CN116624475A - Main distributing valve-guiding valve position closed-loop control method of speed regulator hydraulic servo system - Google Patents

Main distributing valve-guiding valve position closed-loop control method of speed regulator hydraulic servo system Download PDF

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Publication number
CN116624475A
CN116624475A CN202310585572.XA CN202310585572A CN116624475A CN 116624475 A CN116624475 A CN 116624475A CN 202310585572 A CN202310585572 A CN 202310585572A CN 116624475 A CN116624475 A CN 116624475A
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CN
China
Prior art keywords
valve
guide
main
pressure distribution
speed regulator
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Pending
Application number
CN202310585572.XA
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Chinese (zh)
Inventor
涂勇
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China Yangtze Power Co Ltd
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China Yangtze Power Co Ltd
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Application filed by China Yangtze Power Co Ltd filed Critical China Yangtze Power Co Ltd
Priority to CN202310585572.XA priority Critical patent/CN116624475A/en
Publication of CN116624475A publication Critical patent/CN116624475A/en
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/021—Valves for interconnecting the fluid chambers of an actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2220/00—Application
    • F05B2220/70—Application in combination with
    • F05B2220/706—Application in combination with an electrical generator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/101—Purpose of the control system to control rotational speed (n)
    • 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)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Analytical Chemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Servomotors (AREA)

Abstract

The closed-loop control method for the position of a main distributing valve and a pilot valve of a speed regulator hydraulic servo system comprises the speed regulator hydraulic servo system for performing closed-loop control on the position of the pilot valve, wherein the system comprises a man-machine interaction module, a controller, a stepping motor, the pilot valve and the main distributing valve; the controller is connected with the stepping motor, the stepping motor is connected with the guide valve, the guide valve is connected with the main pressure distribution valve, and the main pressure distribution valve is connected with the servomotor; the pilot valve is provided with a first displacement sensor for measuring the position of a valve core of the pilot valve, and the first displacement sensor is connected with the controller. And controlling the displacement of the stepping motor according to the difference value between the main pressure distribution valve position setting and the pilot valve position feedback, so as to control the pilot valve position, wherein the main pressure distribution valve position is realized together with a mechanical negative feedback closed loop of the pilot valve position. The method reduces the jamming probability of the electrohydraulic conversion and execution structure, improves the working reliability of the hydraulic follow-up system of the speed regulator, and reduces the failure rate.

Description

Main distributing valve-guiding valve position closed-loop control method of speed regulator hydraulic servo system
Technical Field
The invention relates to a hydraulic servo system of a speed regulator, in particular to a closed-loop control method for the position of a main distributing valve and a guide valve of the hydraulic servo system of the speed regulator.
Background
The Chinese patent (patent number: ZL201910024102. X) discloses a speed regulator hydraulic servo system adopting a proportional valve and a main distribution and relay as actuating mechanisms. The proportional valve is used as a precise hydraulic element, the requirement on the oil quality of hydraulic oil of a hydraulic system is very high, and the valve body is possibly jammed due to solid particulate matters impurities contained in the hydraulic oil, so that the normal operation of a speed regulator hydraulic follow-up system adopting the proportional valve as an electrohydraulic conversion device is influenced, a new speed regulator hydraulic follow-up system which is difficult to jam is required to be researched and explored, and other electrohydraulic conversion and actuating mechanism forms are adopted.
Disclosure of Invention
In order to solve the technical problems, the invention provides a closed-loop control method for the position of a main distributing valve and a guide valve of a hydraulic follow-up system of a speed regulator, which is suitable for controlling the opening degree of a guide vane of a unit of a hydroelectric unit speed regulator, and aims to reduce the probability of jamming of an electrohydraulic conversion and execution structure, improve the working reliability of the hydraulic follow-up system of the speed regulator and reduce the failure rate.
The technical scheme adopted by the invention is as follows:
the closed-loop control method for the position of the main distributing valve and the guide valve of the hydraulic servo system of the speed regulator controls the displacement of the stepping motor according to the difference value between the position setting of the main distributing valve and the position feedback of the guide valve, thereby controlling the position of the guide valve, and jointly realizing the control of the position of the guide valve by the main distributing valve and the mechanical negative feedback closed loop of the position of the guide valve.
When the valve core of the guide valve moves downwards, the P oil port and the A oil port of the guide valve are communicated, the Y end of the main pressure distribution valve is communicated with pressure oil, the valve core of the main pressure distribution valve moves downwards, so that the valve sleeve of the guide valve moves downwards, when the displacement of the valve core of the guide valve and the valve sleeve is the same, the P oil port and the A oil port of the guide valve are not communicated, and at the moment, the mechanical following system enters a steady state;
when the valve core of the guide valve moves upwards, the T oil port and the A oil port of the guide valve are communicated, the Y end of the main pressure distribution valve is communicated with non-pressure oil return, the valve core of the main pressure distribution valve moves upwards, the valve sleeve of the guide valve moves upwards, when the displacement of the valve core of the guide valve and the valve sleeve is the same, the T oil port and the A oil port of the guide valve are not communicated, and at the moment, the mechanical following system enters a steady state.
By the mode, the mechanical negative feedback closed loop of the main valve core position following the guide valve core position of the main valve core is realized.
A governor hydraulic follower system for closed loop control using pilot valve position, the system comprising:
the system comprises a man-machine interaction module, a controller, a stepping motor, a guide valve and a main pressure distribution valve;
the controller is connected with the stepping motor, the stepping motor is connected with the guide valve, the guide valve is connected with the main pressure distribution valve, and the main pressure distribution valve is connected with the servomotor; the pilot valve is provided with a first displacement sensor for measuring the position of a valve core of the pilot valve, and the first displacement sensor is connected with the controller. And the man-machine interaction module inputs the electric neutral position set value parameters of the pilot valve of the hydraulic servo system of the speed regulator and the control command into the controller.
The controller controls the displacement of the stepping motor according to the difference value between the main pressure distribution valve position setting and the pilot valve position feedback, so as to control the pilot valve position, and the main pressure distribution valve position is realized together with a mechanical negative feedback closed loop of the pilot valve position.
The servomotor is provided with a second displacement sensor which is connected with the controller.
The servomotor is connected with a hydroelectric generating set, and the hydroelectric generating set is provided with a rotating speed measuring device and a power transmitter.
The invention relates to a closed-loop control method for the position of a main distributing valve and a guide valve of a hydraulic servo system of a speed regulator, which has the following technical effects:
1) The hydraulic servo system of the speed regulator adopts the combination of the stepping motor, the guide valve and the main pressure distribution valve as an electrohydraulic conversion and execution mechanism, reduces the jamming probability of the electrohydraulic conversion and execution structure, improves the working reliability of the hydraulic servo system of the speed regulator, and reduces the failure rate.
2) Compared with the traditional electric negative feedback closed loop, the mechanical negative feedback closed loop with the main valve core position following the valve core position of the guide valve has fewer intermediate links, no electric links, simpler and more compact structure, better quick action and higher reliability.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic diagram of a hydraulic servo system of a speed governor according to the present invention.
Fig. 2 is a schematic diagram of a closed-loop control system of the electric control system of the present invention.
FIG. 3 is a schematic mechanical diagram of a hydraulic follower system of a governor;
in fig. 3, various lines are shown as follows:
pressure oil supply pipeline
Control pipeline
Oil return pipeline
Detailed Description
As shown in fig. 1, a governor hydraulic follower system employing pilot valve position for closed loop control, comprising: the device comprises a man-machine interaction module 12, a controller 13, a stepping motor 3, a guide valve 2, a main distributing valve 1, a servomotor 7, a displacement sensor, a rotating speed measuring device, a power transmitter 15, a communication medium and the like.
The controller 13 is connected with the stepping motor 3, the stepping motor 3 is connected with the guide valve 2, the guide valve 2 is connected with the main pressure distribution valve 1, and the main pressure distribution valve 1 is connected with the servomotor 7. The pilot valve 2 is provided with a first displacement sensor 5 for measuring the position of the pilot valve spool, the first displacement sensor 5 being connected to a controller 13.
The servomotor 7 is provided with a second displacement sensor 4, and the second displacement sensor 4 is connected with a controller 13.
The servomotor 7 is connected with a hydroelectric generating set 11, and the hydroelectric generating set 11 is provided with a rotating speed measuring device and a power transmitter 15. The rotation speed measuring device and the power transmitter 15 comprise a power transmitter module and a rotation speed signal device; power transmitter module NSD-PTM-V1.2) measures the power signal of a single-phase or three-phase ac voltage and current signal. Through the interface selection of the upper computer, the measured power signals are converted into standard RS232 and RS485 and Ethernet TCP/IP/IP/IP communication protocols; or 4-20mA and 0-10V analog signals are output to the outside. The rotating speed signal device RES3000 adopts a high-performance industrial grade CPU as a core control unit to realize intelligent control of the rotating speed and frequency of the water turbine unit.
The hydro-generator set 11 is connected with a power grid 14, the power grid 14 is connected with a PT residual voltage frequency measuring device 16, and the PT residual voltage frequency measuring device 16 is connected with the controller 13.
Communication media include hard-wired, network-wired, and the like communication cables that function to communicate information flow between the human-machine interaction module 12, the controller 13, control objects, and sensors.
The man-machine interaction module 12 is a touch screen generally, so that a man-machine interaction function is realized, and a user can input parameters such as an electric neutral position set value of the pilot valve 2 of the hydraulic servo system of the speed regulator and a control command into the controller 13 through the man-machine interaction module 12; the controller 13 may control objects such as: status information such as positions, frequencies and the like of the pilot valve 2, the relay 7 and the hydroelectric generating set 11 are displayed in real time to inform a user.
The controller 13 collects the control object, such as the state signals of the pilot valve 2 and the relay 7, through the sensor, and processes various input signals according to the logic of the control program in real time according to the control parameters and commands issued by the user through the man-machine interaction module 12, and outputs the control signals to the control object. The controller 13 may be of various brands PLC, PCC, ARM, etc. The control method adopts a classical closed-loop control theory. A schematic diagram of the closed-loop control structure of the electric control system is shown in fig. 2.
As shown in fig. 2, the control target of the guide vane opening control loop is that the guide vane opening feedback follows the guide vane opening given, which is realized through an electric negative feedback closed loop; the main-configuration control loop controls the position of the pilot valve 2 by controlling the displacement of the stepping motor 3 according to the difference between the main-configuration setting and the feedback of the position of the pilot valve, wherein the main-configuration setting is followed by the main-configuration setting, and the main-configuration setting is jointly realized by a mechanical negative feedback closed loop of the position of the pilot valve. The operation force of the stepping motor 3 is far larger than that of a proportional valve, the harsh requirements on the external environment or an intermediate medium are not required like the proportional valve, and the blocking and refusing phenomenon like the proportional valve is not generated. The mechanical negative feedback closed loop structure of the main position following the guide valve position is shown in fig. 3, and the serial numbers, names, codes and numbers of the components in fig. 3 are shown in table 1:
TABLE 1 serial number, name, code, number of parts
Sequence number Name of the name (Code) Quantity of Remarks
1 Main distributing valve 200DR 1 DN250
2 Guide valve 201DR 1 DN250
3 Stepping motor 102EB 1
5 Pilot valve position sensor 112MM 1
6 Guide vane position sensor 101MM 1
7 Relay device JLQ 2
8 Relay ring JLH 1
9 Oil pressing tank YYG 1
10 Oil return tank HYX 1
As can be seen from fig. 3, the valve sleeve of the pilot valve 2 and the valve body of the main pressure regulator valve 1 are mechanically hard-connected. When the valve core of the guide valve 2 moves downwards, the P oil port and the A oil port of the guide valve 2 are communicated, the Y end of the main pressure distribution valve 1 is communicated with pressure oil, the valve core of the main pressure distribution valve 1 moves downwards, the valve sleeve of the guide valve 2 moves downwards, when the displacement of the valve core of the guide valve 2 and the displacement of the valve sleeve are the same, the P oil port and the A oil port of the guide valve 2 are not communicated, and at the moment, the mechanical following system enters a steady state;
when the valve core of the guide valve 2 moves upwards, the T oil port and the A oil port of the guide valve 2 are communicated, the Y end of the main pressure distribution valve 1 is communicated with pressureless oil return, the valve core of the main pressure distribution valve 1 moves upwards, the valve sleeve of the guide valve 2 is caused to move upwards, and when the displacement of the valve core of the guide valve 2 and the displacement of the valve sleeve are the same, the T oil port and the A oil port of the guide valve 2 are not communicated, and at the moment, the mechanical following system enters a steady state.
From the above process, the mechanical structure realizes a mechanical negative feedback closed loop structure that the main matching (valve core) position follows the guide valve (valve core) position.

Claims (2)

1. The closed-loop control method for the position of the main distributing valve and the guide valve of the hydraulic servo system of the speed regulator is characterized by comprising the following steps of: and controlling the displacement of the stepping motor (3) according to the difference value between the position setting of the main distributing valve (1) and the position feedback of the guide valve (2), so as to control the position of the guide valve (2), wherein the position of the main distributing valve (1) is realized together with a mechanical negative feedback closed loop of the position of the guide valve (2).
2. The method for closed-loop control of the main distributing valve-guiding valve position of the hydraulic servo system of the speed regulator according to claim 1, wherein the method comprises the following steps:
when the valve core of the guide valve (2) moves downwards, the P oil port and the A oil port of the guide valve (2) are communicated, the Y end of the main pressure distribution valve (1) is communicated with pressure oil, the valve core of the main pressure distribution valve (1) moves downwards, so that the valve sleeve of the guide valve (2) moves downwards, and when the displacement of the valve core of the guide valve (2) and the displacement of the valve sleeve are the same, the P oil port and the A oil port of the guide valve (2) are not communicated, and a mechanical following system enters a steady state;
when the valve core of the guide valve (2) moves upwards, the T oil port and the A oil port of the guide valve (2) are communicated, the Y end of the main pressure distribution valve (1) is communicated with pressureless oil return, the valve core of the main pressure distribution valve (1) moves upwards, so that the valve sleeve of the guide valve (2) moves upwards, and when the displacement of the valve core of the guide valve (2) and the displacement of the valve sleeve are the same, the T oil port and the A oil port of the guide valve (2) are not communicated, and a mechanical following system enters a steady state;
by the mode, the mechanical negative feedback closed loop of the main valve core position following the guide valve core position of the main valve core is realized.
CN202310585572.XA 2023-05-23 2023-05-23 Main distributing valve-guiding valve position closed-loop control method of speed regulator hydraulic servo system Pending CN116624475A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310585572.XA CN116624475A (en) 2023-05-23 2023-05-23 Main distributing valve-guiding valve position closed-loop control method of speed regulator hydraulic servo system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310585572.XA CN116624475A (en) 2023-05-23 2023-05-23 Main distributing valve-guiding valve position closed-loop control method of speed regulator hydraulic servo system

Publications (1)

Publication Number Publication Date
CN116624475A true CN116624475A (en) 2023-08-22

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ID=87602007

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310585572.XA Pending CN116624475A (en) 2023-05-23 2023-05-23 Main distributing valve-guiding valve position closed-loop control method of speed regulator hydraulic servo system

Country Status (1)

Country Link
CN (1) CN116624475A (en)

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