CN111830943B - Method for identifying faults of electric actuator of gas turbine - Google Patents
Method for identifying faults of electric actuator of gas turbine Download PDFInfo
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- CN111830943B CN111830943B CN202010733536.XA CN202010733536A CN111830943B CN 111830943 B CN111830943 B CN 111830943B CN 202010733536 A CN202010733536 A CN 202010733536A CN 111830943 B CN111830943 B CN 111830943B
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- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
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Abstract
The invention discloses a fault identification method of a gas turbine electric actuator, belonging to the technical field of fault detection of a gas turbine control system, comprising the following steps: determining a nonlinear model of the electric actuator; adding a non-linear component to an observer; calculating a residual signal; determining a relationship between the residual signal and the fault; the invention introduces feedback proportional to the residual error, ensures that the observer is in a sliding mode, and carries out fault estimation. The method can detect and accurately estimate the real-time value of the fault, does not need to use an additional sensor to measure all elements of the state vector of the gas turbine electric actuator, and lays a foundation for developing fault identification research of the gas turbine electric actuator; the method has very important practical significance for theoretical research and engineering application of fault identification of the actuator of the gas turbine control system.
Description
Technical Field
The invention belongs to the technical field of fault detection of gas turbine control systems, and particularly relates to a fault identification method of a gas turbine electric actuator.
Background
The gas turbine uses continuously flowing gas as a working medium to drive the impeller to rotate at a high speed, converts the energy of fuel into useful work, and is complex power equipment. Although the gas turbine has a series of advanced technical characteristics of quick start, low noise, small volume, high power and the like, the gas turbine has a complex structure and is easy to have various faults when working in a high-temperature and high-pressure severe environment. Statistically, 80% of gas turbine control system failures are caused by actuators or sensors. The electric actuator is used as an execution unit widely applied to the gas turbine, is convenient to take and use energy, is rapid in signal transmission, but is complex in structure and poor in explosion-proof performance. Therefore, whether the electric actuator can work normally is important for the operation of the unit and the safety of personnel. At present, domestic related research mainly focuses on the aspects of state monitoring and fault diagnosis of a gas turbine body, and the theoretical research and the engineering application aiming at fault identification of an actuator of a gas turbine control system are insufficient. Therefore, the development of the fault identification research of the gas turbine electric actuator has great practical significance.
Disclosure of Invention
The invention provides a fault identification method of an electric actuator of a gas turbine, which comprises the following steps: determining a nonlinear model of the electric actuator; adding a non-linear component to an observer; calculating a residual signal; determining a relationship between the residual signal and the fault; introducing feedback proportional to the residual; ensuring that the observer is in a sliding mode and performing fault estimation; the nonlinear model of the gas turbine electric actuator is characterized in that:
wherein x is a state vector of the electric actuator; y is a vector of state variables measured by the sensors; u is a control signal; f is the fault vector; a is a system dynamics matrix; b is a gain vector of the control signal; c is a vector that determines the nonlinear part of the system; d is an output matrix connecting the state vector and the measurement vector; e is the fault matrix for the fault location.
The vectors and matrices in the above formula are:
in the formula, theta b Is the angle, rad, of the reducer output shaft;is the rotating speed of the output shaft of the reducer, r/s;
θ t is the angle of the motor rotor, rad;is the rotational speed of the motor rotor, r/s; i is the current, A; k is the armature inductance, H; i is a reduction ratio; l r Is the back EMF coefficient, Vs/rad; l n Is the viscous friction coefficient of the reducer, Nms/rad; l h Is the viscous friction coefficient of the motor, Nms/rad; l v Is the torque coefficient, Nm/A; k is a radical of bg Is the dry coefficient of friction, Nm, of the retarder; k is a radical of tg Is the dry coefficient of friction, Nm, of the motor; sign is a sign function; j is the moment of inertia of the motor shaft, kg.m 2 (ii) a R is stator resistance, Ω; m is the actuator output shaft torque, Nm; w is the stiffness coefficient of the mechanical transmission, N/m.
The observer is as follows:
in the formula (I), the compound is shown in the specification,is the state vector of the observer;is the output signal of the observer;is the dynamics matrix of the observer;is a control signal;is a vector connecting the state vector and the output signal;is a vector containing the nonlinear part of the system in the observer; q is a matrix using state variables in the observer; h (r) is a feedback vector; r is a residual signal.
In the case of no fault, the following conditions must be met:
in the formula (I), the compound is shown in the specification,is a matrix connecting the state vectors of the actuator and the observer; ε is the vector that provides the linkage for the state vectors of the actuator and observer.
The residual error r representing whether a fault exists in the electric actuator is as follows:
introducing a feedback proportional to the residual error for fault estimation:
In the formula, a 1 Is a vectorThe corresponding element of (1); j is a function of m Is a vectorThe mth element of (1); f. of n Is the corresponding fault value; c. C m Is a vectorThe corresponding element of (1); h is m (r) is the corresponding element of the feedback vector h (r).
The corresponding elements of the feedback vector are:
in the formula (I), the compound is shown in the specification,andare the first and second derivatives of the residual signal.
The following conditions are satisfied when the above formula is satisfied:
in the formula, b nmax Is b n Maximum value of (d); c. C mmax Is c m Is measured.
The fault estimation is carried out by calculating a corresponding fault value f n Carrying out the following steps:
in the formula, h eq Is the signal h m Average value of sign (T). The failure value is related to the failure reason, failure location, failure time and other factors.
The invention has the advantages that the invention can effectively detect and estimate the fault value; all elements of the state vector of the gas turbine electric actuator are measured without using an additional sensor, so that a foundation is laid for developing fault identification research of the gas turbine electric actuator; the method has very important practical significance for theoretical research and engineering application of fault identification of the actuator of the gas turbine control system.
Drawings
FIG. 1 is a flow chart of the gas turbine electric actuator fault identification;
Fig. 2 is an effect diagram of fault identification of the gas turbine electric actuator.
Detailed Description
The invention provides a method for identifying faults of an electric actuator of a gas turbine, and the invention is described in detail by combining the accompanying drawings and an embodiment.
FIG. 1 is a flow chart of the fault identification of an electric actuator of a gas turbine according to the present invention. The method comprises the following steps: determining a nonlinear model of the electric actuator; adding a non-linear component to an observer; calculating a residual signal; determining a relationship between the residual signal and the fault; introducing feedback proportional to the residual; ensuring that the observer is in a sliding mode; carrying out fault estimation; the nonlinear model of the gas turbine electric actuator is as follows:
wherein x is a state vector of the electric actuator; y is a vector of state variables measured by the sensors;
u is a control signal; f is the fault vector; a is a system dynamics matrix; b is a gain vector of the control signal;
c is a vector that determines the nonlinear part of the system; d is an output matrix connecting the state vector and the measurement vector;
e is the fault matrix for the fault location.
The vectors and matrices in the above formula are:
in the formula, theta b Is the angle, rad, of the reducer output shaft; Is the rotating speed of the output shaft of the reducer, r/s; theta.theta. t Is the angle of the motor rotor, rad;is the rotational speed of the motor rotor, r/s; i is the current, A; k is the armature inductance, H; i is a reduction ratio; l r Is the back EMF coefficient, Vs/rad; l n Is the viscous friction coefficient of the reducer, Nms/rad; l h Is the viscous friction coefficient of the motor, Nms/rad; l v Is the torque coefficient, Nm/A; k is a radical of bg Is the dry coefficient of friction, Nm, of the retarder; k is a radical of tg Is the dry coefficient of friction, Nm, of the motor; sign is a sign function; j is the moment of inertia of the motor shaft, kg.m 2 (ii) a R is stator resistance, Ω; m is the actuator output shaft torque, Nm; w is the stiffness coefficient of the mechanical transmission, N/m.
The observer is as follows:
in the formula (I), the compound is shown in the specification,is the state vector of the observer;is the output signal of the observer;is the dynamics matrix of the observer;is a control signal;is a vector connecting the state vector and the output signal;is a vector containing the nonlinear part of the system in the observer; q is a matrix using state variables in the observer; h (r) is a feedback vector; r is a residual signal.
In the case of no fault, the following conditions must be met:
in the formula (I), the compound is shown in the specification,is a matrix connecting the state vectors of the actuator and the observer; ε is the vector that provides the linkage for the state vectors of the actuator and observer.
The residual error r representing whether the electric actuator has a fault is as follows:
introducing a feedback proportional to the residual error for fault estimation:
in the formula, a 1 Is a vectorThe corresponding element of (1); j is a function of m Is a vectorThe mth element of (1); f. of n Is the corresponding fault value; c. C m Is a vectorThe corresponding element of (1); h is m (r) is the corresponding element of the feedback vector h (r).
The corresponding elements of the feedback vector are:
in the formula (I), the compound is shown in the specification,andare the first and second derivatives of the residual signal.
The following conditions are satisfied when the above formula is satisfied:
in the formula, b nmax Is b n Maximum value of (d); c. C mmax Is c m Is measured.
The fault estimation is carried out by calculating a corresponding fault value f n Carrying out the following steps:
in the formula, h eq Is the signal h m Average value of sign (T). The fault value f n The fault causes, the fault positions and the fault time factors.
Fig. 2 is a diagram illustrating the effect of fault recognition of the electric actuator of the gas turbine according to the present invention. As shown in fig. 2, the electric actuator fault is caused by oxidation corrosion of the speed reducer, and the fault is detected and estimated by observing the change of the dry friction coefficient; the method of the invention can effectively detect and estimate the fault value.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention are also within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A method of identifying a fault in a gas turbine electric actuator, comprising: determining a nonlinear model of the electric actuator; adding a non-linear component to an observer; calculating a residual signal; determining a relationship between the residual signal and the fault; introducing feedback proportional to the residual; ensuring that the observer is in a sliding mode and performing fault estimation; the nonlinear model of the gas turbine electric actuator is characterized in that:
wherein x is a state vector of the electric actuator; y is a vector of state variables measured by the sensors; u is a control signal; f is the fault vector; a is a system dynamics matrix; b is a gain vector of the control signal; c is a vector that determines the nonlinear part of the system; d is an output matrix connecting the state vector and the measurement vector; e is the fault matrix for the fault location;
The vectors and matrices in the above formula are:
in the formula, theta b Is the angle, rad, of the reducer output shaft;is the rotating speed of the output shaft of the reducer, r/s; theta t Is the angle of the motor rotor, rad;is the rotational speed of the motor rotor, r/s; i is the current, A; k is the armature inductance, H; i is a reduction ratio; l r Is the back EMF coefficient, Vs/rad; l n Is the viscous friction coefficient of the reducer, Nms/rad; l h Is the viscous friction coefficient of the motor, Nms/rad; l v Is the torque coefficient, Nm/A;k bg Is the dry coefficient of friction, Nm, of the retarder; k is a radical of tg Is the dry coefficient of friction, Nm, of the motor; sign is a sign function; j is the moment of inertia of the motor shaft, kg.m 2 (ii) a R is stator resistance, Ω; m is the actuator output shaft torque, Nm; w is the stiffness coefficient of the mechanical transmission, N/m.
2. The method for identifying a fault in an electric actuator of a gas turbine according to claim 1, wherein the observer is:
in the formula (I), the compound is shown in the specification,is the state vector of the observer;is the output signal of the observer;is the dynamics matrix of the observer;is a control signal;is a vector connecting the state vector and the output signal;is a vector containing the nonlinear part of the system in the observer; q is a matrix using state variables in the observer; h (r) is a feedback vector; r is a residual signal;
In the case of no fault, the following conditions must be met:
4. the method of claim 1, wherein the determining the relationship between the residual error and the fault comprises determining a relationship between the residual error and the fault, and wherein the determining the residual error and the fault comprisesThe following can be obtained:
introducing a feedback proportional to the residual error for fault estimation:
6. The method of identifying a fault in an electric actuator of a gas turbine according to claim 1, wherein the observer is in a sliding mode, and for the sliding mode, the observer is caused to operate in a sliding mode The following can be obtained:
in the formula (I), the compound is shown in the specification,andare the first and second derivatives of the residual signal;
the following conditions are satisfied when the above formula is satisfied:
in the formula, b nmax Is b n Maximum value of (d); c. C mmax Is c m Is measured.
7. Method for fault identification of an electric actuator of a gas turbine according to claim 1, characterized in that said fault estimation is performed by calculating a corresponding fault value f n Carrying out the following steps:
in the formula, h eq Is the signal h m Average value of sign (T); the fault value f n The fault causes, the fault positions and the fault time factors.
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CN110262248A (en) * | 2019-07-08 | 2019-09-20 | 南京航空航天大学 | A kind of miniature gas turbine failure robust adaptive reconstructing method |
CN110362060A (en) * | 2019-07-01 | 2019-10-22 | 南京航空航天大学 | A kind of diagnostic method when control system actuator and sensor simultaneous faults |
CN111090945A (en) * | 2019-12-20 | 2020-05-01 | 淮阴工学院 | Actuator and sensor fault estimation design method for switching system |
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US6885922B2 (en) * | 2003-06-24 | 2005-04-26 | Visteon Global Technologies, Inc. | System and method of robust fault detection for a vehicle steer-by-wire system |
US7062370B2 (en) * | 2004-03-30 | 2006-06-13 | Honeywell International Inc. | Model-based detection, diagnosis of turbine engine faults |
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CN108398637A (en) * | 2018-01-29 | 2018-08-14 | 合肥工业大学 | A kind of method for diagnosing faults of non-linear Mechatronic Systems |
CN110083076A (en) * | 2019-05-30 | 2019-08-02 | 华北电力大学 | A kind of gas turbine pneumatic actuator failure semi-physical emulation platform and emulation mode |
CN110362060A (en) * | 2019-07-01 | 2019-10-22 | 南京航空航天大学 | A kind of diagnostic method when control system actuator and sensor simultaneous faults |
CN110262248A (en) * | 2019-07-08 | 2019-09-20 | 南京航空航天大学 | A kind of miniature gas turbine failure robust adaptive reconstructing method |
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