CN111323156A - Robust hydraulic dynamometer control method - Google Patents

Robust hydraulic dynamometer control method Download PDF

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Publication number
CN111323156A
CN111323156A CN202010220062.9A CN202010220062A CN111323156A CN 111323156 A CN111323156 A CN 111323156A CN 202010220062 A CN202010220062 A CN 202010220062A CN 111323156 A CN111323156 A CN 111323156A
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control
drain valve
opening degree
prime motor
rotating speed
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CN111323156B (en
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曾文静
李天池
谷洋洋
周阳
杨兆瀚
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703th Research Institute of CSIC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/24—Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity
    • G01L3/242—Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity by measuring and simultaneously multiplying torque and velocity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Combustion & Propulsion (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Automation & Control Theory (AREA)
  • Testing Of Engines (AREA)

Abstract

A robust hydraulic dynamometer control method belongs to the technical field of prime mover verification. The invention aims to solve the problems that the existing control strategy of the hydraulic dynamometer has poor adaptive regulation capability and damages the prime mover. The method comprises the following steps: obtaining a corresponding inlet valve opening degree change curve in the whole working condition range of the prime motor through a manual control mode; meanwhile, the corresponding drain valve opening variation curve in the whole working condition range of the prime motor is obtained by fitting by taking the rotating speed of the unit as a reference point; the unit refers to an integral body formed by connecting a prime motor and a dynamometer together; according to the change curve of the opening degree of the water inlet valve, performing open-loop control on the water inlet valve; when the rotating speed of the unit corresponds to the torque control range of the working point of the prime motor, the rated torque of the dynamometer corresponding to the working point is taken as a fixed torque control target value, and closed-loop control is carried out to output the opening degree of the drain valve; otherwise, according to the opening change curve of the drain valve, open-loop control is carried out on the drain valve. The invention is used for controlling the hydraulic dynamometer.

Description

Robust hydraulic dynamometer control method
Technical Field
The invention relates to a robust hydraulic dynamometer control method, and belongs to the technical field of prime mover verification.
Background
The hydraulic dynamometer is generally used for performance verification of the prime mover, and before the prime mover leaves a factory, the hydraulic dynamometer can be used as a simulated load and matched with the on-load operation of the prime mover. The prime mover generally includes a steam turbine, a gas turbine, an electric motor, and the like.
The hydraulic dynamometer has the capacity of adjusting the load according to the working condition of the prime motor, and the load capacity is adjusted by the water inlet valve and the water discharge valve of the body. When water flows to a water inlet pipeline from the high-level water tank, the water inlet valve is opened to enable the water to enter a water cavity of the hydraulic dynamometer and rotate along with a rotor in the water cavity, and at the moment, mechanical energy is converted into internal energy; and then the drain valve is opened to enable the heated water to be drained out of the water cavity of the hydraulic dynamometer. The discharged water is pumped back to the high-level water tank by the water pump, and the operation is repeated in a circulating way. The circulation process can continuously consume the power generated by the prime motor, measure the prime motor unit in the operation process and check whether various performance parameters of the prime motor reach design indexes.
The hydraulic dynamometer realizes the power matching with the prime motor by adjusting the opening degree of the water inlet valve and the water discharge valve. The control strategy of the existing hydraulic dynamometer is water inlet valve open-loop control and drain valve closed-loop control, the opening degree of a water inlet valve is changed according to a certain curve, the opening degree of a drain valve is obtained by a PID (proportion integration differentiation) controller, and the parameters of the PID controller are obtained by online setting. The current control strategy has the following drawbacks:
firstly, parameters are debugged on line, the risk coefficient is large, and a prime motor can be damaged;
secondly, the self-adaptive adjusting energy difference is obtained, in the transition from each working condition or a certain working condition to the next working condition, the dynamic response characteristics of the prime motor are different, the parameter requirements on the controller are different, and the segmented setting of PID parameters is involved;
and when the prime motor is also under automatic control, the prime motor and the prime motor do not have a coordinated control strategy, but need to be adjusted mutually for a long time period, so that unstable factors are increased, and the unit is easy to vibrate.
Disclosure of Invention
The invention provides a robust hydraulic dynamometer control method, aiming at solving the problems that the existing control strategy of a hydraulic dynamometer is poor in self-adaptive regulation capability and damages the prime mover.
The robust hydraulic dynamometer control method comprises the following steps:
obtaining a corresponding inlet valve opening degree change curve in the whole working condition range of the prime motor through a manual control mode; meanwhile, the corresponding drain valve opening variation curve in the whole working condition range of the prime motor is obtained by fitting by taking the rotating speed of the unit as a reference point; the unit refers to an integral body formed by connecting a prime motor and a dynamometer together;
according to the change curve of the opening degree of the water inlet valve, performing open-loop control on the water inlet valve;
when the rotating speed of the unit corresponds to the torque control range of the working point of the prime motor, the rated torque of the dynamometer corresponding to the working point is taken as a fixed torque control target value, and closed-loop control is carried out to output the opening degree of the drain valve; otherwise, according to the opening change curve of the drain valve, open-loop control is carried out on the drain valve.
According to the robust hydraulic dynamometer control method of the present invention, the controlling of the drain valve specifically includes:
collecting the current rotating speed of the unit, and judging whether the value of the current rotating speed is in n0If yes, the unit is judged to be in the torque control range of the working point of the prime motor, and the opening degree of the drainage valve is obtained by torque control; wherein n is0The rated rotating speed of the working condition point is adopted, and delta is a threshold value of the working condition point interval; otherwise, the opening degree of the drain valve is obtained by controlling the opening degree change curve of the drain valve.
The invention has the advantages that: according to the method, after the experimental properties of the hydraulic dynamometer are analyzed, the control strategy of the hydraulic dynamometer is adjusted, the mode of obtaining the opening instruction of the drain valve is improved, and the running stability of the unit is improved; the method of the invention simplifies the setting of the controller parameters, reduces the risk coefficient, and is a stable, reliable and strong-practicability control method.
Drawings
FIG. 1 is a block diagram of the rotational speed control of the present invention;
FIG. 2 is a torque control block diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious 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.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The first embodiment is as follows: the present embodiment is described below with reference to fig. 1 and 2, and the robust hydraulic dynamometer control method according to the present embodiment includes:
obtaining a corresponding inlet valve opening degree change curve in the whole working condition range of the prime motor through a manual control mode; meanwhile, the corresponding drain valve opening variation curve in the whole working condition range of the prime motor is obtained by fitting by taking the rotating speed of the unit as a reference point; the unit refers to an integral body formed by connecting a prime motor and a dynamometer together; the rotating speeds of the prime motor and the dynamometer are consistent after being combined together;
according to the change curve of the opening degree of the water inlet valve, performing open-loop control on the water inlet valve;
when the rotating speed of the unit corresponds to the torque control range of the working point of the prime motor, the rated torque of the dynamometer corresponding to the working point is taken as a fixed torque control target value, and closed-loop control is carried out to output the opening degree of the drain valve; otherwise, according to the opening change curve of the drain valve, open-loop control is carried out on the drain valve. The whole working condition range of the prime motor comprises a plurality of working condition points, and the opening degree of the drainage valve is controlled by adopting closed-loop torque corresponding to the torque control range of each working condition point; and outside the torque control range of each working condition point, controlling the opening of the drain valve according to the obtained opening change curve of the drain valve.
The application method of the hydraulic dynamometer in the embodiment comprises the following steps:
the prime motor outputs power, and the hydraulic dynamometer absorbs power. When the output power of the prime motor is greater than the absorption power of the hydraulic dynamometer, the rotating speed of the unit is increased; when the output power of the prime motor is equal to the absorption power of the hydraulic dynamometer, the rotating speed of the unit is stable; when the output power of the prime motor is smaller than the absorption power of the hydraulic dynamometer, the rotating speed of the unit is reduced.
The hydraulic dynamometer is matched with a prime motor for experiment, and the hydraulic dynamometer needs to adjust a water ring to enable the prime motor to stably work at a certain specific working condition point or to follow the prime motor to run from a certain working condition to another working condition in the rotation process of the prime motor. The prime mover controls the output power, and the hydraulic dynamometer realizes the absorption of the same power by adjusting the water inflow and the water discharge of the hydraulic dynamometer.
The performance index of the prime motor is closely related to the design working condition of the prime motor, so that whether the hydraulic dynamometer can be stable in the design working condition of the prime motor is a necessary condition for providing an experimental platform for the prime motor.
The control core of the hydraulic dynamometer is as follows:
the control of the hydraulic dynamometer comprises manual control and automatic control, wherein the manual control is that after an operator observes the running state of the prime mover, the opening of the water inlet and discharge valve is manually adjusted to match the output power of the prime mover in real time; the automatic control automatically follows each working condition of the prime motor without intervention of an operator.
The automatic control mode of the hydraulic dynamometer comprises the following steps:
A. the target value of the closed-loop control is a rotation speed value, as shown in fig. 1. And taking the result of the difference between the target rotating speed and the actual rotating speed of the dynamometer as a control instruction of a rotating speed controller, processing the control instruction by the rotating speed controller to obtain a valve position instruction of the water inlet valve or the water discharge valve, inputting the result of the difference between the valve position instruction and the valve position feedback signal into an execution mechanism, and controlling the action of the corresponding water inlet valve or the water discharge valve by the execution mechanism to achieve the control opening degree.
B. The target value of the closed-loop control of the torque control, shown in fig. 2, is a torque value. And the difference result between the valve position instruction and the valve position feedback signal is input to an execution mechanism, and the execution mechanism controls the corresponding water inlet valve or the water discharge valve to act so as to control the opening.
C. And (4) controlling a power curve, and realizing full-automatic following by the hydraulic dynamometer according to a specific power curve.
The above three control modes can be reasonably selected according to actual requirements, and when the rotation speed (or torque) is determined, the torque (or rotation speed) is also determined when the prime mover generates power. And the power curve is that the torque (or the rotating speed) is calculated in real time through the rotating speed (or the torque) and is used as a tracking target value. Therefore, the core of the three control modes can be essentially classified as constant torque control or constant rotation speed control. The hydraulic dynamometer is controlled by adjusting water inlet and outlet amount, and compared with the rotating speed, the control on the torque is more direct, and the constant torque control is mostly used in general experiments.
The hydraulic dynamometer needs to be statically and dynamically debugged in the early stage of a factory performance checking experiment matched with a prime motor, wherein one item is PID parameter setting of a torque controller of the hydraulic dynamometer. The existing control strategy is to control the opening of a water inlet valve in an open loop mode and control the opening of a water discharge valve in a closed loop mode. The reasonable opening degree of the water inlet valve is firstly searched under a manual mode, then the parameters of the torque controller are set on line under each working condition, the experimental state is entered after the setting is finished, and the opening degree of the drainage valve is obtained by the controller.
The embodiment provides a robust method for realizing automatic control of the hydraulic dynamometer under the condition of the same early-stage debugging time in order to reduce debugging risk and improve the efficiency and effect of parameter setting of the controller. According to debugging experience, a prime motor is taken as a steam turbine as an example, the prime motor is mainly used for lifting working conditions or is stabilized at a certain working condition point, the experimental property is simple, the experimental condition is stable, and the parameters (such as the opening degree of a water inlet valve, the opening degree of a water discharge valve, the water temperature and the like) of the hydraulic dynamometer can not change sharply when the prime motor is operated for the first time and the Nth time. Therefore, the reasonable opening of the water inlet valve can be found manually, and the opening change trend of the drain valve can be recorded by taking the rotating speed as a reference point. When a certain working condition point is transited to another working condition point, the opening of the drain valve is controlled in an open loop mode by using the recording point, and when the rotating speed reaches the vicinity of the working condition point, the torque corresponding to the working condition point is used as a target value, and the closed loop control is carried out so as to be accurately stabilized at the working condition point.
Further, controlling the drain valve specifically includes:
collecting the current rotating speed of the unit, and judging whether the value of the current rotating speed is in n0If yes, the unit is judged to be in the torque control range of the working point of the prime motor, and the opening degree of the drainage valve is obtained by torque control; wherein n is0The rated rotating speed of the working condition point is adopted, and delta is a threshold value of the working condition point interval; otherwise, the opening degree of the drain valve is obtained by controlling the opening degree change curve of the drain valve.
The delta is a range threshold value selected near the working condition point, and when the rotating speed of the unit enters n0Within ± Δ, constant torque control is enabled, and because the torque variation range is small, the controller parameter setting does not need to have too much constraint, the control is relatively easy, and the matching with the prime mover is more stable. In the conventional method, constant torque control is directly used, on one hand, a prime motor is also adjusted, dynamometers are also adjusted and are disturbed mutually, and a unit is not easy to stabilize; on the other hand, the torque adjusting range of the dynamometer is large, the selection of the parameters of the controller needs to be very careful, especially in the high working condition, the influence of the parameters is large, and a group of parameters which are suitable for the high working condition but not suitable for the low working condition are quite possible, and the reverse is also true. Therefore, in order to reduce difficulty and risk, the method firstly opens the loop to be controlled to be close to the working point and then uses the closed-loop controller for fine adjustment. And the interval near the working point defined by delta is used as a boundary for carrying out open-loop control and closed-loop control on the water discharge valve.
The method comprises the following specific implementation steps:
1. when the prime motor is matched and debugged in the early period, the experiment is carried out by using a manual control mode of the hydraulic dynamometer, and the reasonable opening degree of the water inlet valve in the whole working condition range is obtained; meanwhile, the opening degree variation trend of the drain valve is fitted by taking the rotating speed as a reference point. The specific obtaining process is as follows: the opening range of the water inlet and the water outlet valve is searched by manually matching with a prime motor, so that when the prime motor reaches a working point, the opening of the water inlet valve and the water outlet valve is kept between 25% and 75% as much as possible (the working characteristic of the valve body between the opening is good), the water inlet valve is kept at a fixed value best if no special needs exist (so as to reduce disturbance to a unit), and meanwhile, the water outlet valve is reasonably adjusted under the condition of proper water outlet temperature. And recording the ideal opening data of the water inlet valve and the water discharge valve at each working condition point, fitting into a curve, and taking the curve as control input.
2. Setting the opening degree of the water inlet valve in a program to be used for carrying out open-loop control on the water inlet valve;
3. setting a fitting curve of the opening of the drain valve in a program, and accordingly performing open-loop control on the drain valve in the process of transition between the working condition and the working condition;
4. and in the vicinity of the working point (the rotating speed is in the torque control range of the working point), taking the rated torque corresponding to the working point as the target value of the constant torque control, and performing closed-loop control to output the opening degree of the drain valve.
As an example, implementations may include:
sub-control start; entering a control subprogram;
n-speed; collecting the current rotating speed;
output1 ═ f1 (n); the opening degree of the water inlet valve is obtained from an empirical curve;
If
n is in F; judging whether the rotating speed is near the working point, n0±Δ，n0Setting the range as a rated rotating speed, wherein delta is a threshold value of a working condition point interval of the steam turbine;
Then
Output2＝PID(T0) (ii) a If yes, the opening degree of the drain valve is calculated by a torque controller, T0Is n0A corresponding rated torque;
Else
output2 ═ f2 (n); if not, the opening degree of the drain valve is obtained from the previous fitted curve;
end; the subroutine ends.
Further, as an example:
the current working condition of the steam turbine is the rotating speed of 90RPM, the hydraulic dynamometer is in a constant torque control state, and the unit is stable. And taking delta as 1RPM, switching the drain valve to open-loop control when the rotating speed is greater than 91RPM after the turbine is about to rise to the next operating condition of 140RPM, and obtaining corresponding opening degree by fitting a curve until the rotating speed reaches 139RPM, and switching the opening degree of the drain valve to be obtained by a torque controller (torque controller) until the target value of the torque controller is the torque corresponding to 140RPM until the prime motor and the hydraulic dynamometer are stabilized at the operating point of 140 RPM.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.

Claims (2)

1. A robust hydraulic dynamometer control method, comprising:
obtaining a corresponding inlet valve opening degree change curve in the whole working condition range of the prime motor through a manual control mode; meanwhile, the corresponding drain valve opening variation curve in the whole working condition range of the prime motor is obtained by fitting by taking the rotating speed of the unit as a reference point; the unit refers to an integral body formed by connecting a prime motor and a dynamometer together;
according to the change curve of the opening degree of the water inlet valve, performing open-loop control on the water inlet valve;
when the rotating speed of the unit corresponds to the torque control range of the working point of the prime motor, the rated torque of the dynamometer corresponding to the working point is taken as a fixed torque control target value, and closed-loop control is carried out to output the opening degree of the drain valve; otherwise, according to the opening change curve of the drain valve, open-loop control is carried out on the drain valve.
2. The robust hydraulic dynamometer control method of claim 1,
controlling the drain valve specifically includes:
collecting the current rotating speed of the unit, and judging whether the value of the current rotating speed is in n0If yes, the unit is judged to be in the torque control range of the working point of the prime motor, and the opening degree of the drainage valve is obtained by torque control; wherein n is0The rated rotating speed of the working condition point is adopted, and delta is a threshold value of the working condition point interval; otherwise, the opening degree of the drain valve is obtained by controlling the opening degree change curve of the drain valve.
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Cited By (1)

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CN114233407A (en) * 2021-12-02 2022-03-25 中国船舶重工集团公司第七0三研究所 Water supply electric valve and steam turbine rotating speed interlocking control method

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Publication number Priority date Publication date Assignee Title
CN114233407A (en) * 2021-12-02 2022-03-25 中国船舶重工集团公司第七0三研究所 Water supply electric valve and steam turbine rotating speed interlocking control method
CN114233407B (en) * 2021-12-02 2023-11-24 中国船舶重工集团公司第七0三研究所 Interlocking control method for water supply electric valve and turbine rotating speed

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