CN111255623B - Fault detection method for double-sensor redundancy of hydraulic turbine speed governor servomotor - Google Patents
Fault detection method for double-sensor redundancy of hydraulic turbine speed governor servomotor Download PDFInfo
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- CN111255623B CN111255623B CN202010056959.2A CN202010056959A CN111255623B CN 111255623 B CN111255623 B CN 111255623B CN 202010056959 A CN202010056959 A CN 202010056959A CN 111255623 B CN111255623 B CN 111255623B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- 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
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/80—Diagnostics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Control Of Turbines (AREA)
Abstract
The invention relates to the technical field of hydraulic turbine speed regulator control systems in hydropower stations, in particular to a double-sensor redundancy fault detection method for a hydraulic turbine speed regulator servomotor. By the method, the problem that the fault of the displacement sensor cannot be detected under the condition that the connecting rod of the servomotor displacement sensor slide block is broken or the pull wire is broken but the output signal is normal can be effectively solved, and the misjudgment of other fault types is effectively prevented; the reliability of the speed regulator control system of the water turbine is greatly improved, and the safe and stable operation of the water turbine generator set is ensured.
Description
Technical Field
The invention relates to the technical field of hydropower station water turbine speed governor control systems, in particular to a fault detection method for double sensor redundancy of a water turbine speed governor servomotor.
Background
Hydropower is a clean energy, is renewable, pollution-free, low in cost and good in comprehensive economic benefit, and plays an extremely important role in the energy development history of China. The governor of the hydraulic turbine is a very important auxiliary control equipment in the hydroelectric power generation process, and the quality of its operation directly determines the safe and stable operation of the unit. The servomotor is one of core elements for controlling the rotating speed of the water turbine, and a magnetostrictive displacement sensor or a stay wire displacement sensor is generally selected for measuring the position of the servomotor. At present, the fault detection is mainly carried out according to the output signal range of the displacement sensor, when the output signal of the displacement sensor exceeds a specified range, the fault of the displacement sensor is judged, but the fault detection method can only detect the faults of internal circuits such as broken wires of the sensor and the like, and can not detect the feedback fault of the displacement sensor caused by the breakage of a connecting rod of a slide block of the displacement sensor or the breakage of a pull wire, because the output signal of the displacement sensor is in a normal range when the faults occur.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method for detecting the redundant faults of the double sensors of the hydraulic turbine governor servomotor, which can effectively solve the problem that the faults of the displacement sensor cannot be detected under the condition that the connecting rod of the servomotor displacement sensor slide block is broken or the pull wire is broken but the output signal is normal, and effectively prevent the misjudgment of other fault types.
The invention is realized by adopting the following technical scheme:
a redundant fault detection method of double sensors of a hydraulic turbine governor servomotor is characterized in that: the method comprises the following steps of carrying out fault detection on a displacement sensor in a mutual redundancy mode of a first displacement sensor and a second displacement sensor, wherein the fault detection specifically comprises the following steps:
a. measuring the actual position Pos of the servomotor by using the displacement sensor1Measuring the actual position Pos of the servomotor by using the second displacement sensor2；
b. Calculating a main valve position given MDV _ Ref;
c. actual position Pos of butt joint force device1And Pos2Respectively differentiating to obtain the displacement change Rate Pos _ Rate of the servomotor1And Pos _ Rate2；
d. Displacement change Rate Pos _ Rate of butt joint force device1And Pos _ Rate2Differentiating to obtain the displacement change acceleration Pos _ Acc of the servomotor1And Pos _ Acc2；
e. And judging faults of the first displacement sensor and the second displacement sensor, wherein the judging method specifically comprises the following steps:
e1if the displacement sensor is active, and (Pos _ Rate)1>Vlim&MDV_Ref<-Ylim)||(Pos_Rate1＜-Vlim&MDV_Ref＞Ylim) And simultaneously detects | Pos _ Rate1-Pos_Rate2|>VdiffMaintenance of To in the above statenThen, judging that the first displacement sensor fails;
e2if | Pos _ Rate1|＜VminAnd | Pos _ Rate1-Pos_Rate2|>VdiffAnd at the same time detecting Pos _ Acc2<AlimAbove state maintaining TonThen, judging that the first displacement sensor fails;
e3if the displacement sensor is active two, and (Pos _ Rate)2>Vlim&MDV_Ref<-Ylim)||(Pos_Rate2＜-Vlim&MDV_Ref＞Ylim) And simultaneously detects | Pos _ Rate1-Pos_Rate2|>VdiffMaintenance of To in the above statenThen, judging that the second displacement sensor fails;
e4if | Pos _ Rate2|＜VminAnd | Pos _ Rate1-Pos_Rate2|>VdiffAnd at the same time detecting Pos _ Acc1<AlimAfter the state maintains Ton, judging that a second displacement sensor fails;
wherein, VlimIs a preset displacement change rate limit value, Y, of the displacement sensor I or the displacement sensor IIlimFor preset main valve position set-point, VdiffIs a preset threshold value V of the difference value of the displacement change rates of the first displacement sensor and the second displacement sensorminIs the preset minimum value of the displacement change rate of the first displacement sensor or the second displacement sensor, AlimThe displacement change acceleration limit value is a preset displacement change acceleration limit value of the first displacement sensor or the second displacement sensor.
In the step e, when the displacement change acceleration Pos _ Acc is detected2Or Pos _ Acc1From above AlimBecomes lower than AlimWill delay TofThen, a change occurs, said TofIs a preset fall delay time.
The V islimIn the range of [ 1%/s to 5%/s]；YlimThe range of (A) is (5-10%)]；VdiffIn the range of [ 2%/s to 3%/s]；VminIn the range of [ 0.5%/s to 1%/s]；AlimIn the range of [ 20%/s2～25％/s2]；TonThe value of (d) is 0.5 s; t isofThe value of (d) is 5 s.
The V islim＝5％/s，Ylim＝5％，Vdiff＝2％/s，Vmin＝0.5％/s，Alim＝20％/s2。
And when the first displacement sensor or the second displacement sensor is judged to be in fault, sending out a corresponding fault alarm.
Compared with the prior art, the invention has the beneficial effects that:
1. fault detection is carried out on the displacement sensor in a mutual redundancy mode of the first displacement sensor and the second displacement sensor, so that the two displacement sensors can be mutually referred, and the accuracy of fault detection is improved; meanwhile, the two displacement sensors are mutually redundant, and when one active displacement sensor fails, the speed regulating system can be switched to the other standby displacement sensor in time.
According to the method, the corresponding logic judgment is carried out by measuring and calculating the displacement change rate, the displacement change rate difference, the displacement change acceleration and the values of other related variables of the two displacement sensors, so that the fault condition of the redundant displacement sensor of the servomotor is obtained. Under the condition that the output signal is normal, the method can be used for detecting the servomotor displacement sensor fault caused by the breakage of the slider connecting rod of the magnetostrictive displacement sensor and can also be used for detecting the displacement sensor fault caused by the breakage of the stay wire displacement sensor.
2. By introducing a difference in displacement change rate into the failure determination, it is possible to prevent erroneous determination of a failure of the displacement sensor when the switching valve is clogged. The displacement change acceleration is introduced into fault judgment, so that the fault misjudgment of the displacement sensor by the instantaneous acceleration generated at the moment of breakage of the stay wire is prevented when the stay wire displacement sensor is used. The displacement change acceleration of the displacement sensor is higher than AlimBecomes lower than AlimWill delay TofLater change occurs, so that the situation that when the Pos _ Acc is changed is prevented1＞AlimAnd Pos _ Acc2＞AlimToo short time intervalResulting in erroneous judgment. When the fault of the redundant displacement sensor is efficiently detected, the misjudgment of other fault types is effectively prevented, the reliability of the speed regulator control system of the water turbine is greatly improved, and the safe and stable operation of the water turbine generator set is ensured.
3、TofTake 5 seconds, TonAnd taking 0.5 second, and utilizing the most reasonable time value to avoid misjudgment, ensure the accuracy of fault detection and avoid the error switching of the sensor.
4. When the judgment fails, corresponding alarm can be generated, so that the reminding function is played, and the reminding is more striking and timely.
Drawings
The invention will be described in further detail with reference to the following description taken in conjunction with the accompanying drawings and detailed description, in which:
FIG. 1 is a logic diagram for judging a failure of a displacement Sensor according to the present invention (wherein Sensor _ Act1 indicates that the displacement Sensor is a primary Sensor, and Sensor _ Flt1 indicates that the displacement Sensor is a failure);
FIG. 2 shows the logic for judging the failure of the second displacement Sensor (wherein Sensor _ Act2 indicates the second primary displacement Sensor and Sensor _ Flt2 indicates the failure of the second displacement Sensor);
FIG. 3 is a timing delay sequence for preventing erroneous judgment at the moment of breakage of a pull wire of the displacement sensor according to the present invention;
FIG. 4 is a timing delay sequence for preventing erroneous judgment at the moment of breakage of two wires of the displacement sensor in the present invention;
Detailed Description
Example 1
As a basic implementation mode of the invention, referring to the attached drawing 1 of the specification, the invention comprises a fault detection method for dual-sensor redundancy of a hydraulic turbine governor servomotor, which adopts a mutual redundancy mode of a first displacement sensor and a second displacement sensor to carry out fault detection on a displacement sensor of a power booster, and the fault detection specifically comprises the following steps:
a. measuring the actual position Pos of the servomotor by using the displacement sensor1Measuring the actual position Pos of the servomotor by using the second displacement sensor2；
b. Measuring a main valve position given MDV _ Ref;
c. in the program cycle period, the actual position Pos of the force device is connected1And Pos2Respectively differentiating to obtain the displacement change Rate Pos _ Rate of the servomotor1And Pos _ Rate2；
d. Displacement change Rate Pos _ Rate of butt joint force device1And Pos _ Rate2Differentiating to obtain the displacement change acceleration Pos _ Acc of the servomotor1And Pos _ Acc2；
e. And carrying out fault judgment on the first displacement sensor and the second displacement sensor, and when the connecting rod of the sliding block of the magnetostrictive displacement sensor is broken, if the first displacement sensor is in use, measuring the Pos _ Rate in real time1>Vlim&MDV_Ref<-YlimAnd simultaneously detects | Pos _ Rate1-Pos_Rate2|>VdiffMaintenance of To in the above statenAnd then judging that the first displacement sensor fails. The V islim、Ylim、VdiffAnd TonIs a constant of each threshold value, VlimThe displacement change rate limit value of the first displacement sensor is 5%/s; y islimThe set value of the preset main valve position can be 5% in unit percent; vdiffThe unit percent/s is a preset threshold value of the difference value of the displacement change rates of the first displacement sensor and the second displacement sensor, and can be 2 percent/s; t isonFor the duration, 0.5 second may be taken.
If the | Pos _ Rate is measured1|＜VminAnd | Pos _ Rate1-Pos_Rate2|>2%/s, and at the same time, Pos _ Acc is detected2<AlimAnd after the state is maintained to be 0.5, judging that the first displacement sensor fails. The V isminAnd AlimIs a constant of each threshold value, VminThe minimum value of the displacement change rate of the first displacement sensor is preset and can be 0.5%/s, AlimThe displacement change acceleration limit value of the second displacement sensor is preset and can be 20%/s2。
Example 2
As a preferred embodiment of the present invention, referring to the attached fig. 2 of the specification, the present invention comprises a redundant fault detection method for dual sensors of a governor servomotor of a hydraulic turbine, compared with embodiment 1, the steps of the detection method are the same as those of steps a, b, c and d of embodiment 1, except that step e:
and carrying out fault judgment on the first displacement sensor and the second displacement sensor, and when the connecting rod of the sliding block of the magnetostrictive displacement sensor is broken, if the second displacement sensor is in active use, measuring the Pos _ Rate in real time2＜-1％/s&MDV _ Ref > 10%, and | Pos _ Rate is detected at the same time1-Pos_Rate2|>And 3%/s, and after the state is maintained for 0.3s, judging that the second displacement sensor fails.
If the | Pos _ Rate is measured2| less than 1%/s, and | Pos _ Rate1-Pos_Rate2|>3%/s, and at the same time detecting Pos _ Acc1<25％/s2And after the state is maintained for 0.3s, judging that the second displacement sensor fails.
Example 3
As the best mode of the invention, referring to the attached drawing 1 of the specification, the attached drawing 2 of the specification, the attached drawing 3 of the specification and the attached drawing 4 of the specification, the invention comprises a double-sensor redundant fault detection method of the hydraulic governor servomotor, the detection method utilizes double sensors, namely a displacement sensor I and a displacement sensor II, and adopts a mutual redundant mode of the double sensors to carry out fault detection on a displacement sensor of a power device, so that the fault of the displacement sensor can be efficiently detected under the condition that a connecting rod of a sliding block of the displacement sensor is broken or a pull wire is broken but an output signal is normal, and the error judgment of other fault types is effectively prevented; the detection method comprises the following steps:
a. measuring the actual position Pos of the servomotor by using the displacement sensor1Measuring the actual position Pos of the servomotor by using the second displacement sensor2；
b. Measuring the position of a main valve, and setting MDV _ Ref, wherein the position of the main valve is set as a difference value between the regulated output and the displacement feedback of the servomotor; presetting the calling time interval of the fault detection program as Tc；
c. Actual position P of butt joint force deviceos1And Pos2Respectively differentiating to obtain the displacement change Rate Pos _ Rate of the servomotor1And Pos _ Rate2；
d. Displacement change Rate Pos _ Rate of butt joint force device1And Pos _ Rate2Differentiating to obtain the displacement change acceleration Pos _ Acc of the servomotor1And Pos _ Acc2；
e. And judging faults of the first displacement sensor and the second displacement sensor.
If at | Pos _ Rate1When | < 0.5%/s, the two pull wires of the displacement sensor are suddenly broken, and because the instantaneous acceleration can be generated at the moment of breaking the pull wires, the | Pos _ Rate can be measured at the moment1-Pos_Rate2|>2%/s; in order to prevent the fault of the displacement sensor caused by misjudgment, the displacement change acceleration of the sensor is introduced for judgment, and Pos _ Acc is measured in real time2>20％/s2And maintain TofDuration of time, wherein TofCan be 5s, so that a failure of the displacement sensor is not sent out; when the second displacement sensor is stable and the servomotor starts to move, the | Pos _ Rate is determined according to the detection result2|＜0.5％/s&|Pos_Rate1-Pos_Rate2|>2％/s&Pos_Acc1<20％/s2And after the state is maintained for 0.5 second, judging that the second displacement sensor has a fault, and sending out a fault alarm of the second displacement sensor.
Example 4
As another preferred embodiment of the present invention, referring to the attached fig. 1, 2, 3 and 4 of the specification, the present invention comprises a dual sensor redundant fault detection method for governor hydraulic servomotor, compared with the embodiment 3, the steps of the detection method are the same as the steps a, b, c and d in the embodiment 3, except that the step e:
judging faults of the first displacement sensor and the second displacement sensor, and if the faults are in the Pos _ Rate2When | < 0.8%/s, the stay wire of the displacement sensor is suddenly broken, and because the instantaneous acceleration can be generated at the moment of breaking the stay wire, the | Pos _ Rate can be measured at the moment1-Pos_Rate2|>2.2%/s; in order to prevent the displacement sensor from being judged as a second fault by mistakeJudging the displacement change acceleration of the sensor, and measuring Pos _ Acc in real time1>23％/s2And maintain TofDuration of time, wherein TofCan be 5s, so that the second displacement sensor can not be out of order; when the displacement sensor is stable and the servomotor starts to move, the | Pos _ Rate is determined according to the detection result1|＜0.8％/s&|Pos_Rate1-Pos_Rate2|>2.2％/s&Pos_Acc2<23％/s2And after the state is maintained for 0.5 second, judging that the displacement sensor has a fault, and sending out a fault alarm of the displacement sensor.
In this procedure, Pos _ Acc is measured in real time1>23％/s2And maintain TofDuration, i.e. acceleration Pos _ Acc when displacement change is detected1From more than 23%/s2Becomes lower than 23%/s2Will delay TofThen, a change occurs, said TofIs a preset fall delay time, i.e., a time for maintaining a high level.
In summary, after reading the present disclosure, those skilled in the art should make various other modifications without creative efforts according to the technical solutions and concepts of the present disclosure, which are within the protection scope of the present disclosure.
Claims (5)
1. A redundant fault detection method of double sensors of a hydraulic turbine governor servomotor is characterized in that: the method comprises the following steps of carrying out fault detection on a displacement sensor in a mutual redundancy mode of a first displacement sensor and a second displacement sensor, wherein the fault detection specifically comprises the following steps:
a. measuring the actual position Pos of the servomotor by using the displacement sensor1Measuring the actual position Pos of the servomotor by using the second displacement sensor2；
b. Calculating a main valve position given MDV _ Ref;
c. actual position Pos of butt joint force device1And Pos2Respectively differentiating to obtain the displacement change Rate Pos _ Rate of the servomotor1And Pos _ Rate2；
d. Displacement change rate Pos of butt joint force deviceRate1Differentiating to obtain the displacement change acceleration Pos _ Acc of the servomotor1To the displacement change Rate Pos _ Rate of the power device2Differentiating to obtain the displacement change acceleration Pos _ Acc of the servomotor2；
e. And judging faults of the first displacement sensor and the second displacement sensor, wherein the judging method specifically comprises the following steps:
e1if the displacement sensor is active, and (Pos _ Rate)1>Vlim&MDV_Ref<-Ylim)||(Pos_Rate1＜-Vlim&MDV_Ref＞Ylim) And simultaneously detects | Pos _ Rate1-Pos_Rate2|>VdiffAbove state maintaining TonThen, judging that the first displacement sensor fails;
e2if | Pos _ Rate1|＜VminAnd | Pos _ Rate1-Pos_Rate2|>VdiffAnd at the same time detecting Pos _ Acc2<AlimAbove state maintaining TonThen, judging that the first displacement sensor fails;
e3if the displacement sensor is active two, and (Pos _ Rate)2>Vlim&MDV_Ref<-Ylim)||(Pos_Rate2＜-Vlim&MDV_Ref＞Ylim) And simultaneously detects | Pos _ Rate1-Pos_Rate2|>VdiffAbove state maintaining TonThen, judging that the second displacement sensor fails;
e4if | Pos _ Rate2|＜VminAnd | Pos _ Rate1-Pos_Rate2|>VdiffAnd at the same time detecting Pos _ Acc1<AlimAbove state maintaining TonThen, judging that the second displacement sensor fails;
wherein, VlimIs a preset displacement change rate limit value, Y, of the displacement sensor I or the displacement sensor IIlimFor preset main valve position set-point, VdiffIs a preset threshold value V of the difference value of the displacement change rates of the first displacement sensor and the second displacement sensorminFor a predetermined displacementMinimum value of displacement change rate of the first sensor or the second displacement sensor, AlimA preset displacement change acceleration limit value of the displacement sensor I or the displacement sensor II, TonIs constant.
2. The method for detecting the redundant fault of the double sensors of the hydraulic turbine governor servomotor according to claim 1, wherein: in the step e, when the displacement change acceleration Pos _ Acc is detected2Or Pos _ Acc1From above AlimBecomes lower than AlimWill delay TofThen, a change occurs, said TofIs a preset fall delay time.
3. The method for detecting the redundant fault of the double sensors of the hydraulic turbine governor servomotor according to claim 1 or 2, wherein: the V islimIn the range of [ 1%/s to 5%/s]；YlimThe range of (A) is (5-10%)]；VdiffIn the range of [ 2%/s to 3%/s]；VminIn the range of [ 0.5%/s to 1%/s]；AlimIn the range of [ 20%/s2～25％/s2]；TonThe value of (d) is 0.5 s; t isofThe value of (d) is 5 s.
4. The method for detecting the redundant fault of the double sensors of the hydraulic turbine governor servomotor according to claim 3, wherein: the V islim＝5％/s，Ylim＝5％，Vdiff＝2％/s，Vmin＝0.5％/s，Alim＝20％/s2。
5. The method for detecting the redundant fault of the double sensors of the hydraulic turbine governor servomotor according to claim 4, wherein: and when the first displacement sensor or the second displacement sensor is judged to be in fault, sending out a corresponding fault alarm.
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| CN112502896B (en) * | 2020-11-30 | 2022-05-20 | 中国长江电力股份有限公司 | Early warning method and system for deviation degree of action rate of servomotor of water turbine |
| CN112504106A (en) * | 2020-12-08 | 2021-03-16 | 中国长江电力股份有限公司 | Displacement monitoring device and method for main distributing valve of water turbine speed regulator |
| CN112983931B (en) * | 2021-03-18 | 2023-04-07 | 山信软件股份有限公司 | Redundancy detection control system and method for position of hydraulic cylinder |
| CN113107753B (en) * | 2021-06-16 | 2021-08-31 | 中国水利水电科学研究院 | Analog signal value taking method and device of water turbine speed regulating system based on three-way input |
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| CN204576253U (en) * | 2015-03-17 | 2015-08-19 | 南方电网科学研究院有限责任公司 | A kind of dynamo governor dynamic property pick-up unit |
| CN104791187A (en) * | 2015-04-08 | 2015-07-22 | 武汉四创自动控制技术有限责任公司 | Water-turbine adjustment system and method capable of forecasting health status |
| CN107676218A (en) * | 2017-09-15 | 2018-02-09 | 中国长江电力股份有限公司 | A kind of giant turbine speed regulator master, which connects, follows fault judgment method |
| CN108468615A (en) * | 2018-02-05 | 2018-08-31 | 中国长江电力股份有限公司 | Self diagnosis self-positioning adaptive approach in position in a kind of governor Hydrawlic Slave System |
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