CN112682114B - High-power turbine power system rotating speed closed-loop control method based on flow regulation - Google Patents
High-power turbine power system rotating speed closed-loop control method based on flow regulation Download PDFInfo
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Abstract
The invention provides a flow regulation-based high-power turbine power system rotating speed closed-loop control method, which solves the problems of long regulation time, large fluctuation of rotating speed in the regulation process and inapplicability to a high-power turbine power system existing in the conventional rotating speed closed-loop control method. The invention aims at carrying out speed change or deepening according to the instruction of an upper computer in the working process of a turbine power system, and controlling the fuel flow in real time through a microcomputer controller so as to ensure the stability of the rotating speed of the system. The closed-loop control of the rotating speed is realized by monitoring the output rotating speed of the engine in the turbine power system and controlling the output flow of the fuel pump. The fuel pump is an electric control variable plunger swash plate pump, the flow rate of the pump is determined by the rotation speed of the pump and the angle of the valve plate, the output flow rate of the pump can be regulated by regulating the angle of the valve plate, the outlet pressure of the combustion chamber is further changed, and finally the output rotation speed of the engine is changed.
Description
Technical Field
The invention belongs to the technical field of turbine power system control, and particularly relates to a high-power turbine power system rotating speed closed-loop control method based on flow regulation.
Background
With the development of modern underwater craft technology, the performance of the underwater self-launching device is higher and higher, and in order to meet the future requirements, the underwater self-launching device should be developed towards the high-speed, long-range and multi-station applicability. Compared with open-loop control, the closed-loop control of the rotating speed has higher control precision and strong anti-interference capability, is a main way for realizing high-precision, rapid and stable control of the rotating speed of the engine, and can realize the stepless speed change function so as to adapt to the requirements of various complex working conditions in the future, thus being the development trend of the power system control of the underwater self-emission device. The turbine power system has the advantage of high power, adopts the electric control variable fuel pump capable of adjusting the flow in a large range, and has the condition of realizing the closed-loop control of the rotating speed. Russian has developed a model machine of a rotating speed closed-loop control device and has proved through a power test, but the problem of long adjustment time and large fluctuation of the rotating speed in the adjustment process still exists. The principle model machine of a rotating speed closed-loop control device is developed for a low-power turbine power system based on a PID algorithm by the northwest industrial university, and semi-physical simulation test verification is carried out, but only double-speed control can be carried out, the rotating speed and flow regulation ranges are smaller, the applicable working conditions are limited, and the method cannot be popularized and applied to the high-power turbine power system. Therefore, a reliable and stable control method is needed to be studied, and the speed change and deepening process of the turbine power system of the high-power underwater self-emission device is controlled and regulated.
Disclosure of Invention
The invention aims to solve the defects of long adjustment time, large fluctuation of the rotating speed in the adjustment process and inapplicability to a high-power turbine power system existing in the conventional rotating speed closed-loop control method, and provides a high-power turbine power system rotating speed closed-loop control method based on flow adjustment.
The conception of the invention is as follows:
the speed change or deepening is carried out according to the instruction of the upper computer in the working process of the turbine power system, and the fuel flow is controlled in real time through the microcomputer controller so as to ensure the stability of the rotating speed of the system. The closed-loop control of the rotating speed is realized by monitoring the output rotating speed of the engine in the turbine power system and controlling the output flow of the fuel pump. The fuel pump is an electric control variable plunger swash plate pump, the flow rate of the pump is determined by the rotation speed of the pump and the angle of the valve plate, the output flow rate of the pump can be regulated by regulating the angle of the valve plate, the outlet pressure of the combustion chamber is further changed, and finally the output rotation speed of the engine is changed.
When the difference exceeds the allowable error range of the power system, the microcomputer controller calculates the flow difference corresponding to the corresponding speed difference according to the inherent characteristics of the power system, then calculates the corresponding valve plate angle difference according to the inherent characteristics of the variable fuel pump, and finally converts the valve plate angle difference into a voltage signal which can be recognized by a servo motor of the fuel pump to drive the variable fuel pump to change the valve plate angle, thereby changing the fuel flow so as to meet the speed and power requirements of the power system under variable working conditions.
In order to achieve the above purpose, the technical solution provided by the present invention is:
the high-power turbine power system rotating speed closed-loop control method based on flow regulation, wherein the turbine power system comprises an electric control variable fuel pump, a combustion chamber and an engine; the electric control variable fuel pump is an electric control variable plunger swash plate pump, and a valve plate is arranged in the pump body; the method is characterized by comprising the following steps of:
1) Obtaining inherent characteristics of the turbine power systemAnd the intrinsic properties of an electrically controlled variable fuel pump +.>
wherein ,the unit of fuel flow is L/min for the electric control variable fuel pump; n is the actual output rotating speed of the engine of the turbine power system, and the unit is r/min; alpha is the angle of the valve plate, and the unit is degree;
2) The upper computer calculates the instruction output rotating speed n of the engine under the working condition of the turbine power system c And send to the microcomputer controller;
3) The microcomputer controller detects the actual output rotating speed n of the turbine power system engine at present;
4) The microcomputer controller outputs the instruction obtained in the step 2) to the rotating speed n c Comparing the actual output rotation speed n obtained in the step 3) and calculating a rotation speed difference delta n;
if the delta n is within the allowable error range of the system, the engine continues to run according to the preset working condition;
if the delta n exceeds the allowable error range of the system, executing the step 5);
5) The microcomputer controller is used for obtaining the inherent characteristics of the turbine power system according to the step 1)Calculating the flow difference corresponding to the rotation speed difference delta n>
6) The microcomputer controller obtains the inherent characteristics of the electronically controlled variable fuel pump according to the step 1)Calculating the flow difference +.>Corresponding angle difference delta alpha of the valve plate, and calculating the valve according to the variation of the output rotating speed of the engineThe correction coefficient k of the disc angle control amount,
k＝(n-n 0 )/n t
wherein n is the actual output rotating speed of the engine of the turbine power system, and the unit is r/min;
n 0 the unit is r/min for the output rotating speed of the engine of the turbine power system at the last control moment;
n-n 0 the unit is r/min for the variation of the output rotating speed of the engine;
n t the preset value is changed for the rotation speed in one control period, and the unit is r/min;
when the engine output speed is changed by n-n in a control period 0 Exceeding the preset value n of rotation speed change t When the valve plate angle control quantity is (1-k) delta alpha, otherwise, the valve plate angle control quantity is delta alpha;
7) The microcomputer controller outputs a control signal (namely, a control voltage u which can be identified by the servo motor) to the servo motor of the electric control variable fuel pump according to the valve plate angle control quantity obtained in the step 6) c ) Change the port plate angle and then go back to step 3).
Further, in order to monitor whether the valve plate rotates in place, an angle feedback displacement detection element for detecting the angle of the valve plate is arranged on the valve plate.
Further, the specific steps of the step 7) are as follows:
7.1 The microcomputer controller outputs a control signal to a servo motor of the electric control variable fuel pump according to the valve plate angle control quantity obtained in the step 6) to change the valve plate angle;
7.2 The position signal x of the valve plate is fed back to the microcomputer controller through the angle feedback displacement detection element, and the position signal is recorded, so that a worker is assisted in detecting whether the rotation of the valve plate is executed according to a command, the rotation speed is conveniently monitored, the data analysis is conveniently carried out, and the control parameters are optimized;
7.3 Returning to step 3).
Further, in step 6), the rotational speed is changed by a preset value n in one control period t The value of (2) is 20-50.
Further, in step 1), the inherent characteristics of the turbine power system are obtained through fitting by performance simulation calculationAnd the intrinsic properties of an electrically controlled variable fuel pump +.>
The invention also provides a control system utilizing the high-power turbine power system rotating speed closed-loop control method based on flow regulation, which is characterized in that:
comprises an upper computer and a microcomputer controller;
the upper computer is used for giving the engine instruction rotating speed n of the turbine power system according to the working condition of the underwater self-emission device c Detecting the actual output rotating speed n of the engine of the current turbine power system, and sending the actual output rotating speed n to a microcomputer controller;
the microcomputer controller is used for executing the calculation process in the control step and outputting a control signal to the servo motor of the electric control variable fuel pump to realize closed-loop control.
Further, in order to facilitate detection of whether the angle of the valve plate is adjusted in place or not, and to facilitate adjustment of the initial position of the valve plate according to a preset working condition, the valve further comprises an angle feedback displacement detection element arranged on the valve plate; the angle feedback displacement detection element is used for detecting a position signal x of the valve plate and feeding back the position signal x to the microcomputer controller.
The invention has the advantages that:
1. the invention designs a high-power turbine power system rotating speed closed-loop control method based on flow regulation according to the inherent characteristics of the high-power turbine power system, which can realize the rotating speed control of the high-power turbine power system at any rotating speed and any time (namely, the rotating speed control for the steady-state and variable-working-condition working process of the turbine power system), and is also suitable for the rotating speed control of similar power devices.
2. The control method of the invention has rapid adjustment, and because the angle difference delta alpha of the valve plate is corrected according to the rotating speed variation quantity at the last control moment in the adjustment process, the rotating speed variation speed is prejudged and intervened in advance, thereby preventing larger overshoot, avoiding the phenomenon of overlarge fluctuation of the rotating speed adjustment and being beneficial to the reliable operation of the turbine power system.
3. The invention also utilizes the angle feedback displacement detection element to feed back the position signal x of the valve plate to the microcomputer controller so as to assist staff in detecting whether the rotation of the valve plate is executed according to instructions, thereby being convenient for monitoring the rotation speed and carrying out data analysis and optimizing control parameters; simultaneously, the angle feedback displacement detection element is utilized, and before the operation is started, the initial angle of the valve plate can be adjusted, so that the initial working condition is close to the preset working condition, and the adjustment time is shortened.
Drawings
FIG. 1 is a schematic diagram of a method for closed-loop control of the rotational speed of a high-power turbine power system based on flow regulation.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and specific examples:
the turbine power system comprises an electric control variable fuel pump, a combustion chamber and an engine; the electric control variable fuel pump is an electric control variable plunger swash plate pump, a valve plate is arranged in the pump body, and an angle feedback displacement detection element for detecting the angle of the valve plate is arranged on the valve plate.
As shown in fig. 1, the high-power turbine power system rotating speed closed-loop control method based on flow regulation comprises the following steps:
1) Through performance simulation calculation, the inherent characteristics of the turbine power system under a certain specific working condition are obtained through fittingAnd the intrinsic properties of an electrically controlled variable fuel pump +.>
wherein ,the unit of fuel flow is L/min for the electric control variable fuel pump; n is the actual output rotating speed of the engine of the turbine power system, and the unit is r/min; alpha is the angle of the valve plate, and the unit is degree;
2) The upper computer calculates the instruction output rotating speed n of the engine under the working condition of the turbine power system c ；
3) The microcomputer controller detects the actual output rotating speed n of the turbine power system engine at present;
4) The microcomputer controller outputs the instruction obtained in the step 2) to the rotating speed n c Comparing the actual output rotation speed n obtained in the step 3) and calculating a rotation speed difference delta n;
if the delta n is within the allowable error range of the system, the engine continues to run according to the preset working condition;
if the delta n exceeds the allowable error range of the system, executing the step 5);
5) The microcomputer controller is used for obtaining the inherent characteristics of the turbine power system according to the step 1)Calculating the flow difference corresponding to the rotation speed difference delta n>The method specifically comprises the following steps: according to the inherent characteristics of the turbine power system>The command output rotation speed n c Flow corresponding to the actual output rotational speed n +.> and />Respectively calculating, and calculating the difference value of the two flow values to obtain the flow difference +.>
6) The microcomputer controller obtains the inherent characteristics of the electronically controlled variable fuel pump according to the step 1)Calculating the flow difference +.>The corresponding valve plate angle difference delta alpha is specifically: based on inherent characteristics of electrically-controlled variable fuel pumpsThe command output rotation speed n c Flow->And the actual output rotational speed n, flow +.>Corresponding valve plate angle alpha 1 and α2 Respectively calculating, and then calculating the difference value of the angles of the two valve plates, namely the angle difference delta alpha of the valve plates;
and calculates a correction coefficient k of the valve plate angle control amount according to the variation of the engine output rotation speed,
k＝(n-n 0 )/n t
wherein n is the actual output rotating speed of the engine of the turbine power system, and the unit is r/min;
n 0 the unit is r/min for the output rotating speed of the engine of the turbine power system at the last control moment;
n-n 0 the unit is r/min for the variation of the output rotating speed of the engine;
n t the preset value is changed for the rotation speed in one control period, and the unit is r/min; preset value n t The value of (2) is 20-50;
when the engine output speed is changed by n-n in a control period 0 Exceeding the preset value n of rotation speed change t When the angle control quantity of the valve plate is (1-k) delta alpha, otherwise, the angle control quantity of the valve plate is controlled to delta alpha;
7) The microcomputer controller outputs control voltage u to the servo motor of the fuel pump according to the valve plate angle control quantity obtained in the step 6) c Changing the angle of the valve plate; feeding back a valve plate position signal x to a microcomputer controller through an angle feedback displacement detection element, and recording the position signal; returning to the step 3).
The closed-loop control system in the rotating speed closed-loop control method comprises an upper computer, a microcomputer controller and an angle feedback displacement detection element.
The upper computer is used as a main control unit of the underwater self-emission device, and the rotating speed closed-loop control method mainly sets the engine instruction rotating speed n of the turbine power system according to the working condition of the underwater self-emission device c And transmits the rotation speed to the microcomputer controller. The microcomputer controller is used as the main force element in the closed-loop control method of the rotating speed, and the input signal of the microcomputer controller is the output instruction rotating speed n of the engine of the turbine power system corresponding to the navigational speed of the underwater self-emission device given by the upper computer c The detected current actual output rotating speed n of the turbine power system engine and the feedback displacement x of the position of the valve plate, and the output signal is the control signal (namely control voltage u) of the variable fuel pump servo motor c ). The angle feedback displacement detection element is used for detecting a position signal x of the valve plate and feeding the position signal x back to the microcomputer controller, and meanwhile, the initial angle of the valve plate can be adjusted before operation starts, so that the initial working condition is close to a preset working condition, and the adjustment time is shortened.
According to the performance simulation calculation result of the turbine power system, the flow difference between any two speeds of the turbine power system under different navigation depths is approximately equal and can be regarded as a fixed value, so that the inherent characteristics between the fuel flow of the power system and the rotating speed of the engine can be fitted under a certain specific working condition; and the inherent characteristics between the fuel flow of the electronically controlled variable fuel pump and the engine speed and the angle of the valve plate are fitted under a certain specific working condition.
The specific control process is as follows:
when a set working condition of the underwater self-emission device is given, the upper computer calculates the instruction output rotating speed n of the engine under the set working condition c The microcomputer controller compares the instruction output rotating speed n of the engine of the turbine power system in real time c The difference delta n from the current engine actual output speed n. When the rotation speed difference delta n exceeds the allowable error range of the turbine power system, the microcomputer controller calculates the flow difference corresponding to the rotation speed difference delta n according to the inherent characteristics of the turbine power systemCalculating a corresponding valve plate angle difference delta alpha according to the inherent characteristics of the electric control variable fuel pump, correcting the valve plate angle difference delta alpha according to the rotating speed variation at the previous control moment, and pre-judging and pre-intervening the rotating speed variation speed to prevent larger overshoot; and finally, sending a control signal which can be identified to the servo motor of the electric control variable fuel pump according to the corrected valve plate angle difference delta alpha to change the valve plate angle, and feeding back a position signal x of the valve plate to a microcomputer controller by an angle feedback displacement detection element in order to judge whether the valve plate angle meets the requirement or not so as to enable the output flow of the variable fuel pump to meet the requirement of a set working condition. The change of the flow rate causes the pressure of the combustion chamber to change, and then the rotation speed of the engine changes, and finally the actual output rotation speed n of the engine is enabled to continuously approach the instruction output rotation speed n of the set working condition c And finally, stabilizing the system within an allowable error range of the power system, and completing the closed-loop control of the rotating speed of the starting, speed changing, steady-state and deepening working process of the turbine power system.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made without departing from the spirit and scope of the invention.
Claims (7)
1. The high-power turbine power system rotating speed closed-loop control method based on flow regulation, wherein the turbine power system comprises an electric control variable fuel pump, a combustion chamber and an engine; the electric control variable fuel pump is an electric control variable plunger swash plate pump, and a valve plate is arranged in the pump body;
the method is characterized by comprising the following steps of:
1) Obtaining inherent characteristics of the turbine power systemIntrinsic characteristics of electrically controlled variable fuel pumps
wherein ,the unit of fuel flow is L/min for the electric control variable fuel pump; n is the actual output rotating speed of the engine of the turbine power system, and the unit is r/min; alpha is the angle of the valve plate, and the unit is degree;
2) The upper computer calculates the instruction output rotating speed n of the engine under the working condition of the turbine power system c And send to the microcomputer controller;
3) The microcomputer controller detects the actual output rotating speed n of the turbine power system engine at present;
4) The microcomputer controller outputs the instruction obtained in the step 2) to the rotating speed n c Comparing the actual output rotation speed n obtained in the step 3) and calculating a rotation speed difference delta n;
if the delta n is within the allowable error range of the system, the engine continues to run according to the preset working condition;
if the delta n exceeds the allowable error range of the system, executing the step 5);
5) The microcomputer controller is used for obtaining the inherent characteristics of the turbine power system according to the step 1)Calculating the flow corresponding to the rotation speed difference delta nDifference (S)>
6) The microcomputer controller obtains the inherent characteristics of the electronically controlled variable fuel pump according to the step 1)Calculating the flow difference +.>Corresponding valve plate angle difference delta alpha, calculating the correction coefficient k of valve plate angle control quantity according to the output rotating speed variation quantity of the engine,
k＝(n-n 0 )/n t
wherein n is the actual output rotating speed of the engine of the turbine power system, and the unit is r/min;
n 0 the unit is r/min for the output rotating speed of the engine of the turbine power system at the last control moment;
n-n 0 the unit is r/min for the variation of the output rotating speed of the engine;
n t the preset value is changed for the rotation speed in one control period, and the unit is r/min;
when the engine output speed is changed by n-n in a control period 0 Exceeding the preset value n of rotation speed change t When the valve plate angle control quantity is (1-k) delta alpha, otherwise, the valve plate angle control quantity is delta alpha;
7) And (3) outputting a control signal to a servo motor of the electric control variable fuel pump by the microcomputer controller according to the valve plate angle control quantity obtained in the step (6), changing the valve plate angle, and returning to the step (3).
2. The flow regulation-based high-power turbine power system rotating speed closed-loop control method as claimed in claim 1, wherein the method comprises the following steps:
the valve plate is provided with an angle feedback displacement detection element for detecting the angle of the valve plate.
3. The method for closed-loop control of the rotational speed of a high-power turbine power system based on flow regulation according to claim 2, wherein the specific steps of the step 7) are as follows:
7.1 The microcomputer controller outputs a control signal to a servo motor of the fuel pump according to the valve plate angle control quantity obtained in the step 6) to change the valve plate angle;
7.2 Feeding back a position signal x of the valve plate to the microcomputer controller through the angle feedback displacement detection element, and recording the position signal;
7.3 Returning to step 3).
4. A method for closed-loop control of the rotational speed of a high-power turbine power system based on flow regulation according to any one of claims 1-3, wherein:
in step 6), the rotational speed is changed by a preset value n within one control period t The value of (2) is 20-50.
5. The flow regulation-based high-power turbine power system rotating speed closed-loop control method as claimed in claim 4, wherein the method comprises the following steps:
in the step 1), the inherent characteristics of the turbine power system are obtained through fitting by performance simulation calculationAnd the intrinsic properties of an electrically controlled variable fuel pump +.>
6. A control system utilizing the flow regulation-based high-power turbine power system rotating speed closed-loop control method as claimed in claim 1, which is characterized in that:
comprises an upper computer and a microcomputer controller;
the upper computer is used for giving the starting of the turbine power system according to the working condition of the underwater self-emission deviceMachine instruction output rotation speed n c And send to the microcomputer controller;
the microcomputer controller receives the instruction and outputs the rotating speed n c And detecting the actual output rotating speed n of the engine of the current turbine power system, and performing a calculation process in the control step and outputting a control signal to a servo motor of the electric control variable fuel pump to realize closed-loop control.
7. The control system of claim 6, wherein: the device also comprises an angle feedback displacement detection element arranged on the valve plate;
the angle feedback displacement detection element is used for detecting a position signal x of the valve plate and feeding back the position signal x to the microcomputer controller.
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| CN103016698B (en) * | 2012-12-10 | 2016-03-02 | 中国船舶重工集团公司第七〇五研究所 | A kind of high-speed overload power transmission lubrication feeding mechanism being applicable to submarine navigation device |
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