CN115355130B - Method and system for optimizing follow-up of propeller blades of water turbine speed regulator - Google Patents

Method and system for optimizing follow-up of propeller blades of water turbine speed regulator Download PDF

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Publication number
CN115355130B
CN115355130B CN202211052834.8A CN202211052834A CN115355130B CN 115355130 B CN115355130 B CN 115355130B CN 202211052834 A CN202211052834 A CN 202211052834A CN 115355130 B CN115355130 B CN 115355130B
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blade
mode
deviation value
follow
value
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CN115355130A (en
Inventor
潘熙和
黄业华
周颖
严国强
谢俊海
杨乐
张德建
葛菁菁
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Wuhan changjiang control equipment research institute
Changjiang River Scientific Research Institute Changjiang Water Resources Commission
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Wuhan changjiang control equipment research institute
Changjiang River Scientific Research Institute Changjiang Water Resources Commission
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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
    • F03B15/02—Controlling by varying liquid flow
    • F03B15/04—Controlling by varying liquid flow of turbines
    • F03B15/06—Regulating, i.e. acting automatically
    • F03B15/08—Regulating, i.e. acting automatically by speed, e.g. by measuring electric frequency or liquid flow
    • 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
    • F03B3/00—Machines or engines of reaction type; Parts or details peculiar thereto
    • F03B3/12—Blades; Blade-carrying rotors
    • F03B3/14—Rotors having adjustable blades
    • 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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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Water Turbines (AREA)
  • Control Of Turbines (AREA)

Abstract

The application relates to the technical field of water turbine blade control, in particular to a water turbine speed regulator blade follow-up optimization method and a system, wherein the method comprises the following steps: the method comprises the steps of obtaining a real-time deviation value by differentiating a blade control signal and a blade feedback signal, and presetting a first deviation value and a second deviation value; when the real-time deviation value is larger than the first deviation value, controlling the follow-up of the blade in a linear amplification mode; when the real-time deviation value is between the second deviation value and the first deviation value, controlling the follow-up of the blade in a nonlinear amplification mode; and when the real-time deviation value is smaller than the second deviation value, controlling the follow-up of the blade by adopting a small deviation integral accumulation mode. The follow-up system is controlled in a sectional adjusting mode according to deviation, and a mode of exiting a control closed loop is adopted after the follow-up system is stabilized, so that the follow-up system is ensured to be sensitive in following, and the gain oscillation of the blade is reduced. When the blade system controls the closed loop to exit, the oil is hardly used for adjustment, and the oil consumption of the system is greatly reduced.

Description

Method and system for optimizing follow-up of propeller blades of water turbine speed regulator
Technical Field
The application relates to the technical field of water turbine blade control, in particular to a water turbine speed regulator blade follow-up optimization method and system.
Background
Gain adjustment of a water turbine governor follower system is aimed at the inaccuracy i of a blade follower system of a national standard rotating propeller turbine adjusting system a The requirement of 0.8 percent of check is not exceeded, and a follow-up system adjustment scheme of 'amplifying and compensating' of deviation (difference between a blade control signal and a blade feedback signal) is generally adopted. The 'amplifying and compensating' mode is adopted for adjustment, so that the sensitivity of the follow-up system can be effectively ensured, the conventional adjustment is satisfied, and the common guide vane follow-up system adopts the mode for adjustment.
Conventional follower system adjustment mode:
control signal= (Target-Actual) par_inc_k+par_inc_inc;
target, namely a blade Target value;
actual, the Actual value of the blade;
Par_inc_K, blade magnification;
Par_inc_INC, blade compensation parameters.
The servomotor of the blade follow-up system of the rotating propeller turbine adopts an oil receiver to provide an operating oil source, and the blade oil receiver is a rotating part and adopts rigid sealing. For the rotating pulp type water turbine set, after the rotating pulp type water turbine set runs for a long time, the oil leakage problem of the oil receiver exists more or less due to the structural reasons of the blade oil receiver; blade servos also have a cavity-crossing problem, which increases the difficulty of regulation if conventional gain adjustment modes are continued.
In addition, when the deviation of the blade follow-up system is small, the main distribution opening of the blade is small due to small adjustment quantity of the control system, small adjustment oil can be consumed by the oil receiver and the servomotor, the oil pressure for pushing the blade servomotor is not established, the blade follow-up system can not always obtain the target value, the oil consumption is always present, the oil pump motor can not stop even, and great hidden trouble is caused to the safe operation of the power station.
Disclosure of Invention
The application provides a method and a system for optimizing the follow-up of a blade of a water turbine governor, which solve the technical problem of poor gain adjustability of a blade follow-up system in a conventional gain adjustment mode.
The application provides a water turbine speed regulator blade follow-up optimization method for solving the technical problems, which comprises the following steps:
starting a working mode of a blade control closed loop, obtaining a real-time deviation value by differencing a blade control signal and a blade feedback signal, and presetting a first deviation value and a second deviation value;
when the real-time deviation value is larger than the first deviation value, controlling the blade to follow up in a first mode;
when the real-time deviation value is between the second deviation value and the first deviation value, controlling the blade to follow in a second mode;
and when the real-time deviation value is smaller than the second deviation value, controlling the blade to follow up in a third mode.
Preferably, the first mode is a linear amplification mode.
Preferably, the linear amplification method specifically includes:
the current blade control signal is calculated according to equation (1) as follows:
current control signal = (Target-Actual) par_inc_k (1)
Wherein Target is a Target value of the blade, actual is an Actual value of the blade, and Par_inc_K is a magnification factor of the blade;
and then controlling the blade to follow through the current control signal.
Preferably, the second mode is a nonlinear amplification mode.
Preferably, the nonlinear amplification mode specifically includes:
the current blade control signal is calculated according to equation (2) as follows:
current control signal = (Target-Actual) ×par_inc_k/(Target-actual+0.5) (2)
Wherein Target is a Target value of the blade, actual is an Actual value of the blade, and Par_inc_K is a magnification factor of the blade;
and then controlling the blade to follow through the current control signal.
Preferably, the third mode is a small deviation integral accumulation mode.
Preferably, the small deviation integral accumulation mode specifically includes:
the current blade control signal is calculated according to formulas (3) and (4) as follows:
current control signal= (Target-Actual) par_inc_k+yi (3)
Yi＝(Target-Actual)*Par_Yi_K+Yi_1 (4)
Wherein Target is a Target value of the blade, actual is an Actual value of the blade, par_inc_K is a magnification factor of the blade, par_Yi_K is an integral parameter of the blade, and Yi_1 is a previous deviation of the accumulated deviation signal;
and then controlling the blade to follow through the current control signal.
Preferably, when the real-time deviation value is smaller than a preset value, namely the blade reaches a relatively balanced stable state, the blade control closed loop is withdrawn from working at the moment, and the blade control signal is cleared directly.
The application also provides a water turbine speed regulator blade follow-up optimization system, which is used for realizing a water turbine speed regulator blade follow-up optimization method and specifically comprises the following steps:
the information acquisition module is used for carrying out difference on the blade control signal and the blade feedback signal to obtain a real-time deviation value, and presetting a first deviation value and a second deviation value;
the control mode selection module is used for judging that when the real-time deviation value is larger than the first deviation value, the first mode is adopted to control the follow-up of the blade;
when the real-time deviation value is between the second deviation value and the first deviation value, controlling the blade to follow in a second mode;
and when the real-time deviation value is smaller than the second deviation value, controlling the blade to follow up in a third mode.
Preferably, the system further comprises a mode switching module for:
when the real-time deviation value is smaller than a preset value, exiting the working mode of the blade control closed loop, and directly resetting the blade control signal;
otherwise, the working mode of the blade control closed loop is started.
The beneficial effects are that: the application provides a method and a system for optimizing the follow-up of a paddle of a speed regulator of a water turbine, wherein the method comprises the following steps: starting a working mode of a blade control closed loop, obtaining a real-time deviation value by differencing a blade control signal and a blade feedback signal, and presetting a first deviation value and a second deviation value; when the real-time deviation value is larger than the first deviation value, controlling the follow-up of the blade in a linear amplification mode; when the real-time deviation value is between the second deviation value and the first deviation value, controlling the follow-up of the blade in a nonlinear amplification mode; and when the real-time deviation value is smaller than the second deviation value, controlling the follow-up of the blade by adopting a small deviation integral accumulation mode. The follow-up system is controlled by adopting a segmented adjusting mode according to the deviation, the large deviation is linearly amplified and adjusted, the small deviation is non-linearly amplified, the micro deviation is integrated and accumulated and adjusted, and the mode of exiting the control closed loop is adopted after the micro deviation is stabilized, so that the follow-up system is ensured to be sensitive in following, and the gain oscillation of the blade is reduced. Therefore, when the blade system controls the closed loop to exit, the oil is hardly used for adjustment, and the oil consumption of the system is greatly reduced.
The foregoing description is only an overview of the present application, and is intended to provide a better understanding of the present application, as it is embodied in the following description, with reference to the preferred embodiments of the present application and the accompanying drawings. Specific embodiments of the present application are given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a flow chart of a method for optimizing the follow-up of a turbine governor blade.
Detailed Description
The principles and features of the present application are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the application and are not to be construed as limiting the scope of the application. The application is more particularly described by way of example in the following paragraphs with reference to the drawings. Advantages and features of the application will become more apparent from the following description and from the claims. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the application.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, the application provides a method and a system for optimizing the follow-up of a turbine governor blade, wherein the method comprises the following steps: starting a working mode of a blade control closed loop, obtaining a real-time deviation value by differencing a blade control signal and a blade feedback signal, and presetting a first deviation value and a second deviation value;
when the real-time deviation value is larger than the first deviation value, controlling the blade to follow up in a first mode;
when the real-time deviation value is between the second deviation value and the first deviation value, controlling the blade to follow in a second mode;
and when the real-time deviation value is smaller than the second deviation value, controlling the blade to follow up in a third mode.
Because the requirements on blade adjustment speed are low, the embodiment of the application adopts a multi-section adjustment and intelligent switching mode, so that the system oil consumption can be greatly reduced, and the stable and safe operation of a power station can be satisfied. Considering the vane cooperative connection following characteristic, properly adding a vane dead zone, and after the vane dead zone is reached, withdrawing a vane control closed loop, so that the vane main and auxiliary automatic combination does not adjust the fuel consumption; when the vane servomotor is in a small amount and the opening difference value is increased or the load is increased or decreased, the programmable controller also automatically inputs the vane proportional valve, and the normal adjustment of the vane proportional valve is automatically restored. The vane treatment method does not substantially affect the machine start-up and shutdown and load adjustment. Therefore, when the vane proportional valve is withdrawn from the adjustment, the vane system basically has no oil consumption, the problem of overlarge oil consumption of the system caused by the cavity stringing of the oil receiver is thoroughly solved, and more successful application schemes exist in engineering.
The first deviation value is larger than the second deviation value, a worker can preset the first deviation value and the second deviation value according to experience, and through repeated experiments, the proper first deviation value and the second deviation value are finally confirmed. Different blade follower systems can obtain corresponding first deviation values and second deviation values through tests.
Preferably, the first mode is a linear amplifying mode, and specifically includes:
the current blade control signal is calculated according to equation (1) as follows:
current control signal = (Target-Actual) par_inc_k (1)
Wherein Target is a Target value of the blade, actual is an Actual value of the blade, and Par_inc_K is a magnification factor of the blade;
and then controlling the blade to follow through the current control signal.
Preferably, the second mode is a nonlinear amplification mode, and specifically includes:
the current blade control signal is calculated according to equation (2) as follows:
current control signal = (Target-Actual) ×par_inc_k/(Target-actual+0.5) (2)
Wherein Target is a Target value of the blade, actual is an Actual value of the blade, and Par_inc_K is a magnification factor of the blade;
and then controlling the blade to follow through the current control signal.
In a preferred embodiment, the third mode is a small deviation integral accumulation mode, and specifically includes:
the current blade control signal is calculated according to formulas (3) and (4) as follows:
current control signal= (Target-Actual) par_inc_k+yi (3)
Yi＝(Target-Actual)*Par_Yi_K+Yi_1 (4)
Wherein Target is a Target value of the blade, actual is an Actual value of the blade, par_inc_K is a magnification factor of the blade, par_Yi_K is an integral parameter of the blade, and Yi_1 is;
and then controlling the blade to follow through the current control signal.
In the preferred scheme, when the real-time deviation value is small to a preset value, namely the blade reaches a relatively balanced stable state, at the moment, the blade control closed loop is withdrawn from working, and the blade control signal is cleared directly; otherwise, continuing to maintain the working mode of the blade control closed loop.
In summary, the following system is controlled by adopting a sectional adjusting mode according to the deviation, the large deviation is linearly amplified and adjusted, the small deviation is non-linearly amplified, the micro deviation is integrated and accumulated and adjusted, and the mode of exiting the control closed loop is adopted after the micro deviation is stabilized, so that the following sensitivity of the following system is ensured, and the gain oscillation of the blade is reduced. Therefore, when the blade system controls the closed loop to exit, the oil is hardly used for adjustment, and the oil consumption of the system is greatly reduced.
The embodiment of the application also provides a system for optimizing the follow-up of the turbine governor blade, which is used for realizing the method for optimizing the follow-up of the turbine governor blade, and specifically comprises the following steps:
the information acquisition module is used for carrying out difference on the blade control signal and the blade feedback signal to obtain a real-time deviation value, and presetting a first deviation value and a second deviation value;
the control mode selection module is used for judging that when the real-time deviation value is larger than the first deviation value, the first mode is adopted to control the follow-up of the blade;
when the real-time deviation value is between the second deviation value and the first deviation value, controlling the blade to follow in a second mode;
and when the real-time deviation value is smaller than the second deviation value, controlling the blade to follow up in a third mode.
Further, the system further comprises a mode switching module, wherein the mode switching module is used for: when the real-time deviation value is smaller than a preset value, exiting the working mode of the blade control closed loop, and directly resetting the blade control signal; otherwise, the working mode of the blade control closed loop is started. Under the stable state that the blades reach relative balance, the blade control closed loop can be withdrawn from working, and the blade control signals are cleared directly. In this way, the blade control system has little regulation of fuel consumption.
The above description is only of the preferred embodiments of the present application, and is not intended to limit the present application in any way; those skilled in the art will readily appreciate that the present application may be implemented as shown in the drawings and described above; however, those skilled in the art will appreciate that many modifications, adaptations, and variations of the present application are possible in light of the above teachings without departing from the scope of the application; meanwhile, any equivalent changes, modifications and evolution of the above embodiments according to the essential technology of the present application still fall within the scope of the present application.

Claims (6)

1. A method for optimizing the follow-up of a turbine governor blade, comprising:
starting a working mode of a blade control closed loop, obtaining a real-time deviation value by differencing a blade control signal and a blade feedback signal, and presetting a first deviation value and a second deviation value;
when the real-time deviation value is larger than the first deviation value, controlling the blade to follow up in a first mode; the first mode is a linear amplification mode;
when the real-time deviation value is between the second deviation value and the first deviation value, controlling the blade to follow in a second mode; the second mode is a nonlinear amplification mode;
when the real-time deviation value is smaller than the second deviation value, a third mode is adopted to control the follow-up of the blade; the third mode is a small deviation integral accumulation mode; the small deviation integral accumulation mode specifically comprises the following steps:
the current blade control signal is calculated according to formulas (3) and (4) as follows:
current control signal= (Target-Actual) par_inc_k+yi (3)
Yi＝ (Target-Actual)* Par_Yi_K+Yi_1 (4)
Wherein Target is a Target value of the blade, actual is an Actual value of the blade, par_inc_K is a magnification factor of the blade, par_Yi_K is an integral parameter of the blade, and Yi_1 is a previous deviation of the accumulated deviation signal;
and then controlling the blade to follow through the current control signal.
2. The method for optimizing the follow-up of a turbine governor blade according to claim 1, wherein the linear amplification method specifically comprises:
the current blade control signal is calculated according to equation (1) as follows:
current control signal= (Target-Actual) par_inc_k (1), wherein Target is the Target value of the blade, actual is the Actual value of the blade, and par_inc_k is the magnification of the blade;
and then controlling the blade to follow through the current control signal.
3. The method for optimizing the follow-up of a turbine governor blade according to claim 1, wherein the nonlinear amplification method specifically comprises:
the current blade control signal is calculated according to equation (2) as follows:
current control signal = (Target-Actual) ×par_inc_k/(Target-actual+0.5) (2)
Wherein Target is a Target value of the blade, actual is an Actual value of the blade, and Par_inc_K is a magnification factor of the blade;
and then controlling the blade to follow through the current control signal.
4. The method for optimizing the follow-up of a turbine governor blade according to claim 1, wherein when the real-time deviation value is small to a predetermined value, i.e., the blade reaches a relatively balanced steady state, the blade control loop is withdrawn from operation at this time, and the blade control signal is cleared directly.
5. A system for optimizing the follow-up of a turbine governor blade, characterized in that it is adapted to implement a method for optimizing the follow-up of a turbine governor blade according to any of claims 1-4, comprising in particular:
the information acquisition module is used for carrying out difference on the blade control signal and the blade feedback signal to obtain a real-time deviation value, and presetting a first deviation value and a second deviation value;
the control mode selection module is used for judging that when the real-time deviation value is larger than the first deviation value, the first mode is adopted to control the follow-up of the blade; the first mode is a linear amplification mode;
when the real-time deviation value is between the second deviation value and the first deviation value, controlling the blade to follow in a second mode; the second mode is a nonlinear amplification mode;
when the real-time deviation value is smaller than the second deviation value, a third mode is adopted to control the follow-up of the blade; the third mode is a small deviation integral accumulation mode; the small deviation integral accumulation mode specifically comprises the following steps:
the current blade control signal is calculated according to formulas (3) and (4) as follows:
current control signal= (Target-Actual) par_inc_k+yi (3)
Yi＝ (Target-Actual)* Par_Yi_K+Yi_1 (4)
Wherein Target is a Target value of the blade, actual is an Actual value of the blade, par_inc_K is a magnification factor of the blade, par_Yi_K is an integral parameter of the blade, and Yi_1 is a previous deviation of the accumulated deviation signal;
and then controlling the blade to follow through the current control signal.
6. The hydro turbine governor blade follow-up optimization system of claim 5, further comprising a mode switching module to:
when the real-time deviation value is smaller than a preset value, exiting the working mode of the blade control closed loop, and directly resetting the blade control signal;
otherwise, the working mode of the blade control closed loop is started.
CN202211052834.8A 2022-08-31 2022-08-31 Method and system for optimizing follow-up of propeller blades of water turbine speed regulator Active CN115355130B (en)

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CN202211052834.8A CN115355130B (en) 2022-08-31 2022-08-31 Method and system for optimizing follow-up of propeller blades of water turbine speed regulator

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CN115355130B true CN115355130B (en) 2023-08-11

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108443065A (en) * 2018-03-06 2018-08-24 浙江运达风电股份有限公司 A kind of Large-scale Wind Turbines independent feathering control optimization method
CN108443057A (en) * 2018-05-25 2018-08-24 云南电网有限责任公司电力科学研究院 A kind of control method and control device of guide vanes of water turbine aperture
CN110430157A (en) * 2019-06-06 2019-11-08 武汉长江控制设备研究所有限公司 A kind of pair of hydrogovernor carries out the system and method for novel maintenance
CN111997825A (en) * 2020-09-04 2020-11-27 国家能源集团新疆开都河流域水电开发有限公司 Power frequency control method for speed regulator of water turbine
CN112879218A (en) * 2021-01-25 2021-06-01 三一重能股份有限公司 Fan blade angle adjusting method and device, storage medium and electronic equipment
CN114400946A (en) * 2022-01-25 2022-04-26 极氪汽车(宁波杭州湾新区)有限公司 Complex vector current loop decoupling control method and system and vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108443065A (en) * 2018-03-06 2018-08-24 浙江运达风电股份有限公司 A kind of Large-scale Wind Turbines independent feathering control optimization method
CN108443057A (en) * 2018-05-25 2018-08-24 云南电网有限责任公司电力科学研究院 A kind of control method and control device of guide vanes of water turbine aperture
CN110430157A (en) * 2019-06-06 2019-11-08 武汉长江控制设备研究所有限公司 A kind of pair of hydrogovernor carries out the system and method for novel maintenance
CN111997825A (en) * 2020-09-04 2020-11-27 国家能源集团新疆开都河流域水电开发有限公司 Power frequency control method for speed regulator of water turbine
CN112879218A (en) * 2021-01-25 2021-06-01 三一重能股份有限公司 Fan blade angle adjusting method and device, storage medium and electronic equipment
CN114400946A (en) * 2022-01-25 2022-04-26 极氪汽车(宁波杭州湾新区)有限公司 Complex vector current loop decoupling control method and system and vehicle

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