts to start, and data for calculating the positive and negative deviation range is less at the moment; the positive and negative deviation range is used for replacing a limit process interval after the operation is carried out for a period of time, so that the data judgment has the characteristic of the opening degree of a main valve of the water turbine;
the positive and negative deviation ranges are variable, and the proportion is smaller under the condition that more data are available; including, in the initial case of use, a 60% float around the mean value can be used, while in the later case a 95% or even 99% float around the mean value can be used.
4. The diagnostic control system based on hydraulic turbine main valve opening data process according to claim 3, characterized in that: the non-control data includes the data detection value itself and/or the variation speed of the data detection value.
5. A storage medium having stored thereon computer instructions, characterized in that: the computer instructions when executed perform the steps of the diagnostic control method based on hydraulic turbine main valve opening data process of claim 1 or 2.
6. A terminal comprising a memory and a processor, said memory having stored thereon computer instructions executable on said processor, wherein said processor when executing said computer instructions performs the steps of the diagnostic control method based on hydraulic turbine main valve opening data procedure according to claim 1 or 2.
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