CN118462336A - Redundant servo control system of steam turbine hydraulic system - Google Patents
Redundant servo control system of steam turbine hydraulic system Download PDFInfo
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Abstract
The invention discloses a redundant servo control system of a hydraulic system of a steam turbine, which is characterized in that a small steam turbine is generally provided with only 1 steam inlet valve, only 1 servo valve and 1 set of electric control system, when a single servo valve is blocked or the electric control system is in failure, the condition of stopping the machine and stopping production is easy to occur, therefore, the invention is provided with two servo valves for each oil motor, one servo valve is in a working state, the other servo valve is in a standby state, and the servo valves are switched through a special switching electromagnetic valve; each servo valve corresponds to one servo controller, and undisturbed fast switching is realized through redundant switching logic, so that the safe operation stability of the monotone gate steam turbine is greatly improved.
Description
Technical Field
The invention belongs to the technical field of turbine systems, and particularly relates to a redundant servo control system of a turbine hydraulic system.
Background
In modern industrial production, a steam turbine is used as an important power device and is widely applied to the fields of power generation, aerospace, petrochemical industry and the like. Steam turbines are one of the indispensable devices in many industrial processes by converting thermal energy into kinetic energy to drive machinery to rotate so as to generate power.
At present, most small and medium-sized generator sets, as well as a steam-driven water pump, have only 1 steam inlet valve and only 1 servo valve and 1 set of electric control system, and when a single servo valve is blocked or the electric control system fails, shutdown and production stopping are easy to occur, so that the safe and stable operation of the steam turbine is damaged.
Disclosure of Invention
The invention aims to provide a redundant servo control system of a hydraulic system of a steam turbine, which is characterized in that two servo valves are configured for each oil motor, one servo valve is in a working state, the other servo valve is in a standby state, and the two servo valves are changed by switching electromagnetic valves; each servo valve corresponds to one servo controller, and undisturbed fast switching is realized through redundant switching logic, so that the safe operation stability of the monotone gate steam turbine is greatly improved.
In order to solve the problems, the technical scheme of the invention is as follows:
A redundant servo control system for a turbine hydraulic system, comprising: redundant master control, a first servo card, a second servo card, a first servo valve, a second servo valve, a first displacement sensor, a second displacement sensor and a switching electromagnetic valve;
The redundant main control is respectively connected with the first servo card and the second servo card through a control bus, the first servo card is in communication connection with the first servo valve, the second servo card is in communication connection with the second servo valve, the first servo valve and the second servo valve are connected into the switching electromagnetic valve, and two oil ways of the oil motor are switched through the action of the switching electromagnetic valve;
The first displacement sensor is used for feeding back the stroke of the connecting rod of the oil motor to the first servo card, and the second displacement sensor is used for feeding back the stroke of the connecting rod of the oil motor to the second servo card;
The first servo card and the second servo card are communicated through a high-speed data interaction bus, stroke feedback and fault states of the two paths of displacement sensors are obtained, feedback values of the two paths of displacement sensors are compared, and a working servo card is selected according to preset logic;
when the working servo card fails, the working servo card is converted into a standby state; the standby servo card immediately shifts into a smooth operation mode from a tracking mode, and smoothly transits into a working servo card within a preset time, so that disturbance of main-standby switching on a regulating gate is eliminated.
According to an embodiment of the present invention, the smoothing operation mode includes:
And obtaining a feedback value PV1 of the first displacement sensor, and obtaining a feedback value PV2 of the second displacement sensor, and calculating a feedback value of PID according to the formula PV=Pv1+ (PV 2-PV 1) t%, wherein t% is a linear change quantity with time, and the feedback value is changed from 0% to 100% in 0-t.
According to the embodiment of the invention, the working servo card receives the opening instruction issued by the redundant main control, and outputs a PID control instruction to the corresponding servo valve under the PID operation of the internal chip by comparing the deviation of the current stroke and the opening instruction;
the standby servo card adopts a tracking mode, the internal PID is not operated, and the balance current value of the standby servo valve is directly output.
According to the embodiment of the invention, when a heavy fault occurs in a working servo oil circuit or an operator manually requests oil circuit switching, a redundant main control starts a switching servo logic, whether a fault exists in a standby oil circuit or not is judged, if the fault does not exist, a switching valve command is issued to a standby servo card and a switching value output card at the same time, the switching value output card controls a switching electromagnetic valve to switch the oil circuit, the standby servo card immediately shifts to a PID control mode from a tracking mode, and an operation starting value of PID is a balance current value so as to control the switched servo valve.
According to the embodiment of the invention, when the servo oil circuit has light faults, the working servo card reports fault reasons to the redundant main control and continues to work at present without switching the oil circuit; the light fault of the servo oil circuit comprises:
The feedback circuit of one path of displacement sensor is disconnected;
a standby servo output circuit failure;
The spare servo card fails internally.
According to the embodiment of the invention, after the single oil way is failed, the failed servo card or the failed servo valve is replaced on line without stopping.
According to an embodiment of the present invention, the input end and the output end of the first servo valve or the second servo valve are both provided with a manual valve, so that after the servo valve fails, the oil path is manually closed for online replacement.
By adopting the technical scheme, the invention has the following advantages and positive effects compared with the prior art:
according to the redundant servo control system of the hydraulic system of the steam turbine, the steam turbine is generally provided with only 1 steam inlet valve, only 1 servo valve and 1 set of electric control system, when a single servo valve is blocked or the electric control system is in failure, the condition of stopping the machine and stopping production is easy to occur, two servo valves are configured for each oil motor, one servo valve is in a working state, the other servo valve is in a standby state, and the two servo valves are changed through a special switching electromagnetic valve; each servo valve corresponds to one servo controller, and undisturbed fast switching is realized through redundant switching logic, so that the safe operation stability of the monotone gate steam turbine is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a hydraulic system of a steam turbine in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a redundant servo control system for a turbine hydraulic system in accordance with one embodiment of the present invention.
Detailed Description
The redundant servo control system for the hydraulic system of the steam turbine is provided in the invention and further described in detail below with reference to the accompanying drawings and the specific embodiments. Advantages and features of the invention will become more apparent from the following description and from the claims.
In order to solve the problem that a turbine stops or flies out when single servo control in the traditional turbine electrohydraulic control system fails, the embodiment provides a redundant servo control system of a turbine hydraulic system, wherein two servo valves are configured for each servomotor, one is in a working state, the other is in a standby state, and the redundant servo control system is changed through a special switching electromagnetic valve; each servo valve corresponds to one servo controller, and undisturbed fast switching is realized through redundant switching logic, so that the safe operation stability of the monotone gate steam turbine is greatly improved.
First, the terms of art to be used in this embodiment will be described:
Steam turbine: an apparatus for converting thermal energy into mechanical energy is generally used for generating electricity or propelling a ship. The working principle is that the turbine is driven to rotate by high-temperature and high-pressure steam, so that a connected generator or propulsion device is driven to work.
Servo valve: a hydraulic control device for controlling the direction, pressure and flow of fluid flow. The servo valve can accurately regulate the flow of fluid, controlled by an electrical signal.
Servo card: a programmable control card can receive LVDT feedback signals, an internal chip can independently perform PID operation, and equipment for accurately controlling a servo valve can be used for sending out electric signals.
LVDT sensor: a linear variable voltage sensor, collectively referred to as Linear Variable Differential Transformer. The device is generally composed of a coil and an iron core, and when the iron core moves, the position change of a moving object can cause the coil to induce different voltage signals, so that the position is monitored and measured. Can be used for stroke feedback of the oil motor.
Oil motor: a hydraulic power machine uses a servo valve to change the pressure difference between an upper oil cavity and a lower oil cavity of a hydraulic motor so as to generate ascending or descending power, and the hydraulic motor is provided with a connecting rod to drive controlled equipment to ascend or descend.
High-speed gate: an adjusting door for controlling the steam inlet of the steam turbine is connected with a connecting rod of the oil engine, and the lifting and descending of the connecting rod can drive the opening of the high adjusting door to change, so that the steam inlet of the steam turbine is changed.
OPC electromagnetic valve: a quick oil discharge solenoid valve is controlled by an electric signal. When the motor acts, the oil inlet of the motor can be quickly removed, so that the shutter is quickly closed.
Switching the electromagnetic valve: an electromagnetic valve for switching oil paths is controlled by an electric signal. The oil inlet servo valve loop can be used for switching the oil inlet servo valve loop used by the oil motor.
Before describing the redundant servo control system of the turbine hydraulic system in this embodiment, please refer to fig. 1, which is a high-speed engine hydraulic system, the input end of the servo valve a is provided with a manual valve and a filter element, the output end of the servo valve a is provided with a manual valve and is connected with the end a of the cut-off electromagnetic valve; the P end of the switching electromagnetic valve is connected with the oil motor through a one-way valve.
The input end of the servo valve B is provided with a manual valve and a filter element, and the output end of the servo valve B is provided with a manual valve and is connected with the end B of the cut-off electromagnetic valve; the T end of the switching electromagnetic valve is connected with an unloading valve, and the output end of the unloading valve is connected with an oil motor. An orifice is arranged on the connecting pipeline of the unloading valve at the T end of the switching electromagnetic valve.
The input ends of the servo valve A and the servo valve B are connected with a pressure oil pipeline, the pressure oil pipeline is also connected with an OPC electromagnetic valve, one output end of the OPC electromagnetic valve is connected with one input end of the unloading valve, one output end of the unloading valve is connected with an oil return pipeline, and the other output end of the OPC electromagnetic valve is also connected with the oil return pipeline. And a throttle hole is arranged on the connecting pipeline of the OPC electromagnetic valve and the pressure oil.
The servo valve a: and the control of the A-path hydraulic servo oil path is controlled by a current signal of a servo controller A.
Servo valve B: and the control of the B-path hydraulic servo oil path is controlled by a current signal of a servo controller B.
Switching the electromagnetic valve: and the switching of the AB path hydraulic oil path is responsible, when the upper part of the hydraulic oil path is electrified, the hydraulic oil path is switched to the B path, and when the lower part of the hydraulic oil path is electrified, the hydraulic oil path is switched to the A path, and the switching time is 10ms. When the upper part and the lower part are simultaneously powered on or powered off, the previous state is maintained.
OPC electromagnetic valve: i.e. a fast closing solenoid valve, is responsible for the fast closing of the servomotor in case of emergency.
The filter element is responsible for filtering the pressure oil entering the servo valve, reducing the entry of impurities and reducing the jamming risk of the servo valve.
Manual valve: the corresponding oil way can be closed after the servo valve is blocked by manually opening or closing the oil way, so that the servo valve can be replaced without stopping the machine.
Check valve: the hydraulic oil flow direction is controlled, and only one-way flow is realized, so that the backflow is prevented.
Orifice: the hydraulic oil flow after the restriction is reduced, and excessive pressure oil pressure relief caused by excessive flow during the action of the quick-closing solenoid valve is prevented.
Unloading valve: when the OPC electromagnetic valve acts, the upper cavity of the unloading valve is depressurized, and under the action of a valve body spring, the piston in the unloading valve moves upwards, so that pressure oil can rapidly enter the lower cavity of the oil engine in a large flow rate, and the aim of rapid closing is fulfilled.
Oil motor: the illustrated servomotor linkage is operated to open the door when moving downward and to close the door when moving upward. The servo valve realizes the function of controlling the up-and-down movement of the connecting rod of the oil motor by adjusting the pressure oil flow entering the lower cavity of the oil motor.
LVDT: and the displacement sensor is arranged on the oil motor connecting rod and used for feeding back the stroke of the oil motor connecting rod.
Referring to fig. 2, the redundant servo control system of the turbine hydraulic system includes: the redundant master control device comprises a redundant master control device 1, a first servo card 2, a second servo card 3, a first servo valve 5, a second servo valve 6, a first displacement sensor 8, a second displacement sensor 9 and a switching electromagnetic valve 7, wherein the redundant master control device 1 is respectively connected with the first servo card 2 and the second servo card 3 through control buses, the first servo card 2 is in communication connection with the first servo valve 5, the second servo card 3 is in communication connection with the second servo valve 6, the first servo valve 5 and the second servo valve 6 are connected into the switching electromagnetic valve 7, and two oil ways of the oil motor are switched through actions of the switching electromagnetic valve 7.
The first displacement sensor 8 is used for feeding back the stroke of the connecting rod of the oil motor to the first servo card 2, and the second displacement sensor 9 is used for feeding back the stroke of the connecting rod of the oil motor to the second servo card 3.
The first servo card 2 and the second servo card 3 are communicated through a high-speed data interaction bus, stroke feedback and fault states of the two paths of displacement sensors are obtained, feedback values of the two paths of displacement sensors are compared, and a working servo card is selected according to preset logic.
When the working servo card fails, the working servo card is converted into a standby state; the standby servo card immediately shifts into a smooth operation mode from a tracking mode, and smoothly transits into a working servo card within a preset time, so that disturbance of main-standby switching on a regulating gate is eliminated.
Specifically, the first servo card 2 (servo card a): the first servo valve 5 (servo valve a) is controlled by a current signal, thereby controlling the opening degree of the engine. The first servo clamp is provided with a current signal output loop state detection, so that whether a line reaching the servo valve is broken or not can be timely judged; meanwhile, the state detection of the LVDT feedback loop is also provided, and whether the line fed back by the LVDT is broken or not can be timely judged.
Second servo card 3 (servo card B): the second servo valve 6 (servo valve B) is controlled by a current signal, thereby controlling the opening degree of the engine.
Redundant master 1: and the programmable controller uses redundant configuration, wherein one of the programmable controllers can be quickly switched to the other programmable controller when the other programmable controller fails, and configuration logic and IO states can be copied between the working master control and the standby master control.
Switching value output card 4: the main control instruction can be received, the relay switching value output signal can be sent, and the on-site switching electromagnetic valve 7 can be controlled.
Data interaction bus: the servo cards A and B are inserted into the same base, and are directly communicated through the data interaction bus of the base, so that data can be interacted rapidly, and especially, the feedback signals of respective LVDT are interacted faster than the control bus.
Control bus: and buses for direct data interaction between the servo card, the switching value output card and the like and the master control. The card can receive the instruction signal sent by the main control through the control bus, and the main control can also acquire the field data collected by the card and the fault state of the card.
Each servo card is respectively connected with 1 LVDT installed on a connecting rod of the oil motor to be used as stroke feedback, the stroke and fault state of the LVDT of the other servo card can be obtained through a high-speed data interaction bus, and the two feedback values are compared and selected according to preset logic. The predetermined logic is: any path of LVDT line faults and directly selects LVDT feedback values of non-fault paths. If the two LVDT lines are normal, the single LVDT is selected high or low according to the characteristics of the tuning gate or manually. In general, the high-speed gate is in a high-selection mode, because the high-speed gate is responsible for controlling the steam inlet, the high-speed gate is selected to be helpful for ensuring that the high-speed gate is in an overspeed driving accident under special conditions, such as linear confusion of LVDT caused by high-temperature steam, current is reduced after PID operation, and the gate acts towards the closing safety direction.
The servo card is divided into a working card and a standby card. Each servo valve has a corresponding balance current of about 1mA, and under the current instruction, the servo valve does not enter or discharge oil, so that the engine can be maintained in a stable and motionless state. The balance current value is tested by static test before starting.
The working servo card receives the opening instruction issued by the main control, and outputs a PID control instruction under the PID operation of the chip in the card by comparing the deviation of the current stroke and the opening instruction, and the instruction controls the servo valve in a current mode, and then the servo valve controls the oil motor to ascend, descend or stabilize.
The standby servo card adopts a tracking mode, the internal PID is not operated, and the balance current value of the standby servo valve is directly output.
When the working servo loop encounters heavy faults or the operator manually requires switching, the redundant main control starts switching servo logic, judges whether the spare loop has faults or not, if not, issues a switching valve instruction to the spare servo card and the switching value output card at the same time, the switching value output card controls the switching solenoid valve to switch an oil way, the spare servo card immediately shifts into a PID control mode from a tracking mode, and the operation starting value of the PID is a balance current value so as to control the switched servo valve. The original working path automatically becomes a standby state.
Heavy faults include the following:
1. the internal heavy faults of the current working servo card comprise chip damage, power supply loss, abnormal exciting current and the like;
2. The current working servo card is disconnected or short-circuited to the servo valve; namely, the servo card has the capability of detecting the state of an output circuit from hardware.
3. The LVDT feedback and instruction deviation of the working servo valve are too large; the delay is usually set to 5% and 2 seconds, which is generally caused by the jamming of the servo valve, and the current command cannot control the action of the servo valve. This situation requires manual replacement of the servo valve.
For the switching caused by the heavy fault, the redundant main control locks after being continuously switched for 3 times in a short time (such as 1 minute), and sends out an explicit alarm signal, and the switching is required to be confirmed manually, and the switching is required to be carried out on the premise of the next switching after confirmation. In extreme cases, a heavy fault condition may occur in both paths, and it is necessary to prevent the switching solenoid valve from continuously operating as a result.
When the working servo loop encounters a light fault, the working servo card reports the fault reason to the main control and continues the current working without switching. Waiting for the master control to send an alarm to the upper computer man-machine interface to prompt an operator to check or manually switch.
Light faults include the following:
1. The 1-path LVDT feedback circuit is disconnected, and the servo card can acquire LVDT feedback values of other paths through the high-speed data interaction bus on the base, so that a servo valve does not need to be switched under the condition, and the circuit problem only needs to be checked manually.
2. The standby servo output circuit faults, including wire breaks or short circuits. Since the standby road is not in an operating state at ordinary times, switching is not necessary, but manual inspection of the road problem is required to be prompted.
3. The internal faults of the standby servo clamping piece comprise chip damage, power supply loss, abnormal excitation current and the like. In this state, the switching is not necessary, but the manual replacement of the clip must be prompted.
After the single-way fault occurs, the servo card or the servo valve can be safely replaced on line without stopping.
When the servo card fails, the failure card can be switched to a standby state, and the manual plugging and replacement has no influence on a working path. Because the LVDT feedback value adopted by the working path may be using the LVDT feedback of the standby path, the standby path LVDT feedback is lost when the card is pulled out, and therefore, the manual selection is needed to switch to the working path LVDT feedback value before the card is pulled out, after the manual selection is carried out on the working path LVDT, the working servo card is smoothed and transited in a set time in an internal smoothing operation mode, so that the condition of sudden change of the transfer gate is eliminated. The balance operation mode is specifically as follows:
Since the two LVDT feedback values must deviate (the sensor linearity determines that they cannot be exactly the same), e.g. 60 for one and 61 for the other, this feedback value is fed into the PID calculation, which must cause the output to jump if no smoothing is provided internally, the feedback value PV of the PID changes from 60 to 61. Therefore, the present embodiment performs smoothing processing inside the servo card in such a manner that: assuming that the feedback value of LVDT1 is PV1 and that of LVDT2 is PV2, then pv=pv1+ (PV 2-PV 1) t% of PID. Where t% is a linearly varying amount over time, e.g., t is set for 5 seconds, then t% is changed from 0% to 100% in 0-5 seconds. This allows a smooth switch to pass within 5 seconds and the abrupt output change of the PID is eliminated.
When the servo valve fails, the failure servo valve can be switched to a standby state, and the oil path can be cut off only by closing the manual valves at the two ends of the failure servo valve, so that the servo valve can be safely replaced.
According to the redundant servo control system of the hydraulic system of the steam turbine, data interaction is carried out between two servo cards through a high-speed data interaction bus, any servo card can acquire two paths of LVDT feedback signals, smooth switching logic is arranged in the servo card, and switching disturbance caused by linear inconsistency of the LVDT can be overcome. Moreover, the two oil ways are switched through the single switching electromagnetic valve, compared with the scheme of adopting two isolation electromagnetic valves, the switching speed is faster, and the safety is higher, and one oil way can be ensured to work all the time.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is within the scope of the appended claims and their equivalents to fall within the scope of the invention.
Claims (7)
1.A redundant servo control system for a turbine hydraulic system, comprising: redundant master control, a first servo card, a second servo card, a first servo valve, a second servo valve, a first displacement sensor, a second displacement sensor and a switching electromagnetic valve;
The redundant main control is respectively connected with the first servo card and the second servo card through a control bus, the first servo card is in communication connection with the first servo valve, the second servo card is in communication connection with the second servo valve, the first servo valve and the second servo valve are connected into the switching electromagnetic valve, and two oil ways of the oil motor are switched through the action of the switching electromagnetic valve;
The first displacement sensor is used for feeding back the stroke of the connecting rod of the oil motor to the first servo card, and the second displacement sensor is used for feeding back the stroke of the connecting rod of the oil motor to the second servo card;
The first servo card and the second servo card are communicated through a high-speed data interaction bus, stroke feedback and fault states of the two paths of displacement sensors are obtained, feedback values of the two paths of displacement sensors are compared, and a working servo card is selected according to preset logic;
when the working servo card fails, the working servo card is converted into a standby state; the standby servo card immediately shifts into a smooth operation mode from a tracking mode, and smoothly transits into a working servo card within a preset time, so that disturbance of main-standby switching on a regulating gate is eliminated.
2. The redundant servo control system of a turbine hydraulic system of claim 1, wherein the smoothing operation mode comprises:
The feedback value PV1 of the first displacement sensor is obtained, the feedback value PV2 of the second displacement sensor is calculated according to the formula PV=Pv1+ (PV 2-PV 1) t%, wherein t% is a linear variable quantity with time, and the change from 0% to 100% is completed in the time of 0-t.
3. The redundant servo control system of the hydraulic system of the steam turbine according to claim 1, wherein the working servo card receives an opening command issued by the redundant main control, and outputs a PID control command to the corresponding servo valve by comparing deviation of the current stroke and the opening command and PID operation of the internal chip;
the standby servo card adopts a tracking mode, the internal PID is not operated, and the balance current value of the standby servo valve is directly output.
4. The redundant servo control system of a turbine hydraulic system according to claim 3, wherein when a heavy fault occurs in a working servo oil path or an operator manually requests oil path switching, the redundant master control starts switching servo logic, judges whether a fault exists in a standby oil path, if the fault does not exist, a switching valve command is issued to a standby servo card and a switching value output card at the same time, the switching value output card controls a switching solenoid valve to switch the oil path, the standby servo card is immediately switched from a tracking mode to a PID control mode, and an operation starting value of PID is a balance current value to control the switched servo valve.
5. The redundant servo control system of a turbine hydraulic system according to claim 3, wherein when a light failure occurs in a servo oil path, the working servo card reports the failure cause to the redundant master control and continues the current working without switching the oil path; the light fault of the servo oil circuit comprises:
The feedback circuit of one path of displacement sensor is disconnected;
a standby servo output circuit failure;
The spare servo card fails internally.
6. A redundant servo control system for a hydraulic system of a steam turbine according to claim 3, wherein the fault servo card or the fault servo valve is replaced on-line without stopping the machine after a single-pass fault occurs.
7. The redundant servo control system of a turbine hydraulic system of claim 6, wherein the input end and the output end of the first servo valve or the second servo valve are provided with a manual valve, so that after the servo valve fails, the oil path is manually closed for online replacement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410655438.7A CN118462336A (en) | 2024-05-24 | 2024-05-24 | Redundant servo control system of steam turbine hydraulic system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410655438.7A CN118462336A (en) | 2024-05-24 | 2024-05-24 | Redundant servo control system of steam turbine hydraulic system |
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| CN118462336A true CN118462336A (en) | 2024-08-09 |
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| CN202410655438.7A Pending CN118462336A (en) | 2024-05-24 | 2024-05-24 | Redundant servo control system of steam turbine hydraulic system |
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- 2024-05-24 CN CN202410655438.7A patent/CN118462336A/en active Pending
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