CN1734085A - Double-channel cross redundancy system for digital microcomputer governor of large-scale hydroturbine - Google Patents
Double-channel cross redundancy system for digital microcomputer governor of large-scale hydroturbine Download PDFInfo
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Abstract
This invention relates to the twin channel across system of the microcomputer speed controller in a digital water wheel with large-scale, which includes an actively adjusting main channel and an assistant channel, wherein the actively adjusting main channel includes the microcomputer regulators A and B with two redundancies connecting and a main channel with the mechanical hydraulic pressure system, wherein the actively adjusting assistant channel includes a microcomputer regulator C and an assistant channel with mechanical hydraulic pressure or the mechanical(electric) handle structure; when the main channel is working, the assistant channel doesn't affect the main channel's work, but it tracks the main channel, and the adjusting aim of its guide vane receiver is completely identical with the main channel, which can realize the none-trouble switch of the main or assistant channel. The cross redundancy twin PLC control structure composed of the correspondence and software has a high ability to allow false, which can allow the fault of the different named module in the two stand-alones, and the crossing structure can make the speed adjusting device work normally.
Description
Technical field
The present invention relates to the water turbine governing control gear, especially a kind of digital large-scale water turbine microcomputer governor Twin channel crossing redundancy system.
Background technique
What the most of water power plant of China was equipped with all is mechanical-hydraulic type, electric liquid type or microcomputerized hydrogovernor.Along with the high speed development of control theory and computer technology, the research work of hydrogovernor has obtained continuous development.The pattern of present prevailing microcomputer governor is: microcomputer based regulator+electrohydraulic servo system.Because microcomputer technology support is arranged, the water turbine control strategy has obtained extensive studies, control strategy is from the control of in the past PI type, develops into PID gradually, becoming can number PID, self adaptive control, improves control, robust control, predictive control, change structure control, nonlinear Control etc. certainly.These control strategies its objective is and improve water wheels unit reliability of operation in the performance of having improved regulating system in varying degrees, improve regulator quality and performance.This is the improvement design on the control mode.
In the hydrogovernor, electrohydraulic servo system realizes power amplification, and position signal is followed; manually-operable; functions such as emergency shutdown, it mainly comprises electro-control converter, main control valve; servomotor; the mechanical displacement feedback element, manual, automatic merit is changed parts, stroke limiter; tightly strive the shutdown parts, manual operational unit etc.Operating experience shows that electric liquid conversion is the weakest link of speed regulator, jam, and faults such as broken string often take place.For a long time, what electro-control converter adopted is moving coil force motor-auxiliary follow up piston structure, because the control signal that moving-coil is accepted is tens of extremely weak electric signals of hundreds of milliamperes, therefore its eletromagnetic-operating power is very limited, be no more than hundreds of grams as maximum,, can be subjected to the threat of spool bite constantly along with the reduction of oil cleanliness in the using process, and then it is cause whole hydraulic system remarkable action, so that out of control.Because designed, manufactured, the restriction of all many-sided factors such as site operation, working service, the using effect of present this class hydraulic actuator of China is mostly undesirable, especially wherein the dirty ability of the oil resistant of electro-control converter is poor, requirement to working environment is very high, from present water power industry construction and operation maintenance condition, be difficult to guarantee its functional reliability.The input end of electro-control converter links to each other with the output terminal of speed-regulating controller, and its output terminal and the master of actuator join valve, and servomotor links to each other, and regulates the main valve opening of joining, control rotational speed of water turbine and output power by speed regulator through electro-control converter.In order to improve the safety reliability of unit operation, prevent the generation of accident or human accident, machine unit speed regulating device is installed additional safety protection mechanism, restriction spool aperture is the requisite measure that guarantees the safe operation of hydroelectric power unit.In production practices in the past, once there was manufacturer production to cross Purely mechanical hydrogovernor aperture limiter.It rotates its feed screw nut by handwheel, stops the stroke of pilot valve through feed screw nut's straight-line displacement, realizes the aperture restriction.This stroke limiter is " on the spot " operation only, can not " distant place " control.Just must increase motor driver if realize " distant place " control, and a supporting worm speed reducer and clutch, make loaded down with trivial detailsly, property made and control accuracy are poor, and it is very inconvenient to safeguard.Simultaneously, do not have the function of real-time regulated aperture, can not realize that promptly the limit opens margin and frontier juncture margin function.
More than several respectively from electrical control, liquid electricity conversion, several respects such as mechanical opening restriction are regulated the operation of hydraulic generator unit and have been carried out improving design, its objective is consistently, will improve constantly safety, reliability and the Economy of unit operation exactly.
Yet (main joining for the valve footpath＞80mm), single aforementioned techniques is difficult to satisfy its safety and reliable request for Large Hydroelectric Set.00259624.5 number Chinese patent a kind of hydraulic actuator of water turbine electrohydraulic governor, this patent requires in 3 and 7 in the machine profit, and some parts of electrohydraulic servo system in the hydrogovernor have been proposed Redundancy Design." described digital valve pack, cartridge valve group include into the redundant connection of Twin channel and control main servomotor to the digital valve of opening the side fast moving and the corresponding with it cartridge valve that connects; The redundant connection of Twin channel is arranged into and control main servomotor to digital valve of closing the side fast moving and the corresponding with it cartridge valve that connects; The control main servomotor is arranged to opening side or closing the digital valve that low speed moves in the side work." (see 00259624.5 machine sharp require); this invention " also include into Twin channel is redundant to be connected and control main servomotor to the emergency shutdown valve group of being made up of common solenoid directional control valve of closing the side fast moving, the common solenoid directional control valve in the emergency shutdown valve group connects with the cartridge valve of described control main servomotor to pass side fast moving " (seeing Patent right requirement 7 No. 00259624.5).But these only are only limited to the partly Redundancy Design of mechanical component and accessory, are limited to the safe operation role of water wheels unit.
The purpose of this invention is to provide a kind of full digital microcomputer governor Twin channel crossing redundancy system that is used on the Large Hydroelectric Set, it not only has on electric liquid converting system can not have major-minor two groups of devices that disturbance is automaticallyed switch mutually, having in electrical control not to have the major-minor two cover regulators that disturbance is automaticallyed switch mutually, and have when the part of module fault appears in the two-shipper structure, can tolerate the different name module faults (fault-tolerant) of two units, intersect and constitute normal complete machine, make the function of speed regulator energy proper functioning, so to guarantee the Large Hydroelectric Set safe operation.
Summary of the invention
Said speed regulator comprises regulator and electrohydraulic servo system, electrohydraulic servo system comprises electro-control converter, the main valve of joining, shutdown valve, pilot valve, hydrovalve, operating device, mechanical feedback mechanism, stroke limiter, each parts of position transducer and guide vane servomotor, the signal output part of regulator links to each other with each SC sigmal control end of electrohydraulic servo system, electrical signal is after electrohydraulic servo system conversion and power amplification, thereby the displacement control guide vane opening of control guide vane servomotor, it is characterized in that: said speed regulator comprises that one is regulated main passage and an automatic adjusting secondary channels two large divisions automatically, automatically regulate the main passage and comprise two redundant microcomputer based regulator A and microcomputer based regulator B and machinery hydraulic system main passages that connect, regulate secondary channels automatically and comprise a microcomputer based regulator C and mechanical-hydraulic secondary channels/machinery (electric) man-operated mechanism; The FPDP of microcomputer based regulator A, B, C, control port all footpath MB+ network communication bus link together, and the signal output port of microcomputer based regulator A, the B switching valve in diverter switch and machinery hydraulic system main passage and the control port of proportional servo valve simultaneously links to each other; One group of signal output port of microcomputer based regulator C links to each other with the control port with movable pulley in machinery hydraulic system secondary channels/machinery (electric) man-operated mechanism.Speed regulator of the present invention is the above in parallel automatic primary/secondary Twin channel formula structure of main control valve, automatically the main passage for ripe have the adaptive type variable parameter PID regulate rule, have separately that the double governor of independent CPUs, I/O passage and power supply (A and B) (in the speed governing cabinet)+proportional servo valve/FC20000 valve is the digital electric-hydraulic speed regulator that core constitutes.Automatically secondary channels is microcomputer based regulator C (in the speed regulator control cabinet)+AC servo motor/control valve+FC20000 voltage distribution valve, has the independent microcomputer based regulator that the adaptive type variable parameter PID is regulated rule; Has the manual and electricapparatus manual function of pure machinery.
When worked in the main passage automatically, secondary channels did not influence the work of automatic main passage automatically, but follows the tracks of automatic main passage, and its guide vane servomotor regulates desired value and the main passage is in full accord automatically, can realize the no disturbance switching of primary/secondary passage.
The redundant regulator of independently two PLC, two-shipper crossing redundancy fault-tolerant design scheme, under the condition that does not increase hardware spending, constitute the two PLC control structures of crossing redundancy with communication and software, have stronger fault-tolerant ability, make when the part of module fault all appears in two-shipper, can tolerate the different name module failure conditions (fault-tolerant) of two units, intersection constitutes normal complete machine, makes speed regulator energy proper functioning, thereby really realize the dual-computer redundancy fault-tolerant architecture, further improve the reliability of speed regulator.
Description of drawings
Fig. 1 is an electric control system theory diagram of the present invention
Fig. 2 is the machinery hydraulic system theory diagram.
Embodiment
Microcomputer based regulator is regulated main passage+machinery hydraulic system automatically and is regulated the main passage mode of execution automatically:
1 〉. automatic main passage: the control core that microcomputer based regulator is regulated main passage 1 automatically adopts the two PLC that can work independently, adjusting rule with adaptive type variable parameter PID, programmable controller (label of microcomputer based regulator A in Fig. 1 be 5 and the label of microcomputer based regulator B in Fig. 1 be 6) adopt: the Quantum of Schneider company programmable controller, the CPU model is the 140CPU43412A type, 32 of word lengths, dominant frequency 66MHz is installed in the speed governing cabinet.Each microcomputer based regulator all has independent CPUs, I/0 passage, sensor, frequency measurement and power supply
Machinery hydraulic system is regulated the main passage automatically and is made up of BOSCH proportional servo valve 13, emergency shutdown solenoid valve 16, manual emergency shutdown valve 17, GE FC20000 valve (with upper-part by the complete supply of material of GE company), emergency distributing valve and stator sequence closing valve etc.
Switching valve 13 is positioned at " main passage " position: proportional servo valve control oil is delivered to FC20000 valve auxiliary receiver control chamber (big chamber), and FC20000 valve auxiliary receiver loculus is by the pressure oil fuel feeding.
When work in the main passage automatically, automatically the microcomputer based regulator C of secondary channels switches to realize the no disturbance between automatic main passage/secondary channels by state and the data of MB+ network communication 11 (MODBUS PLUS) bus tracking main passage microcomputer based regulator A/ microcomputer based regulator B.
2 〉. automatic secondary channels: microcomputer based regulator is regulated secondary channels+machinery hydraulic system automatically and is regulated secondary channels automatically;
Microcomputer based regulator is regulated the control core (label of microcomputer based regulator C in Fig. 1 is 7) of secondary channels automatically, adjusting rule with adaptive type variable parameter PID, adopt the Schneider Premium of company series-TSX P57303 programmable controller, be installed in the speed regulator control cabinet, get the power supply that is different from the speed governing cabinet, when the power failure of speed governing cabinet, still can proper functioning.
Machinery hydraulic system is regulated secondary channels 12 automatically and is made up of AC servo motor, control valve, emergency shutdown solenoid valve, manual emergency shutdown valve, FC20000 valve, emergency distributing valve 18, stator sequence closing control valve 19 and stator machine feedback 20 etc.; The displacement of AC Servo Motor Control is compared with the machine feedback displacement that is taken to servomotor, constitutes the mechanical-hydraulic followup system, realizes close-loop automatic adjustment, has the mechanical-hydraulic manual function concurrently.It is lower than machinery hydraulic system to the requirement of oil and regulates the main passage automatically.AC servo motor is compared with stepper motor, have be digital control, carry that rotating coder constitutes position ring, dynamic response is fast and do not have advantage such as step-out problem
Switching valve is positioned at " secondary channels " position, and control valve is by microcomputer based regulator C and AC servo motor and machine feedback control, and its control oil is delivered to FC20000 valve auxiliary receiver control chamber (big chamber), and FC20000 valve auxiliary receiver loculus is by the pressure oil fuel feeding.
When secondary channels was worked automatically, the microcomputer based regulator A/ microcomputer based regulator B of main passage switched with the no disturbance that realizes automatic secondary channels/main passage by state and the data of MODBUSPLUS net tracking secondary channels microcomputer based regulator C automatically.
(3). the manual tune passage
1 〉. electric manual
Electric guide vane opening limiting element is realized electric manual control, is realized by microcomputer based regulator A or microcomputer based regulator B;
Electric guide vane opening restriction increase and decrease operation: terrain (speed governing cabinet switch button)/distant place (power station computer monitoring system, analogue signal).
Be incorporated into the power networks: electric guide vane opening limits value is positioned at the maximum opening that adapts with operating head polishing, and can accept the control signal of power station computer monitoring system.
As the unit removal of load, electric guide vane opening restriction control guide vane servomotor is closed near the no-load opening that adapts with operating head polishing.
Electric guide vane opening/aperture restriction index gauge (on the speed governing cabinet panel) ,-1～120%, two indicator types.
2 〉. pure machinery (hydraulic pressure) is manual and electricapparatus (hydraulic pressure) is manual
Manually the mechanical-hydraulic passage of control is made up of mechanical handwheel (AC servo motor), control valve, emergency shutdown solenoid valve, manual emergency shutdown valve, FC20000 valve, emergency distributing valve, stator sequence closing control valve and stator machine feedback etc., and it also is that machinery hydraulic system is regulated secondary channels automatically.Proportional servo valve control oil is cut off, and control valve is realized pure machinery (hydraulic pressure) manual operation function by the pressure oil fuel feeding with the guide vane servomotor machine feedback, uses operated by handwheel.For the ease of operation and maintainer's operation, (be installed in the speed regulator control cabinet with microcomputer based regulator C and AC servo motor, get the power supply that is different from the speed governing cabinet) control mechanical guide vane opening given, can control given realization electrical control to mechanical guide vane opening in terrain (switch button of speed regulator control cabinet)/distant place (power station computer monitoring system, analogue signal); Simultaneously, can realize convenient, reliably that automatic operating switches to the start building no disturbance of condition of mechanism hand, and when mechanism hand is started building condition, if the unit removal of load, can satisfy that stator is closed near the no-load opening that adapts with operating head polishing requirement.
On speed regulator control cabinet panel, establish manually mechanical/electricapparatus MTS and index gauge;
(4). working method is switched: can realize not having disturbance between variety of way and switch.
Automatic main passage/secondary channels: switch between the two-shipper of main passage;
The main passage fault switches to secondary channels automatically;
Speed governing automatic main passage/secondary channels diverter switch cashier's office in a shop;
Automatic/hand: speed governing automatic/hand diverter switch cashier's office in a shop can switch to timing control cabinet work;
Electric manually/machinery (hydraulic pressure) is manual: on the speed regulator control cabinet electric manually/machinery (hydraulic pressure) MTS, can realize that manual mode switches.
Microcomputer based regulator is regulated the fault-tolerant principle explanation of main passage two-shipper (microcomputer based regulator A and microcomputer based regulator B) crossing redundancy automatically:
(1) independently two PLC redundant manipulators
1 〉. two PLC controller: the CPU of full redundancy, load module, output module, sensor, frequency senser, power supply are redundancy structure, mainly are " main frame/heat is equipped with " functions.
2 〉. microcomputer based regulator is regulated the main passage automatically and is adopted two independently PLC controllers (microcomputer based regulator A and microcomputer based regulator B), realizes two-shipper state and data consistent by Field bus MODBUS PLUS;
3 〉. each PLC controller (microcomputer based regulator A or microcomputer based regulator B) and corresponding machinery hydraulic system etc. match, and all can independently realize all controlling function and assurance and reach whole adjusting function requirements;
4 〉. when one of two-shipper (microcomputer based regulator A and microcomputer based regulator B) fault, can send trouble signal and automatically, no disturbance switch to normal machine work, the fault machine can online replacing module, maintenance;
(2) the two-shipper crossing redundancy is fault-tolerant
Under the condition that does not increase hardware spending, constitute the two PLC control structures of crossing redundancy with communication and software, has stronger fault-tolerant ability, can tolerate the different name module failure conditions (fault-tolerant) of two units, intersect and constitute normal complete machine, make speed regulator energy proper functioning, thereby really realize the dual-computer redundancy fault-tolerant architecture, further improve the reliability of speed regulator.
1 〉. (microcomputer based regulator A and microcomputer based regulator B) is divided into following function module with single actuator
F module (F
A, F
B)---frequency measurement module
I module (I
A, I
B)---switching input module
O module (O
A, O
B)---switching value output module
D module (D
A, D
B)---analog output module
A module (A
A, A
B)---analog amount load module
C module (C
A, C
B)---communication module
Module just often is 1, and fault is 0.For example F4=1 shows that the frequency measurement module of microcomputer based regulator A is normal; Note module variable is M
Y(X), Y=A or B, then variable X can be F, I, O, D A and C.
2〉.C
A=C
BThe=1st, if the necessary condition of crossing redundancy is C
A* C
B=0, then be independent two-shipper redundancy structure.П M
A(X)=F
A* I
A* O
A* D
A* A
A=1 shows that each module of microcomputer based regulator A is working properly.
П M
B(X)=F
B* I
B* O
B* D
B* A
B=1 shows that each module of microcomputer based regulator B is working properly.
П M
A(X)=0 show among the microcomputer based regulator A to have at least a module job undesired;
П M
B(X)=0 show among the microcomputer based regulator B to have at least a module job undesired;
3 〉. microcomputer based regulator A and microcomputer based regulator B are by MODBUS PLUS net, and the real-time exchange data are shared both data modes, and in full accord.
4 〉. two-shipper (microcomputer based regulator A and microcomputer based regulator B) complete machine switches (independent two-shipper)
ПM
A(X)＝1，ПM
B(X)＝1。Can artificially switch between " A ", " B " machine, making wherein arbitrary machine is main frame, and another machine is a subsidiary engine; If П M
A(X)=0, П M
B(X)=1, then switch to the work of microcomputer based regulator B machine automatically.
Microcomputer based regulator A is a main frame, П M
A(X)=1, П M
B(X)=0, show that microcomputer based regulator A is normal, microcomputer based regulator B has at least a module undesired, at this moment, can't be cut to microcomputer based regulator B by microcomputer based regulator A; Vice versa.
5 〉. two-shipper (microcomputer based regulator A and microcomputer based regulator B) intersection constitutes the proper functioning machine
C
A=C
B=1, satisfy the necessary condition of crossing redundancy.
Microcomputer based regulator A is a main frame, as П M occurs
A(X)=0, П M
B(X)=0 (show that microcomputer based regulator A and microcomputer based regulator B all have at least a module undesired), but M
A(X)+M
B(X) |
X=F, O, I, D, A=1 (malfunctioning module that shows microcomputer based regulator A and microcomputer based regulator B is inequality) then can constitute a proper functioning machine job jointly by microcomputer based regulator A, the normal module of microcomputer based regulator B.
For example: F
A=1, I
A=0, O
A=1, D
A=1, A
A=1
F
B＝1，I
B＝1，O
B＝0，D
B＝0，A
B＝1
Then working machine is: F
A, I
B, O
A, D
A, A
A, microcomputer based regulator A or main frame.
6〉automatic switchover logic:-----establish microcomputer based regulator A is main frame.
Microcomputer based regulator A and microcomputer based regulator B are all normal, do not switch
Microcomputer based regulator A П M
A(X)=1.Normally, microcomputer based regulator B П M
B(X)=0, do not switch.
Microcomputer based regulator A П M
A(X)=0; Undesired, microcomputer based regulator B П M
B(X)=1; Normally.Switching to microcomputer based regulator B is main frame.
Microcomputer based regulator A П M
A(X)=0.Undesired, microcomputer based regulator B П M
B(X)=0, undesired.But M
A(X)+M
B(X) |
X=F, O, I, D, A=1, C
A=C
B=1, then microcomputer based regulator A is a main frame, and the normal module of two machines can be intersected the normal complete machine work that constitutes.
Microcomputer based regulator A П M
A(X)=0.Undesired.Microcomputer based regulator B П M
B(X)=0, undesired.And M
A(X)+M
B(X) |
X=F, O, I, D, A=0, can't constitute the normal complete machine of intersection, switch to automatic secondary channels microcomputer based regulator C work.
Field bus MB+ network communication 11 is to be used for intelligent field apparatus and based on many message digits of bidirectional linked list communication control procedure of the total digitalization between the control room automatic system of microprocessor, multi-master bus formula, is the common protocol of interoperability and data sharing.Field bus has replaced traditional 4mA～20Ma with digital both-way communication, and nowadays 0～10v analogue signal, original point-to-point mode of connection can change over 1 telecommunication cable and connect multiple devices simultaneously.
The motion-control module and the correlation modules such as switching value input/output module and CPU that are used for Electric Machine Control all are installed in the PLC slot, are not the structure of disperseing, and electricity/machine transducer has digital interface.The electricity of digital speed regulator/machine conversion adopts AC servo electricity/machine transducer curtain that digital Position And Velocity interface is arranged, and carries the rotating coder position feedback, and dynamic response performance is good.The multi-turn absolute valve circumvolve coder that has field-bus interface is adopted in the conversion of machine/electricity, and the mechanical displacement signal of guide vane servomotor is converted to the digital signal of giving regulator.Other part of data acquisition such as head are measured, the power of the assembling unit is measured and all adopted the intelligent detecting module with field-bus interface to measure, and directly the output digital signal consistent with selected Field bus form is transferred to controller through Field bus.
Electrohydraulic governor in the past mostly is the analogue signal of 0～10v or 4Ma～20mA greatly to the output signal of the measuring mechanism of head, the power of the assembling unit and guide vane opening.And adopt the mode of digital communication to gather head, the power of the assembling unit, guide vane opening value in the described Investigation of Whole Digital Governor between regulator and the on-site data gathering module, making it all is digital signal in the signal transduction process of whole hydrogovernor, analogue signal appears, the situation that has changed analogue signal and digital signal in the electrohydraulic governor in the past and deposited.Only just compare and have the following advantages with regard to Field bus MB+ network communication design proposal and speed regulator in the past:
A. wiring is easy, and interoperability is strong.Field bus is the structure of 1 couple of N, and 1 pair of transmission line can corresponding many field digital measurement modules.Every instrument will take 1 input channel in the controller when having changed in the past with the analogue measurement module, reduced the I/O device, digital instrument based on microprocessor has multiple function, traditional analogue instrument is become digital instrument, the change simple function is multinomial function, has realized the interoperability of field instrument.
B. precision height, the reliability height.Each sensor all has independent signal amplifying and conditioning circuit, A/D conversion, carrier wave and communication circuit, is output as digital signal, the precision height; Analog signals changes digital signal nearby into, has avoided the decay and the distortion of signal; In the whole signals transmission of system, there is not analogue signal, the agreement of secure transmission reliability in the communication protocol of Field bus, bus all has strict regulation to aspects such as communication media, information check, error correction information, duplicate address detection, can retransmission data when because disturb error of transmission taking place; Can notify at once during instrument fault for the operator on duty and in time handle.
C. avoid drift, parameter tuning is convenient.Measuring the servomotor stroke in the past in the electrohydraulic governor and adopt for example linear displacement transducer of analog transducer, is exactly in fact slide rheostat, in use drift phenomenon can take place, and resistance changes because of temperature, makes measurement inaccurate.In use, the rheostat parameter also is difficult for adjusting; But with multiturn absolute type rotating coder inside the temperature self-compensation circuit is arranged, and easy setting parameter, very convenient during debugging.
D. be easy to be used by the multivariable intelligent instrument
Adopt Field bus can transmit a plurality of process variables, the parameter of instrument can be uploaded together, help having multivariable digital instrument and use; Electrical quantity sensor can be measured electrical parameters such as unit three phases active power, wattless power, frequency, power factor, active energy simultaneously.
E. parts selection is flexible
Behind the employing standard Field bus, solved the product matching problem, the user can select the product of different manufacturers, and optimum organization constitutes oneself the most satisfied system.
The command bits READ_VAR that the access data of supporting MB+ network communication Modbus agreement is arranged in the PLC instruction system, by this instruction, PLC sends the order of reading data to the slave station sensor, sensor carries out CRC check after receiving the Frame of reading command, if verification is correct, then with the data upload of command request to PLC, be positioned in the internal storage location of instruction appointment, use for PLC; If CRC check makes a mistake, then sensor returns error code according to Modbus communication protocol, at this moment in the PLC program, set and require the controller repeating transmission to read data command, to read correct data, when breaking down, serious unpredictable interference or transmission make controller can't obtain the correct data of sensor within a certain period of time for avoiding being subjected to simultaneously always, the maximum time limit of reading data can be set in program, in this time limit, do not obtain sensing data and then abandon, read the circulation of data next time; Counter is set simultaneously, in certain number of times, reads all and fail, then can judge sensor fault.
Claims (6)
1. digital large-scale water turbine microcomputer governor Twin channel crossing redundancy system, comprise regulator and electrohydraulic servo system, electrohydraulic servo system comprises electro-control converter, the main valve of joining, shutdown valve, pilot valve, hydrovalve, operating device, mechanical feedback mechanism, stroke limiter, each parts of position transducer and guide vane servomotor, the signal output part of regulator links to each other with each SC sigmal control end of electrohydraulic servo system, electrical signal is after electrohydraulic servo system conversion and power amplification, thereby the displacement control guide vane opening of control guide vane servomotor, it is characterized in that: said speed regulator comprises that one is regulated main passage and an automatic adjusting secondary channels two large divisions automatically, automatically regulate the main passage and comprise two redundant microcomputer based regulator A and microcomputer based regulator B and machinery hydraulic system main passages that connect, regulate secondary channels automatically and comprise a microcomputer based regulator C and mechanical-hydraulic secondary channels/machinery (electric) man-operated mechanism; The FPDP of microcomputer based regulator A, B, C, control port all footpath MB+ network communication bus link together, and the signal output port of microcomputer based regulator A, the B switching valve in diverter switch and machinery hydraulic system main passage and the control port of proportional servo valve simultaneously links to each other; One group of signal output port of microcomputer based regulator C links to each other with the control port with movable pulley in machinery hydraulic system secondary channels/machinery (electric) man-operated mechanism.
2. microcomputer-based hydro-turbine governor Twin channel crossing redundancy according to claim 1 system, it is characterized in that: the present invention comprises that also two PLC controller: the CPU of full redundancy, load module, output module, sensor, frequency senser, power supply are redundancy structure, and has " main frame/heat is equipped with " ability; Microcomputer based regulator is regulated the main passage automatically and is adopted two independently PLC microcomputer based regulator A and microcomputer based regulator B, realizes two-shipper state and data consistent by Field bus MODBUS PLUS; Microcomputer based regulator A or its corresponding machinery hydraulic system of microcomputer based regulator B match, and the independent control function that realizes reaches the adjusting function requirement.
3. microcomputer-based hydro-turbine governor Twin channel crossing redundancy according to claim 1 system; it is characterized in that: during one of microcomputer based regulator A and microcomputer based regulator B fault; can send trouble signal and automatically, no disturbance switch to normal machine work, the fault machine can online replacing module, maintenance.
4. microcomputer-based hydro-turbine governor Twin channel crossing redundancy according to claim 1 system, it is characterized in that: constitute the two PLC control structures of crossing redundancy with communication and software, constitute normal complete machine to tolerate the different name module failure conditions of two units, to intersect, make speed regulator energy proper functioning.
5. microcomputer-based hydro-turbine governor Twin channel crossing redundancy according to claim 1 system, it is characterized in that, microcomputer based regulator A and microcomputer based regulator B are mounted with following function module by bus, these modules all have the full digital circuit structure, gather head, the power of the assembling unit, guide vane opening value with the mode of digital communication, and adopt digital signal transfers at the signal of whole hydrogovernor; These function modules are:
F module (F
A, F
B)---the frequency measurement module
I module (I
A, I
B)---switching input module
O module (O
A, O
B)---the switching value output module
D module (D
A, D
B)---analog output module
A module (A
A, A
B)---the analog amount load module
C module (C
A, C
B)---communication module
6. microcomputer-based hydro-turbine governor Twin channel crossing redundancy system is characterized in that the crossing redundancy method is: if establishing module just often is 1, fault is 0,
A.C
A=C
BThe=1st, if the necessary condition of crossing redundancy is C
A* C
B=0, then be independent two-shipper redundancy structure, ∏ M
A(X)=F
A* I
A* O
A* D
A* A
A=1 shows that each module of microcomputer based regulator A is working properly, ∏ M
B(X)=F
B* I
B* O
B* D
B* A
B=1 is that each module of microcomputer based regulator B is working properly, ∏ M
A(X)=0 be among the microcomputer based regulator A, have at least a module job undesired; ∏ M
B(X)=0 show among the microcomputer based regulator B to have at least a module job undesired;
B. microcomputer based regulator A and microcomputer based regulator B are by MODBUS PLUS net, and the real-time exchange data are shared both data modes, and in full accord;
C. microcomputer based regulator A and microcomputer based regulator B complete machine switch independent two-shipper, ∏ M
A(X)=1, ∏ M
B(X)=1, can artificially switch between " A ", " B " machine, making wherein arbitrary machine is main frame, and another machine is a subsidiary engine; If ∏ M
A(X)=0, ∏ M
B(X)=1, then switch to the work of microcomputer based regulator B machine automatically.
D. microcomputer based regulator A is a main frame, ∏ M
A(X)=1, ∏ M
B(X)=0, A is normal for microcomputer based regulator, and microcomputer based regulator B has at least a module undesired, at this moment, can't be cut to microcomputer based regulator B by microcomputer based regulator A; Vice versa.
E. microcomputer based regulator A and microcomputer based regulator intersection constitutes proper functioning machine C
A=C
B=1, satisfy the necessary condition of crossing redundancy; Microcomputer based regulator A is a main frame, as ∏ M occurs
A(X)=0, ∏ M
B(X)=0 show that microcomputer based regulator A and microcomputer based regulator B all have at least a module undesired, if M
A(X)+M
B(X) |
X=F, O, I, D, A=1 shows that the malfunctioning module of microcomputer based regulator A and microcomputer based regulator B is inequality, then can constitute a proper functioning machine job jointly by microcomputer based regulator A, the normal module of microcomputer based regulator B;
F. the logic that automaticallyes switch, if microcomputer based regulator A is a main frame, microcomputer based regulator A ∏ M
A(X)=1, normal, microcomputer based regulator B ∏ M
B(X)=0, do not switch, if microcomputer based regulator A ∏ M
A(X)=0; Undesired, microcomputer based regulator B ∏ M
B(X)=1, normal, switching to microcomputer based regulator B is main frame; If microcomputer based regulator A ∏ M
A(X)=0, undesired, microcomputer based regulator B ∏ M
B(X)=0, undesired, but M
A(X)+M
B(X) |
X=F, O, I, D, A=1, C
A=C
B=1, then microcomputer based regulator A is a main frame, and the normal module of two machines can be intersected the normal complete machine work that constitutes; If microcomputer based regulator A ∏ M
A(X)=0, undesired, microcomputer based regulator B ∏ M
B(X)=0, undesired, and M
A(X)+M
B(X) |
X=F, O, I, D, A=0, can't constitute the normal complete machine of intersection, switch to automatic secondary channels microcomputer based regulator C work.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100607167A CN100458142C (en) | 2004-08-13 | 2004-08-13 | Double-channel cross redundancy system for digital microcomputer governor of large-scale hydroturbine |
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| CN1734085A true CN1734085A (en) | 2006-02-15 |
| CN100458142C CN100458142C (en) | 2009-02-04 |
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