CN110382873A - Method for adjusting the revolving speed of centrifugal pump - Google Patents
Method for adjusting the revolving speed of centrifugal pump Download PDFInfo
- Publication number
- CN110382873A CN110382873A CN201880016825.9A CN201880016825A CN110382873A CN 110382873 A CN110382873 A CN 110382873A CN 201880016825 A CN201880016825 A CN 201880016825A CN 110382873 A CN110382873 A CN 110382873A
- Authority
- CN
- China
- Prior art keywords
- revolving speed
- target
- delivery head
- adjuster
- pump
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
- F04D15/0066—Control, e.g. regulation, of pumps, pumping installations or systems by changing the speed, e.g. of the driving engine
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
Abstract
The present invention relates to a kind of methods for adjusting the revolving speed of the centrifugal pump run in open hydraulic circuit, wherein, the adjuster for pumping control mechanism calculates target-revolving speed of pump actuator under in view of target-delivery head and reality-delivery head and reality-speed conditions, wherein, the adjuster considers the correction parameter for describing geodetic altitude to calculate target-revolving speed.
Description
Technical field
The present invention relates to a kind of method for adjusting the revolving speed of the centrifugal pump run in open hydraulic circuit,
In, the adjuster of control mechanism is pumped under in view of target-delivery head and reality-delivery head and reality-speed conditions
Determine target-revolving speed of pump actuator.
Background technique
The centrifugal pump of the rotational speed regulation of today of the prior art mainly uses PI- adjuster to determine target-revolving speed.
It can determine pump has how soon reach its target value by the part P-.Remaining move how is eliminated by the part I- is adjustable
State adjusting deviation.It is all surplus always to have remaining adjusting deviation when the part I- is zero.
Since the configuration of two regulator parameters influences the power of total system, so, it cannot to the adjustment of regulator parameter
It individually carries out, but can only be carried out in the case where integrally investigating system dynamic.Therefore, these parameters are correctly adjusted to exist
It is huge challenge in practice.Traditional adjustment for PI- adjuster or PID- adjuster adjusts to also relate to
System, but must be linearized in advance in operating point.If it is latter instance, the regulator parameter found is usually only selected
Operating point nearby give optimum apjustment.
For previous reasons, using PI- adjuster for the centrifugal pump of rotational speed regulation and less than optimal solution.One
Aspect, these pumps show serious nonlinear characteristic, and on the other hand, these pumps allow for steady in different ranges of operation
Surely it runs.For example, operating point when pump accelerates can be different from during constant pump operation.To PI- adjuster or PID-
The adjustment of the regulator parameter of adjuster thus be all based on compromise between these different operating points of pump always.
Due to the above problem, other regulation schemes have been tested.One example is so-called affine adjuster, base
In affine tation law works.These adjuster types be it is durable, it is also durable especially under different operating condition, and make
What is be discussed above becomes out-of-date to the cumbersome adjustment of regulator parameter.But the unfavorable limitation of this adjuster type is in
In they can only be applied in the hydraulic circuit of closure at present.For the open loop that overcome geodetic altitude sometimes,
Mathematical relationship between the parameter changes, and adjusting can not lead to satisfactory result.
Summary of the invention
Accordingly, it is intended to find a kind of suitable adjuster remodeling for solving foregoing problems.
The purpose is achieved by the method for the feature with claim 1.The expedients of this method are appurtenances
The theme that benefit requires.
According to the present invention it is proposed that a kind of for adjusting the side of the revolving speed of the centrifugal pump run in open hydraulic circuit
Method.The basis of this method is a kind of adjuster for pumping control mechanism, in view of target-delivery head and reality-conveying height
Target-revolving speed of pump actuator is calculated under degree and reality-speed conditions.The adjuster neither PI- adjuster and be not
PID- adjuster.Adjuster remodeling, which defines, extends at least one correction parameter, to consider and compensate to be defeated by pump
Geodetic altitude.By means of the correction parameter, which also can be applied to open hydraulic circuit.
It is particularly preferred that causing delivery head-revolving speed-curve offset by correction parameter, especially cause defeated
Send the offset of vertical of height-revolving speed-curve.It is possible thereby to unquestionably compensate geodetic altitude.
The previous extension of regulation scheme is it is particularly advantageous to use affine law to determine target value or regulated value
This adjuster type, hereinafter referred to as affine adjuster.According to a kind of advantageous design, the regulation scheme be based on revolving speed with it is defeated
The secondary power relationship between height is sent, for calculating regulated value.Therefore a kind of parabola shaped adjustment curve is generated, school is passed through
Positive parameter and selectively deviate upward or downward.
Further preferably, for this adjuster type, in order to calculate target-revolving speed, so that target-revolving speed and target-
Secondary power relationship between delivery head is proportional with the secondary power relationship between reality-revolving speed and reality-delivery head.It is based on
The ratio can determine target-revolving speed.By the converse of secondary relationship, the nonlinear characteristic of pump can be compensated simultaneously.Pump is thus
It can be stable as linear system.
Another preferred design according to the present invention, adjustment curve are closed by the secondary power between revolving speed and delivery head
Parabola as defined in being by correction parameter is moved to coordinate origin, it is possible thereby to pump on the pressure side or suction side compensation survey
Ground height.
In practice, corrected value depend on entire hydraulic system the case where.In continuous pump operation, geodetic altitude can also be sent out
It is raw to change, and thus the desirable value of correction parameter can also change.For this reason it is desirable in continuous pump operation
The value of correction parameter is automatically sought by pumping control mechanism.
A kind of feasible program for automatically seeking correction parameter is, gives correction parameter first when pump brings into operation
Set the initial value that could dictate that.Such as value zero is suitable for being used as suitable initial value.For being corrected required for compensation geodetic altitude
Parameter value can then determine in continuous operation by the adjusting error adjusted, because for pump control mechanism,
No matter target-delivery head or reality-delivery head are all known.Subsequent adjustable compensating parameter value, until reaching
Target-delivery head.
Mathematically, it can describe to seek correction parameter k by following equation:
。
Expression " err " indicates error amount herein, between target-delivery head and the reality-delivery head adjusted
It generates.Therefore, by detecting the difference between target-delivery head and the reality-delivery head adjusted, current error amount
It is known for pump control mechanism, and pump control mechanism to be based on above-mentioned equation calculation corrected value k.
It is particularly preferred that the determination to correction parameter regularly carries out, particularly preferably with the repetition of periodic interval.
This be it is especially interesting, geodetic altitude can change in continuous pump operation.After bringing into operation for the first time immediately really
It is equally meaningful to determine correction parameter.Alternatively, the determination of corrected value is provided at uncertain random time point.
Other than according to the method for the present invention, the invention further relates to a kind of for implementing having according to the method for the present invention
Pump the centrifugal pump of control mechanism.Accordingly for centrifugal pump, produce previously by being described in detail according to the method for the present invention
Same advantage and characteristic.For this reason, duplicate introduction is omitted.
Detailed description of the invention
Other details and advantage of the invention are described in detail by multiple Detailed description of the inventions below.
Fig. 1 shows the revolving speed in the hydraulic circuit of closure-delivery head characteristic curve；
Fig. 2 shows the revolving speed in open hydraulic circuit-delivery head characteristic curves；
Fig. 3 and traditional regulation technology m- delivery head chart when contrastingly showing, for showing adjusting according to the present invention
Adjusting quality.
Specific embodiment
Core of the invention design is, for the rotational speed regulation of centrifugal pump, using a kind of novel adjuster type.No
It is same as the prior art, PI or PID regulator are not exactly employed in proposition, but alternatively use so-called affine adjuster, are
Determining regulated value/target value and employ affine law, and therefore based in centrifugal pump revolving speed and caused conveying it is high
Secondary power relationship between degree.
In order to describe the function of the affine adjuster, referring to Fig. 1.It is opposite with the revolution speed adjusted in the figure shows figure
Delivery head is depicted than ground.The figure shows figures to be shown in greater detail in the pass of the secondary power between delivery head H and revolving speed n herein
System, this can use equation
(equation 1)
To describe.In addition, exemplarily showing reality-revolving speed n in Fig. 1istAnd target-revolving speed nsoll.Due to the pass of secondary power
System, the ratio between target value and actual value are determined according to following equation:
(equation 2).
During operation, target delivery head and actual fed height are all known always.There is currently reality turn
Speed is equally known.Affine adjuster calculates rotating speed of target (regulated value) according to equation 3 as follows:
(equation 3).
In this way, adjuster enduringly adjusts correct target delivery head.By delivery head and revolving speed it
Between secondary power relationship it is converse, compensate the nonlinear characteristic of pump, and pumping can be stable as linear system.Adjuster exists
It is durable under different operation conditions, and eliminates and adjust regulator parameter cumbersomely.
The limitation of affine adjuster is, in the hydraulic circuit that it only can be used in closure in current design.It is open
Geodetic altitude is overcome in formula circuit, for the circuit, the H/n- curve of Fig. 1 shifts, and mathematical relationship changes.
Inventive conception is that being retrofited to affine adjuster, so that it also causes in open hydraulic circuit
The fine result in portion.According to the present invention, this by affine adjuster extend one for describe the parameter of geodetic altitude come
It realizes.
Curve in Fig. 2 shows the pass for assuming occur when the geodetic altitude of suction side between delivery head and revolving speed
System.Due to the geodetic altitude, parabola shaped curve is no longer pass through coordinate origin, but has offset downward value k.
(equation 4).
In the event of geodetic altitude on the pressure side, curve is just offset up.If affine adjuster is with its current shape
Formula application would not reach target delivery head, but reach the delivery head for offseting by error amount (err).
The error (err) can be corrected, and mode is to extend a parameter k to the relational expression of equation 1 and equation 2:
(equation 5).
In this way, parabola is moved back into origin, and is carried out to the calculating of rotating speed of target according to equation 6:
(equation 6).
One challenge is not know geodetic delivery head sometimes, and thus do not know for ginseng necessary to adjuster
Number k.Therefore, it is proposed in the scope of the design, seeks running parameter k.For this purpose, assuming first that k when connecting adjuster
It is zero.As shown in Figure 2, reality-delivery head thus one error amount (err) of mistake.By detecting target-delivery head
With using the difference pumped between reality-delivery head that control mechanism is adjusted, error amount (err) is known.Pass through equation 2 and equation
5 equivalent substitution can determine corrected value k by error amount.
(equation 7).
The determination of k is regularly carried out in pump operation, because geodetic delivery head can change during operation.
Fig. 3 shows the test result using three kinds of different adjuster types.Tested adjusting path is to have overcome
The pump of geodetic delivery head.As adjuster, PI- adjuster, traditional affine adjuster and having is expanded according to the present invention
The affine adjuster for having opened up correction parameter is tested.For tested whole adjuster types, desired target-is defeated
Sending height is 5m.
Fig. 3 show the reality-delivery head time diagram adjusted by each adjuster type.Traditional affine tune
The curve tendency 2 of section device does not correct geodetic altitude, very strong overshoot is originally shown, due to adjusting deviation
Iterative correction has but reached target-delivery head.PI- adjuster equally reaches its target value, but this with curve tendency 3
As a result it requires to pay through the nose when correctly adjusting regulator parameter.The considerations of affine adjuster, has arrived geodetic altitude
Curve 1 shows best result.It does not overshoot, without residual adjusting deviation, and it is high swimmingly to reach target-conveying
Degree.In addition, without adjusting regulator parameter.Thus it will also guarantee the height of adjuster in the case where operation characteristic changes
Stability.
Claims (10)
1. a kind of method for adjusting the revolving speed of the centrifugal pump run in open hydraulic circuit, wherein pump control mechanism
Adjuster under in view of target-delivery head and reality-delivery head and reality-speed conditions determination pump actuator
Target-revolving speed,
It is characterized in that,
The adjuster considers the correction parameter for describing geodetic altitude to calculate target-revolving speed.
2. method according to claim 1, which is characterized in that the adjuster is at least based on affine to determine regulated value
The component part of law especially assumes that secondary power relationship between revolving speed and delivery head, for calculating regulated value.
3. method as described in claim 2, which is characterized in that the adjuster is by target-revolving speed and target-delivery head
Between secondary power relationship determine target-with the ratio of the secondary power relationship in reality-between revolving speed and reality-delivery head
Revolving speed.
4. pressing method described in claim 2 or 3, which is characterized in that pass through correction by parabola as defined in secondary power relationship
Parameter is moved to coordinate origin.
5. method as any one of preceding claims, which is characterized in that seek correction ginseng in continuous pump operation
Numerical value.
6. method as described in claim 5, which is characterized in that when pump brings into operation to known to correction parameter setting
Initial value, especially value zero.
7. pressing method described in claim 5 or 6, which is characterized in that in continuous pump operation, by adjusting error, particularly
The correction parameter is exported by difference of the target-between delivery head and reality-delivery head.
8. method according to claim 7, which is characterized in that by equationTo calculate the correction ginseng
Number.
9. by method described in any one of preceding claims 5 to 7, which is characterized in that exist to the determination of the correction parameter
The progress when bringing into operation for the first time during pump operation, and/or regularly with the progress of periodic interval, and/or randomly carry out.
10. a kind of centrifugal pump with pump control mechanism, for implementing method according to any of the preceding claims.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110205490.9A CN112833031A (en) | 2017-03-10 | 2018-03-07 | Method for regulating the rotational speed of a centrifugal pump |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017203990.6A DE102017203990A1 (en) | 2017-03-10 | 2017-03-10 | Method for controlling the speed of a centrifugal pump |
| DE102017203990.6 | 2017-03-10 | ||
| PCT/EP2018/055602 WO2018162555A1 (en) | 2017-03-10 | 2018-03-07 | Method for controlling the rotational speed of a centrifugal pump |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110205490.9A Division CN112833031A (en) | 2017-03-10 | 2018-03-07 | Method for regulating the rotational speed of a centrifugal pump |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110382873A true CN110382873A (en) | 2019-10-25 |
| CN110382873B CN110382873B (en) | 2021-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880016825.9A Active CN110382873B (en) | 2017-03-10 | 2018-03-07 | Method for regulating the rotational speed of a centrifugal pump |
| CN202110205490.9A Pending CN112833031A (en) | 2017-03-10 | 2018-03-07 | Method for regulating the rotational speed of a centrifugal pump |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202110205490.9A Pending CN112833031A (en) | 2017-03-10 | 2018-03-07 | Method for regulating the rotational speed of a centrifugal pump |
Country Status (6)
| Country | Link |
|---|---|
| EP (2) | EP3851678A1 (en) |
| JP (2) | JP2020510154A (en) |
| CN (2) | CN110382873B (en) |
| DE (1) | DE102017203990A1 (en) |
| RU (1) | RU2769325C2 (en) |
| WO (1) | WO2018162555A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019004317A1 (en) * | 2019-06-19 | 2020-12-24 | KSB SE & Co. KGaA | Method for controlling a circulating pump and a circulating pump |
| ES2963631T3 (en) * | 2020-11-13 | 2024-04-01 | Schneider Toshiba Inverter Europe Sas | Operation of a centrifugal pump |
| LU501134B1 (en) | 2021-12-30 | 2023-07-04 | Wilo Se | Process for controlling a centrifugal pump |
| CN116542039B (en) * | 2023-04-26 | 2024-01-12 | 安徽新沪屏蔽泵有限责任公司 | Water pump performance curve simulation method |
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-
2017
- 2017-03-10 DE DE102017203990.6A patent/DE102017203990A1/en active Pending
-
2018
- 2018-03-07 JP JP2019548618A patent/JP2020510154A/en active Pending
- 2018-03-07 CN CN201880016825.9A patent/CN110382873B/en active Active
- 2018-03-07 CN CN202110205490.9A patent/CN112833031A/en active Pending
- 2018-03-07 EP EP21161061.3A patent/EP3851678A1/en active Pending
- 2018-03-07 WO PCT/EP2018/055602 patent/WO2018162555A1/en active Application Filing
- 2018-03-07 EP EP18710820.4A patent/EP3592979A1/en active Pending
- 2018-03-07 RU RU2019131528A patent/RU2769325C2/en active
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2021
- 2021-03-19 JP JP2021045392A patent/JP2021101113A/en active Pending
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| JPH11202944A (en) * | 1998-01-19 | 1999-07-30 | Hitachi Ltd | Water conveyance flow rate control method |
| WO2013032425A1 (en) * | 2011-08-26 | 2013-03-07 | Toshiba International Corporation | Linear pump control |
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| DE102015000373A1 (en) * | 2015-01-20 | 2016-07-21 | Magnussen EMSR-Technik GmbH | Method for reducing the energy consumption of a feed pump, which promotes water from a well into a pipeline network, as well as system for conveying water from at least one well into a pipeline network |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3592979A1 (en) | 2020-01-15 |
| JP2021101113A (en) | 2021-07-08 |
| DE102017203990A1 (en) | 2018-09-13 |
| CN110382873B (en) | 2021-05-25 |
| RU2019131528A3 (en) | 2021-07-20 |
| JP2020510154A (en) | 2020-04-02 |
| WO2018162555A1 (en) | 2018-09-13 |
| RU2019131528A (en) | 2021-04-12 |
| BR112019018584A2 (en) | 2020-04-07 |
| RU2769325C2 (en) | 2022-03-30 |
| CN112833031A (en) | 2021-05-25 |
| EP3851678A1 (en) | 2021-07-21 |
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