CN110382873B

CN110382873B - Method for regulating the rotational speed of a centrifugal pump

Info

Publication number: CN110382873B
Application number: CN201880016825.9A
Authority: CN
Inventors: M.埃克尔; J.舒莱雷尔
Original assignee: KSB SE and Co KGaA
Current assignee: KSB SE and Co KGaA
Priority date: 2017-03-10
Filing date: 2018-03-07
Publication date: 2021-05-25
Anticipated expiration: 2038-03-07
Also published as: JP2020510154A; JP2021101113A; EP3851678A1; CN110382873A; RU2019131528A; EP3592979B1; DE102017203990A1; RU2769325C2; JP7496685B2; WO2018162555A1; EP3592979A1; BR112019018584A2; CN112833031A; EP3592979C0; RU2019131528A3

Abstract

The invention relates to a method for regulating the rotational speed of a centrifugal pump operating in an open hydraulic circuit, wherein a controller of a pump control device calculates a target rotational speed of a pump drive, taking into account a target delivery height and an actual rotational speed, wherein the controller takes into account correction parameters for describing a geodetic height for calculating the target rotational speed.

Description

Method for regulating the rotational speed of a centrifugal pump

Technical Field

The invention relates to a method for regulating the rotational speed of a centrifugal pump operating in an open hydraulic circuit, wherein a controller of a pump control device determines a target rotational speed of a pump drive, taking into account a target delivery height and an actual rotational speed.

Background

The present-day speed-controlled centrifugal pumps of the prior art use primarily PI controllers for determining the target speed. By means of the P-part it can be determined how fast the pump has reached its target value. By means of the I-section it is possible to adjust how the residual dynamic adjustment deviations are to be eliminated. At zero for the I-component, there is always a residual regulating deviation left.

Since the configuration of the two regulator parameters influences the power of the overall system, the adjustment of the regulator parameters cannot be carried out individually, but only when the system power is considered as a whole. Therefore, it is a great challenge in practice to correctly adjust these parameters. Conventional regulation for PI or PID controllers also involves linear systems, but they must be linearized beforehand at the operating point. In the latter case, the found regulator parameters are usually optimally adjusted only in the vicinity of the selected operating point.

For the reasons mentioned above, the use of PI regulators is not an optimal solution for speed-regulated centrifugal pumps. On the one hand, these pumps exhibit severe non-linear behavior, and on the other hand, they must be able to operate stably in different operating ranges. For example, the operating point at which the pump accelerates may be different than during constant pump operation. The adjustment of the regulator parameters of the PI or PID controller is therefore always based on a compromise between these different operating points of the pump.

Due to the above problems, other regulation schemes have been tested. An example is the so-called affine regulator, which works on the basis of affine law. These types of regulators are robust, in particular also in different operating situations, and render the previously discussed tedious adjustment of the regulator parameters obsolete. However, a disadvantageous limitation of these types of regulators is that they can only be used in closed hydraulic circuits. For open circuits, which sometimes have to overcome the geodetic height, the mathematical relationship between the variables changes and the regulation does not lead to satisfactory results.

Disclosure of Invention

Therefore, an attempt was made to find a suitable regulator modification for solving the aforementioned problems.

This object is achieved by the method according to the invention.

According to the invention, a method for regulating the rotational speed of a centrifugal pump operating in an open hydraulic circuit is proposed. The method is based on an actuator of a pump control unit, which calculates a target rotational speed of a pump drive, taking into account a target delivery height and an actual rotational speed. The regulator is neither a PI regulator nor a PID regulator. The regulator retrofit provides for expanding at least one correction parameter in order to take into account and compensate for the geodetic height to be overcome by the pump. With the aid of the correction parameters, the regulating scheme can also be applied to open hydraulic circuits.

In particular, it is preferred that a deviation of the transport height/rotational speed curve, in particular a vertical deviation of the transport height/rotational speed curve, is caused by means of the correction parameter. The geodetic height can thus be compensated without problems.

The aforementioned development of the control scheme is particularly advantageous for control systems of the type that use affine law for determining the target or control value, which are referred to below as affine control systems. According to an advantageous embodiment, the control strategy is based on a quadratic relationship between the rotational speed and the transport height for calculating the control value. A parabolic control curve is thus generated, which is selectively shifted upwards or downwards by the correction parameter.

Furthermore, it is preferred for this type of control device to calculate the target rotational speed such that the quadratic relationship between the target rotational speed and the target transport height is proportional to the quadratic relationship between the actual rotational speed and the actual transport height. Based on this ratio, a target rotational speed can be determined. By inverting the quadratic relation, the non-linear characteristics of the pump can be compensated at the same time. The pump can thus be stabilized like a linear system.

According to a further preferred embodiment of the invention, the parabola of the control curve, which is defined by the quadratic relation between the rotational speed and the delivery height, is moved by the correction parameters to the origin of the coordinate system, as a result of which the geodesic height can be compensated on the pressure side or on the suction side of the pump.

In practice, the correction value depends on the conditions of the entire hydraulic system. During continuous pump operation, the geodetic height and thus the required value of the correction parameter are also changed. For this reason, it is desirable to automatically determine the value of the correction parameter by the pump control device during continuous pump operation.

One possible solution for automatically determining the correction parameters is to initially set definable initial values for the correction parameters when the pump is started. A value of zero, for example, is suitable as a suitable initial value. The correction parameter values required for compensating the geodetic height can then be determined from the adjusted control error in continuous operation, since both the target transport height and the actual transport height are known to the pump control. The compensation parameter value can then be adjusted until the target transport height is reached.

Mathematically, the determination of the correction parameter k can be described by means of the following equation:

。

the expression "err" here denotes an error value, which is at the target-delivery height "H_Soll"with adjusted actual conveying height" H_Ist"are generated in between. Therefore, by detecting the difference between the target transport height and the adjusted actual transport height, the current error value is known to the pump control mechanism, and the pump control mechanism can calculate the correction value k based on the above equation.

It is particularly preferred that the determination of the correction parameters is carried out periodically, particularly preferably repeatedly at periodic intervals. This is particularly relevant, since the geodetic height changes during continuous pump operation. It is likewise expedient to determine the correction parameters immediately after the first start of operation. Alternatively, the determination of the correction value is provided at an indeterminate random point in time.

In addition to the method according to the invention, the invention also relates to a centrifugal pump with a pump control mechanism for carrying out the method according to the invention. Accordingly, the same advantages and characteristics as have been previously detailed with the method according to the invention result for a centrifugal pump. For this reason, overlapping description is omitted.

Drawings

Further details and advantages of the invention are described in the following with the aid of the several figures.

Fig. 1 shows a rotational speed/conveying height characteristic in a closed hydraulic circuit;

fig. 2 shows a rotational speed/delivery height characteristic in an open hydraulic circuit;

fig. 3 shows a time-delivery height diagram in contrast to conventional control techniques, in order to show the control quality of the control according to the invention.

Detailed Description

The core concept of the invention is that a new type of regulator is used for the rotational speed regulation of the centrifugal pump. In contrast to the prior art, it is proposed not to use PI or PID controllers, but instead to use so-called affine controllers, which use the affine law for determining the control value/target value and are therefore based on the quadratic relationship between the rotational speed of the centrifugal pump and the resulting delivery height.

For a description of the function of the affine regulator, see fig. 1. The delivery height is plotted in the diagram against the set pump speed. The diagram shows the quadratic relationship between the transport height H and the rotational speed n in detail here, which can be expressed by the equation

(equation 1)

To describe. Fig. 1 also shows an exemplary actual speed n_istAnd target rotational speed n_soll. Due to the second power relationship, the ratio between the target value and the actual value is determined according to the following equation:

(equation 2).

During operation, both the target transport height and the actual transport height are known at all times. The actual rotational speed prevailing at present is likewise known. The affine regulator calculates the target rotation speed (regulation value) as follows according to equation 3:

(equation 3).

In this way, the regulator permanently adjusts the correct target transport height. By inverting the quadratic relation between the delivery height and the rotational speed, the non-linear behavior of the pump is compensated and the pump can be stabilized like a linear system. The regulator is robust in different operating conditions and eliminates the need for cumbersome adjustment of the regulator parameters.

The limitation of the affine actuator is that it can only be used in a closed hydraulic circuit in the present design. In order to overcome the geodetic height in an open circuit, the H/n-curve of fig. 1 is shifted and the mathematical relationship is changed.

The idea of the invention is to retrofit an affine actuator so that it also leads to a possible result within the open hydraulic circuit. According to the invention, this is achieved by extending the affine regulator with a parameter for describing the geodetic height.

The curve in fig. 2 shows the relationship between the transport height and the rotational speed assuming the presence of the geodetic height on the suction side. Due to this geodesic height, the parabolic curve no longer passes through the coordinate system origin, but is offset downward by the value k.

(equation 4).

If the geodetic height of the pressure side is present, the curve is shifted upwards. If the affine regulator is used in its present form, the target transport height is not reached, but a transport height that deviates by the error value (err) is reached.

This error (err) can be corrected by extending the relation of equation 1 and equation 2 by a parameter k:

(equation 5).

In this way, the parabola is moved back to the origin and the calculation of the target speed is performed according to equation 6:

(equation 6).

One challenge is that sometimes the geodetic conveying height and thus the parameter k required for the regulator are not known. It is therefore proposed within the scope of this concept to determine the operating parameter k. For this purpose, k is initially assumed to be zero when the regulator is switched on. As shown in fig. 2, the actual transport height is thus incorrect by an error value (err). By detecting the difference between the target transport height and the actual transport height adjusted by the pump control means, the error value (err) is known. By equivalent substitution of equation 2 and equation 5, the correction value k can be determined by means of the error value.

(equation 7).

The determination of k is carried out periodically during the operation of the pump, since the geodetic conveying height changes during operation.

Figure 3 shows the results of the test with three different regulator types. The conditioning path tested was a pump that had overcome the geodetic delivery height. As regulators, PI-regulators, conventional affine regulators and affine regulators with the correction parameters extended according to the invention were tested. The desired target-delivery height was 5m for all regulator types tested.

Fig. 3 shows a time diagram of the actual transport height adjusted by the respective actuator type. The curve profile 2 of a conventional affine actuator, which initially shows a strong overshoot and which, due to the iterative correction of the control deviation, reaches the target transport height, does not correct the geodetic height. The PI controller likewise reaches its target value with a curve profile 3, but this result requires a high outlay in the correct setting of the controller parameters. The curve 1 of the affine regulator, which takes into account the geodetic height, shows the best results. No overshoot, no residual adjustment deviation, and a smooth target-delivery height. Furthermore, no adjustment of the regulator parameters is required. This ensures a high degree of stability of the actuator even in the event of changes in the operating behavior.

Claims

1. A method for regulating the rotational speed of a centrifugal pump operating in an open hydraulic circuit, wherein a regulator of a pump control device determines a target rotational speed of a pump drive, taking into account a target delivery height and an actual rotational speed,

it is characterized in that the preparation method is characterized in that,

for calculating the target rotational speed, the controller takes into account correction parameters for describing the geodetic height, wherein the controller is based at least on the components of the affine law for determining the control value.

2. Method according to claim 1, characterized in that the regulator assumes a quadratic relation between the rotational speed and the transport height for calculating the regulating value.

3. The method as claimed in claim 2, characterized in that the regulator determines the target rotational speed from the ratio of the quadratic relation between the target rotational speed and the target transport height to the quadratic relation between the actual rotational speed and the actual transport height.

4. A method as claimed in claim 2 or 3, characterized in that the parabola defined by the quadratic relation is moved to the origin of the coordinate system by means of the correction parameters.

5. Method according to claim 1, characterized in that the correction parameter values are determined during continuous pump operation.

6. The method of claim 5, wherein the calibration parameter is set to a known initial value at the start of pump operation.

7. The method of claim 6, wherein the calibration parameter is set to zero at the start of pump operation.

8. Method according to claim 5 or 6, characterized in that the correction parameter is derived from the adjustment error during continuous pump operation.

9. The method as claimed in claim 8, characterized in that the correction parameter is derived from the difference between the target delivery height and the actual delivery height during continuous pump operation.

10. The method of claim 8, wherein the equation is used

To calculate the correction parameter, where k represents the correction parameter, err represents the error value, and H_SollIndicating target-conveying height, H_IstRepresenting the actual-transport height.

11. Method according to any of the preceding claims 5 to 7, characterized in that the determination of the correction parameters is carried out during the operation of the pump at the first start of operation and/or periodically at periodic intervals and/or randomly.

12. A centrifugal pump with a pump control mechanism for carrying out the method according to any one of the preceding claims.