EP0222382A2 - Regulation process of turbo compressors - Google Patents

Regulation process of turbo compressors Download PDF

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Publication number
EP0222382A2
EP0222382A2 EP86115702A EP86115702A EP0222382A2 EP 0222382 A2 EP0222382 A2 EP 0222382A2 EP 86115702 A EP86115702 A EP 86115702A EP 86115702 A EP86115702 A EP 86115702A EP 0222382 A2 EP0222382 A2 EP 0222382A2
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Prior art keywords
controller
blow
differential
changed
signal
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EP86115702A
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German (de)
French (fr)
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EP0222382B1 (en
EP0222382A3 (en
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Wilfried Dipl.-Ing. Blotenberg
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MAN Turbo AG
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MAN Gutehoffnungshutte GmbH
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • F04D27/02—Surge control
    • F04D27/0207—Surge control by bleeding, bypassing or recycling fluids

Definitions

  • the invention relates to a method for regulating turbo compressors of the type specified in the preamble of claim 1.
  • the method according to the invention is particularly suitable for the so-called point limit control for preventing the pumping of a compressor. But this can also apply to other regulations such as Anti-choke control, turbine speed control, etc. can be used.
  • a method of the type mentioned for the surge limit control is known from the publication "Turbolog- the electronic control system for GHH turbomachinery” in News for Mechanical Engineering No. 3, May 82 and also from US-PS 41 42 838.
  • a method of the type mentioned, in which the differentiation is realized by subtracting the delayed signal from the undelayed signal, is also known from DE-PS 28 28 124.
  • Pumps are understood to mean an unstable behavior of a turbo compressor in which intermittent or periodically the fluid flows back from the pressure side to the suction side. This behavior occurs when the throughput is too low or the pressure ratio between the compressor inlet and outlet is too high.
  • the so-called surge limit line separates the stable from the unstable area in the map of the compressor.
  • the surge limit control ensures that when the instantaneous operating point approaches the surge limit line or a blow-off line running parallel to this at a safety distance, a blow-off or blow-by valve is opened at the compressor outlet.
  • this method it is also known to change the control behavior of the controller which generates the control signal for the blow-off valve as a function of the position of the operating point in that the control gain is increased non-linearly when the blow-off line is exceeded.
  • controllers With controls of this type, the use of controllers with a control component that differentiates the input signal encounters various difficulties.
  • One of these difficulties is the fact that an actual signal, which is derived from the flow, has a very high superimposed noise level and is therefore difficult to differentiate. This difficulty is less pronounced if the actual value signal is derived from the final pressure.
  • the invention is based on the object of developing a method of the type specified so that it offers the possibility of a control with differential behavior which is effective and precisely in the vicinity of the surge line and is as insensitive as possible to noise.
  • the advantage is achieved that the differentiating effect can be increased in a targeted manner when the working point is close to the surge line, so that even small changes in the actual value signal can lead to a rapid response of the controller.
  • the advantage is achieved that the differentiating effect can be used selectively when the working point approaches the surge limit line, that is to say in the “dangerous” direction.
  • the pressure difference in front of and behind a throttle orifice is detected on the intake side of a compressor K by a first actual value transmitter 1, which pressure is simultaneously a measure of the intake volume flow or the compressor throughput. From a second actual value transmitter 3, the final pressure P2 is detected at the compressor outlet.
  • a computer 11 with associated memory 13 forms the coordinates of the working point in the map determined by the throughput and the final pressure / suction pressure ratio from the actual values and compares them with a stored blow-off line A specified in the map.
  • end and Suction pressure can be detected. To simplify matters, however, it can be assumed that the suction pressure is constant and is therefore not measured continuously.
  • a setpoint signal for the flow is generated, which is compared with the actual value in the subtractor 5 and an input signal for a controller 7 is formed therefrom.
  • the controller 7 has a proportional part 7a, a differential part 7b and an integral part 7c.
  • the controller output variable serves as a control signal for a relief valve 9 at the compressor outlet.
  • a control element In the memory 13 there is also the slope of the compressor characteristic curve K of constant speed and / or constant blade position or constant throttle for each operating point flap position stored in the entrance.
  • a control element At the value of the slope of the compressor characteristic curve belonging to the current operating point, a control element generates a control signal by means of which the time constant T D effective for the differentiation in the differential part 7b is changed in such a way that the differentiating effect of the time constant is proportional to the increase in the compressor characteristic curve. This ensures that the differential portion of the controller 7 has approximately the same effectiveness in the entire characteristic.
  • the differentiating time constant T D can also be varied depending on the distance of the current working point from the blow-off line, again in such a way that the differentiating effect is increased with a decreasing distance between the blow-off line and the working point and vice versa.
  • the size of the differentiating effect ie the proportion of the differential part 7b
  • the size of the differentiating effect can be changed in comparison to the proportional part 7a and integral part 7c of the controller.
  • the size of the differentiating effect can be adjusted depending on the slope of the blow-off line or the value of the final pressure. It is also possible to switch the differential component 7b on or off depending on a limit value in the controller output. For example, the differential component 7b can be switched off when the controller output signal is 100% or Control difference reaches another predetermined value that corresponds to a certain distance from the blow-off line.
  • the differential portion 7b of the controller can also be designed to move in one direction, e.g. is effective when the input signal rises, that is to say can only emit a positive but not a negative output signal.
  • the differentiation time constant does not need to be controlled exactly in accordance with the actual slope of the characteristic curve. Rather, simplifications are possible.
  • a simplification results when the slope of the characteristic curves depends on one of the map coordinates, that is to say on the pressure or on the flow, and the characteristic curves are only shifted parallel to larger flows or pressures. This is the case when the characteristic curves 2 open relatively steeply into the surge limit in the area of lower speeds or guide vane positions, but flatter in the upper area. Even if the characteristic curves are not completely congruent, in many cases an approximation by parallel displacement of a characteristic curve is permitted.
  • the slope of the characteristic curve and thus the size of the differentiation time constant T D only depends on the pressure P or pressure flow Vab.
  • the course of the characteristic curve can either be stored in a digital memory or else can be predetermined analogously in a function generator 14, which is indicated by dashed lines in the drawing. The entrance of this The function generator is the pressure, the output directly the size T D.
  • the function is not ideally simulated in the function generator, but in an approximation by straight line sections.
  • the simplest case is a straight line consisting of two sections. This can be realized very simply by switching the value for T D to another value from a predetermined pressure.
  • the function generator 14 delivering the quantity T D can be adjusted depending on the control difference applied to the subtractor 5.
  • simplifications are also possible for this function generator, starting with a simple switchover of the size T D between two values over several straight line sections up to a polygon.
  • the location of the working point by detecting the final pressure and of the throughput is determined, other variables such as the pressure ratio between the final and suction pressure, the speed, the guide vane position, the power, the input signal of the controller or the output signal of a process controller can be used for the detection of the operating point or for the definition of the map will.
  • the map can be determined by other parameters, such as the adiabatic delivery head and the intake volume flow. In any case, the surge line has a clear course in the map.
  • a variant is described below in which the differentiating effect of the controller is also influenced, but not by changing the time constant, but by adding further function blocks.
  • the variant described here is particularly suitable for controls in which one of the input signals has signal noise, i.e. a high-frequency, low-amplitude noise signal is superimposed on the input signal. A direct differentiation of this input signal could therefore under certain circumstances result in the noise signal being amplified considerably.
  • FIG. 2 shows a modified PID controller in which the suppression of the differentiating effect in the undesired direction is achieved by introducing a limiter 19 at the output of the differentiating element 7b.
  • the limiter 19 is designed in such a way that only the signals of the differentiating element which cause the operating point to be shifted in the direction of the stability range are passed.
  • a one-way retarder 17 can be inserted in front of the differentiating element.
  • Fig. 3 the operation of the delay 17 is shown based on a possible input signal and the resulting output signal.
  • the one-way retarder is a component whose output signal falls in one direction (eg in one direction) of the signals) initially follows the input signal without delay until the input signal reaches a relative minimum. A subsequent rise in the input signal, even if it occurs quickly, leads to a relatively slow rise in the output signal, the rate of rise being determined by a predetermined, possibly adjustable time constant.
  • the output signal of the delay 17 follows the input signal in this direction only with a delay. As soon as the input signal reaches the signal level of the output signal again, the output signal follows the input signal until a new minimum value is assumed.
  • the output signal of the delay 17 thus always remains at or in the vicinity of the smallest input value.
  • the remaining noise component is significantly reduced by this arrangement, since only brief signal changes, which always occur when the input variable takes on a new, even smaller minimum value, are passed on to the differentiating circuit.
  • the delay 17 has a finite time constant in the direction of increasing signals in order to give the system the opportunity to return to normal after reaching an extreme minimum value once or to track the output of the delay 17 as the useful signal increases.
  • the slight influence of the rising edge of the off To avoid the output signal of the delay 17, which is registered by the differentiator 7b, on the manipulated variable, the limiter 19 already mentioned can be connected downstream of the differentiator 7b.
  • the dead time element 17 has the effect that only the signals whose signal lengths exceed the dead time are passed on.
  • Two alternatives are provided for the design of the dead time element 21: In the first alternative, the signal is blocked for the duration of the dead time and only then passed on to the output without delay. In the second alternative, the signal is passed on delayed by the dead time if it has been present at the input during the entire dead time. This has the advantage that the signal curve of the differentiating element is not lost during the dead time, but is added to the manipulated variable delayed by the dead time.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
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  • General Engineering & Computer Science (AREA)
  • Control Of Positive-Displacement Air Blowers (AREA)

Abstract

Zum Verhindern des Pumpens eines Kompressors wird ein von dessen Auslaß abzweigendes Abblase- oder Umblase­ventil (9) durch ein von einem Regler in Anhängigkeit von der Lage des Arbeitspunktes relativ zu einer im Kenn­feld definierten Abblaselinie gesteuert. Erfindungsge­mäß wird der Differentialanteil des Reglerverhaltens, insbesondere die für die Differentiation maßgebliche Zeitkonstante, in Abhängigkeit von der Lage des Arbeits­punktes so gesteuert, daß nahe der Abblaselinie eine starke und in größerem Abstand von der Abblaselinie eine geringe differenzierende Wirkung vorliegt.

Figure imgaf001
To prevent the pumping of a compressor, a blow-off or blow-off valve (9) branching from its outlet is controlled by a blow-off line defined by a controller depending on the position of the operating point relative to a blow-off line defined in the characteristic diagram. According to the invention, the differential component of the controller behavior, in particular the time constant which is decisive for the differentiation, is controlled as a function of the position of the operating point in such a way that a strong differentiating effect is present near the blow-off line and a slight differentiation at a greater distance from the blow-off line.
Figure imgaf001

Description

Die Erfindung betrifft ein Verfahren zum Regeln von Turbo­kompressoren von der im Oberbegriff des Anspruchs 1 ange­gebenen Art. Das erfindungsgemäße Verfahren ist insbeson­dere geeignet für die sogenannte Punmpgrenzregelung zum Ver­hindern des Pumpens eines Kompressors. Das kann aber auch bei anderen Regelungen wie z.B. Anti-Choke-Regelung, Tur­bindendrehzahlregelung usw. angwendet werden.The invention relates to a method for regulating turbo compressors of the type specified in the preamble of claim 1. The method according to the invention is particularly suitable for the so-called point limit control for preventing the pumping of a compressor. But this can also apply to other regulations such as Anti-choke control, turbine speed control, etc. can be used.

Ein Verfahren der genannten Art für die Pumpgrenzregelung ist aus der Veröffentlichung "Turbolog- das elektronische Regelsystem für GHH-Turbomaschinen" in Nachrichten für den Maschinebau Heft Nr. 3, Mai 82 sowie auch aus der US-PS 41 42 838 bekannt. Ein Verfahren der genannten Art, bei der die Differentiation durch Subtrahieren des verzöger­tem vom unverzögerten Signal realisiert wird, ist auch aus DE-PS 28 28 124 bekannt. Unter Pumpen wird ein instabiles Verhalten eines Turbokompressors verstanden, bei dem stoßweise, bzw. periodisch das Fördermedium von der Druckseite zur Saugseite zurückströmt. Dieses Verhalten tritt bei zu kleinem Durch­satz bzw. zu hohem Druckverhältnis zwischen Kompressor­eingang und -ausgang auf. Die sogenannte Pumpgrenzlinie trennt im Kennfeld des Kompressors den stabilen vom in­stabilen Bereich. Die Pumpgrenzregelung sorgt dafür, daß bei Annäherung des momentanen Arbeitspunktes an die Pump­grenzlinie bzw. eine in einem Sicherheitsabstand parallel zu dieser verlaufende Abblaselinie ein Abblas- oder Um­blasventil am Kompressorausgang geöffnet wird. Es ist bei diesem Verfahren auch bekannt, in Abhängigkeit von der Lage des Arbeitspunktes das Regelverhalten des das Stell­signal für das Abblasventil erzeugenden Reglers dadurch zu verändern, daß bei Überschreiten der Abblaselinie die Regelverstärkung nicht-linear erhöht wird.A method of the type mentioned for the surge limit control is known from the publication "Turbolog- the electronic control system for GHH turbomachinery" in News for Mechanical Engineering No. 3, May 82 and also from US-PS 41 42 838. A method of the type mentioned, in which the differentiation is realized by subtracting the delayed signal from the undelayed signal, is also known from DE-PS 28 28 124. Pumps are understood to mean an unstable behavior of a turbo compressor in which intermittent or periodically the fluid flows back from the pressure side to the suction side. This behavior occurs when the throughput is too low or the pressure ratio between the compressor inlet and outlet is too high. The so-called surge limit line separates the stable from the unstable area in the map of the compressor. The surge limit control ensures that when the instantaneous operating point approaches the surge limit line or a blow-off line running parallel to this at a safety distance, a blow-off or blow-by valve is opened at the compressor outlet. In this method it is also known to change the control behavior of the controller which generates the control signal for the blow-off valve as a function of the position of the operating point in that the control gain is increased non-linearly when the blow-off line is exceeded.

Bei Regelungen dieser Art stößt die Verwendung von Reg­lern mit einem das Eingangssignal differenzierenden Regel­anteil auf verschiedene Schwierigkeiten. Eine dieser Schwierigkeiten ist die Tatsache, daß ein Istsignal, wel­ches aus dem Durchfluß abgeleitet wird, einen sehr hohen überlagerten Rauschpegel aufweist und deshalb eine Differenzierung nur schwer zuläßt. Die­se Schwierigkeit ist weniger ausgeprägt, wenn das Istwert­signal vom Enddruck abgeleitet wird.With controls of this type, the use of controllers with a control component that differentiates the input signal encounters various difficulties. One of these difficulties is the fact that an actual signal, which is derived from the flow, has a very high superimposed noise level and is therefore difficult to differentiate. This difficulty is less pronounced if the actual value signal is derived from the final pressure.

Ein weiterer Nachteil bei der Verwendung eines Regelers mit Differentialanteil ist die Tatsache, daß in dem aus Druckverhältnis und Durchsatz gebildeten Kompressorkenn­feld die Kennlinien konstanter Drehzahl und/oder konstan­ter Leitschaufelstellung gekrümmt sind. In der Nähe der Pumpgrenz verlaufen dieser Kompressorkennlinien sehr flach, weit im Kennfeld dagegen steil. Dies hat zur Folge, daß die Änderung des Kompressorenddrucks in der Nähe der Pump­grenze nur sehr gering ist. Demzufolge hat auch der Differentialanteil des Reglers in der Nähe der Pumpgrenze die geringste Wirkung. Dies ist jedoch gerade der Bereich des Kennfeldes in dem ein Differentialanteil des Reglers am nötigsten gebraucht würde, um ein schnelles Ansprechen zu erreichen, weil der Kompressor in diesem Bereich am meisten gefährdet ist.Another disadvantage when using a regulator with a differential component is the fact that the characteristic curves of constant speed and / or constant guide vane position are curved in the compressor map formed from the pressure ratio and throughput. In the vicinity of the surge limit, these compressor curves are very flat, but steep in the map. As a result, the change in the compressor end pressure in the vicinity of the surge limit is only very small. As a result, the differential component of the controller in the vicinity of the surge limit has the least effect. However, this is precisely the area of the map in which a differential portion of the controller would be most needed to achieve a quick response because the compressor is most at risk in this area.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren der angegebenen Art so weiterzubilden, daß es die Mög­lichkeit einer auch und gerade in der Nähe der Pumpgrenz­linie wirksamen und gegen Rauschen möglichst unempfindli­chen Regelung mit Differentialverhalten bietet.The invention is based on the object of developing a method of the type specified so that it offers the possibility of a control with differential behavior which is effective and precisely in the vicinity of the surge line and is as insensitive as possible to noise.

Die Lösung der Aufgabe ist im Anspruch 1 angegeben. Die Unteransprüche beziehen sich auf weitere vorteilhafte Ausgestaltungen.The solution to the problem is specified in claim 1. The subclaims relate to further advantageous configurations.

Mit der erfindungsgemäßen Lösung wird gemäß der ersten Alternative der Vorteil erzielt, daß die differenzieren­de Wirkung gezielt dann erhöht werden kann, wenn sich der Arbeitspunkt nahe der Pumpgrenzlinie befindet, so daß hier auch kleine Ist-Wertsignaländerungen zu einem raschen Ansprechen des Regelers führen können. Gemäß der zweiten Alternative wird der Vorteil erzielt, daß die differenzierende Wirkung selektiv bei Annäherung des Arbeitspunktes an die Pumpgrenzlinie, also in der "gefährlichen" Richtung, genutzt werden kann.With the solution according to the invention, according to the first alternative, the advantage is achieved that the differentiating effect can be increased in a targeted manner when the working point is close to the surge line, so that even small changes in the actual value signal can lead to a rapid response of the controller. According to the second alternative, the advantage is achieved that the differentiating effect can be used selectively when the working point approaches the surge limit line, that is to say in the “dangerous” direction.

Ausführungsformen der Erfindung werden anhand der Zeich­nungen näher erläutert. Es zeigt:

  • Fig. 1 schematisch und sehr vereinfacht das Schema einer Abblaseregelung gemäß der 1. Alternative;
  • Fig. 2 den Aufbau eines PID-Reglers gemäß der zweiten Alternative und
  • Fig. 3 den Verlauf des Ausgangssignals in Abhängig­keit vom Eingangssignal eines Verzögerers.
Embodiments of the invention are explained in more detail with reference to the drawings. It shows:
  • Fig. 1 schematically and very simplified the scheme of a blow-off control according to the 1st alternative;
  • Fig. 2 shows the structure of a PID controller according to the second alternative and
  • Fig. 3 shows the course of the output signal as a function of the input signal of a retarder.

Gemäß Fig. 1 wird auf der Ansaugseite eines Kompressors K von einem ersten Istwertgeber 1 die Druckdifferenz vor und hinter einer Drosselblende erfaßt, welche gleichzeitg eine Maß für den Ansaugvolumenstrom, bzw. den Kompressordurchsatz ist. Vom einem zweiten Istwertgeber 3 wird der Enddruck P₂ am Kompressorausgang erfaßt. Ein Rechner 11 mit zugehöri­gem Speicher 13 bildet aus den Istwerten die Koordinaten des Arbeitspunktes in dem durch den Druchsatz sowie das Enddruck/Saugdruck-Verhältnis bestimmten Kennfeld und vergleicht sie mit einer im Kennfeld vorgegebenen, abge­speicherten Abblaselinie A. Im allgemeinen Fall müssen also End- und Saugdruck erfaßt werden. Vereinfachend kann aber davon ausgegangen werden, daß der Saugdruck konstant ist und deshalb nicht ständig gemessen wird. Abhängig vom Enddruck bzw. dem Druckverhältnis wird ein Sollwertsignal für den Durchfluß er­zeugt, welches im Subtrahierglied 5 mit Istwert verglichen und hieraus ein Eingangssignal für einen Regler 7 gebildet wird. Der Regler 7 hat einen Proportionalteil 7a, einen Differentialteil 7b und einen Integral­teil 7c. Die Reglerausgangsgröße dient als Stellsignal für ein Abblase­ventil 9 am Kompressorausgang. Bei Annäherung des Arbeitspunktes des Kompressors an die Abblaselinie A wird durch entsprechendes Öffnen des Abblaseventils 9 der Durchsatz erhöht bzw. der Enddruck erniedrigt.1, the pressure difference in front of and behind a throttle orifice is detected on the intake side of a compressor K by a first actual value transmitter 1, which pressure is simultaneously a measure of the intake volume flow or the compressor throughput. From a second actual value transmitter 3, the final pressure P₂ is detected at the compressor outlet. A computer 11 with associated memory 13 forms the coordinates of the working point in the map determined by the throughput and the final pressure / suction pressure ratio from the actual values and compares them with a stored blow-off line A specified in the map. In general, end and Suction pressure can be detected. To simplify matters, however, it can be assumed that the suction pressure is constant and is therefore not measured continuously. Depending on the final pressure or the pressure ratio, a setpoint signal for the flow is generated, which is compared with the actual value in the subtractor 5 and an input signal for a controller 7 is formed therefrom. The controller 7 has a proportional part 7a, a differential part 7b and an integral part 7c. The controller output variable serves as a control signal for a relief valve 9 at the compressor outlet. When the operating point of the compressor approaches the blow-off line A, the throughput is increased or the final pressure reduced by opening the blow-off valve 9 accordingly.

Im Speicher 13 ist ferner für jeden Arbeitspunkt die Steigung der durch diesen Arbeitspunkt verlaufenden Kompressorkennlinie K konstanter Dreh­zahl und/oder konstanter Schaufelstelung, oder auch konstanter Drossel­ klappenstellung im Eintritt gespreichert. Auf dem Wert der zum momentanen Arbeitspunkt gehörenden Steigung der Kompressorkennlinie er­zeugt ein Steuerglied ein Steuersignal, durch wel­ches die für die Differenzierung im Differentialteil 7b wirksame Zeitkonstante TD geändert wird, und zwar so, daß die differenzierende Wirkung der Zeitkonstante proportional zur Stei­gerung der Kompressorkennlinie ist. Hierdurch wird er­reicht, daß der Differentialanteil des Reglers 7 im ge­samten Kennfled etwa gleiche Wirksamkeit hat.In the memory 13 there is also the slope of the compressor characteristic curve K of constant speed and / or constant blade position or constant throttle for each operating point flap position stored in the entrance. At the value of the slope of the compressor characteristic curve belonging to the current operating point, a control element generates a control signal by means of which the time constant T D effective for the differentiation in the differential part 7b is changed in such a way that the differentiating effect of the time constant is proportional to the increase in the compressor characteristic curve. This ensures that the differential portion of the controller 7 has approximately the same effectiveness in the entire characteristic.

Anstatt in Abhängigkeit von der Steigung der Kompressor­kennlinie kann die Differenzierzeitkonstante TD auch in Abhängigkeit vom Abstand des momentanen Arbeitspunktes von der Abblaselinie variiert werden, und zwar wiederum so, daß die differenzierende Wirkung mit kleiner werden­dem Abstand zwischen Abblaselinie und Arbeitspunkt ver­größert wird und umgekehrt.Instead of depending on the slope of the compressor characteristic curve, the differentiating time constant T D can also be varied depending on the distance of the current working point from the blow-off line, again in such a way that the differentiating effect is increased with a decreasing distance between the blow-off line and the working point and vice versa.

In weiterer Ausgestaltung der Erfindung kann die Größe der differnzierenden Wirkung, d.h. der Anteil des Dif­ferentialteils 7b im Vergleich zum Proportionalteil 7a und Integralteil 7c des Reglers verändert werden. Insbe­sondere kann die Größe der differenzierenden Wirkung in Abhängigkeit von der Steigung der Abblaselinie oder vom Wert des Enddrucks angepaßt werden. Es ist ferner möglich, den Differentialan­teil 7b abhängig von einem Grenzwert im Reglerausgang zu oder ab­zuschalten. Z.B. kann der Differentialanteil 7b abgeschal­tet werden, wenn das Reglerausgangssignal 100 % oder die Regeldifferenz einen anderen vorgegebenen Wert, der einem bestimmten Abstand von der Abblaselinie entspricht, erreicht.In a further embodiment of the invention, the size of the differentiating effect, ie the proportion of the differential part 7b, can be changed in comparison to the proportional part 7a and integral part 7c of the controller. In particular, the size of the differentiating effect can be adjusted depending on the slope of the blow-off line or the value of the final pressure. It is also possible to switch the differential component 7b on or off depending on a limit value in the controller output. For example, the differential component 7b can be switched off when the controller output signal is 100% or Control difference reaches another predetermined value that corresponds to a certain distance from the blow-off line.

Der Differntialanteil 7b des Reglers kann auch so aus­gebildet sein, daß er in einer Richtung, z.B. bei stei­gendem Eingangssignal wirksam ist, also nur positives, aber kein negatives Ausgangssignal abgeben kann.The differential portion 7b of the controller can also be designed to move in one direction, e.g. is effective when the input signal rises, that is to say can only emit a positive but not a negative output signal.

Die Steuerung der Differenzierzeitkonstante braucht nicht exakt nach Maßgabe der tatsächlichen Kennliniensteigung zu erfolgen. Vielmehr sind Vereinfachungen möglich.The differentiation time constant does not need to be controlled exactly in accordance with the actual slope of the characteristic curve. Rather, simplifications are possible.

Eine Vereinfachung ergibt sich dann, wenn die Steigung der Kenn­linien von einer der Kennfeldkoordinaten, also vom Druck oder vom Druchfluß abhängt, und die Kennlinien nur zu größeren Durch­flüssen bzw. Drücken parallel verschoben sind. Dies ist dann der Fall, wenn die Kennlinien 2 im Bereich kleinerer Drehzahlen oder Leitschaufelstellungen relativ steil in die Pumpgrenze münden, im oberen Bereich dagegen flacher. Auch wenn die Kennlinien nicht ganz deckungsgleich sind, ist doch in vielen Fällen eine Annäherung durch Parallelver­schiebung einer Kennlinie zulässig.A simplification results when the slope of the characteristic curves depends on one of the map coordinates, that is to say on the pressure or on the flow, and the characteristic curves are only shifted parallel to larger flows or pressures. This is the case when the characteristic curves 2 open relatively steeply into the surge limit in the area of lower speeds or guide vane positions, but flatter in the upper area. Even if the characteristic curves are not completely congruent, in many cases an approximation by parallel displacement of a characteristic curve is permitted.

In diesem Fall hängt die Steigung der Kennlinie und damit die Größe von der Differenzierzeitkonstante TD nur noch vom Druck P bzw. Druckfluß Vab. Der Verlauf der Kennlinie kann entweder in einem Digitalspeicer abgelegt sein oder aber auch analog in einem Funktionsgeber 14 vorgegeben sein, der in der Zeichnung gestrichelt angedeutet ist. Der Eingang dieses Funktionsgebers ist der Druck, der Ausgang direkt die Größe TD.In this case, the slope of the characteristic curve and thus the size of the differentiation time constant T D only depends on the pressure P or pressure flow Vab. The course of the characteristic curve can either be stored in a digital memory or else can be predetermined analogously in a function generator 14, which is indicated by dashed lines in the drawing. The entrance of this The function generator is the pressure, the output directly the size T D.

Weitere Vereinfachungen sind dadurch möglich, daß die Funktion nicht ideal im Funktionsgeber nachgebildet wird, sondern in Annäherung durch Geradenabschnitte. Der ein­fachste Fall ist eine Gerade aus zwei Abschnitten Diese läßt sich sehr einfach dadurch realisieren, daß ab einem vorgegebenen Druck der Wert für TD auf einen anderen Wert umgeschaltet wird.Further simplifications are possible in that the function is not ideally simulated in the function generator, but in an approximation by straight line sections. The simplest case is a straight line consisting of two sections. This can be realized very simply by switching the value for T D to another value from a predetermined pressure.

Als weitere Ausgestaltung ist denkbar, daß abhängig vom Durchfluß zwischen verschiedenen Steigungen umgeschaltet wird. Dies kann entweder dadurch geschehen, daß auf einen weiteren Funktionsgeber mit einer anderen Funktion umge­schaltet wird, ober daß nur einzelne Parameter, z.B. die Verstärkung im gesamten Bereich oder der Knickpunkt, vari­iert werden.As a further embodiment, it is conceivable to switch between different slopes depending on the flow. This can either be done by switching to another function transmitter with a different function, or by only having individual parameters, e.g. the gain in the entire area or the break point can be varied.

Es gibt andere Kompressorkennfelder, bei denen die Stei­gung der Kennlinien in der Nähe der Pumpgrenze stets gleich oder zumindest ähnlich ist. In diesem Fall ist es möglich, die Differenzierzeitkonstante TD abhängig vom Abstand zwischen Arbeitspunkt und Pumpgrenze oder Abblaselinie zu variieren. Der Abstand zwischen Abblaselinie und Ar­beitspunkt liegt z.B. als Regeldifferenz der Abblasere­gelung (Pumpgrenzregelung) vor.There are other compressor maps in which the slope of the characteristic near the surge line is always the same or at least similar. In this case, it is possible to vary the differentiation time constant T D depending on the distance between the working point and the surge limit or blow-off line. The distance between the blow-off line and the operating point is, for example, the control difference of the blow-off control (surge limit control).

In diesem Fall kann z.B. der die Größe TD liefernde Funk­tionsgeber 14 abhängig von der am Subtrahierglied 5 an­liegenden Regeldifferenz verstellt werden. Selbstverständ­lich sind auch für diesen Funktionsgeber Vereinfachungen möglich, angefangen von einer einfachen Umschaltung der Größe TD zwischen zwei Werten über mehrere Geradenabschnit­te bis hin zu einem Polygonzug.In this case, the function generator 14 delivering the quantity T D can be adjusted depending on the control difference applied to the subtractor 5. Of course, simplifications are also possible for this function generator, starting with a simple switchover of the size T D between two values over several straight line sections up to a polygon.

Anstatt die Differentiation im Regler selbst vorzunehmen, kann sie auch außerhalb des Reglers erfolgen. Aus DE-PS 28 28 142 ist es bekannt, zur Erfassung der Ände­rungsgeschwindigkeit eines Ist-Wertes diesen Istwert, bzw. seine Diferenz zum Sollwert, einmal unverzögert und ein­mal verzögert einem Subtrahierglied zuzufürhen, so daß man die Differenz aus dem unverzögerten und verzögerten Ist-Wert als "quasi-differenziertes" Signal erhält. Ein solches Verfahren kann auch im Rahmen der Erfindung vor­genommen werden, wobei das "quasi-differenzierte" Signal einem nur Proportional- und Integralverhalten aufweisen­den Regler zugeführt wird und in Abhängigkeit von der Lage des Arbeitspunktes die bei der Gewinnung des "quasi­differenzierten" Signals verwendete Verzögerungszeit ver­ändert wird.Instead of performing the differentiation in the controller itself, it can also be done outside the controller. From DE-PS 28 28 142 it is known, in order to detect the rate of change of an actual value, to feed this actual value, or its difference to the setpoint, once undelayed and once delayed to a subtractor, so that the difference between the undelayed and delayed actual Value received as a "quasi-differentiated" signal. Such a method can also be carried out within the scope of the invention, the "quasi-differentiated" signal being fed to a controller which has only proportional and integral behavior and, depending on the position of the operating point, changing the delay time used in obtaining the "quasi-differentiated" signal becomes.

Während in der beschriebenen Ausführungsform die Lage des Arbeitspunktes durch Erfassung des Enddruckes und des Durchsatzes bestimmt wird, können für die Erfassung des Arbeitspunktes bzw. für die Definition des Kenn­feldes auch andere Größen, wie das Druckverhältnis zwischen End- und Saugdruck, die Drehzahl, die Leit­schaufelstellung, die Leistung, das Eingangssignal des Reglers oder das Ausgangssignal eines Prozeßreg­lers herangezogen werden. Insbesondere kann das Kenn­feld durch andere Parameter, wie z.B. die adiabate Förderhöhe und den Ansaugvolumenstrom bestimmt werden. In jedem Fall hat die Pumpgrenzlinie einen eindeutigen Verlauf im Kennfeld.While in the described embodiment, the location of the working point by detecting the final pressure and of the throughput is determined, other variables such as the pressure ratio between the final and suction pressure, the speed, the guide vane position, the power, the input signal of the controller or the output signal of a process controller can be used for the detection of the operating point or for the definition of the map will. In particular, the map can be determined by other parameters, such as the adiabatic delivery head and the intake volume flow. In any case, the surge line has a clear course in the map.

Nachfolgend soll eine Variante beschrieben werden, bei der die differenzierende Wirkung des Reglers ebenfalls beeinflußt wird, allerdings nicht durch Veränderung der Zeitkonstanten, sondern durch Zufügen weiterer Funktionsblöcke. Die hier beschriebene Variante eignet sich insbesondere für Regelungen, bei denen eines der Eingangssignale mit Signalrauschen behaftet ist, d.h. dem Eingangssignal ist ein hochfrequentes Rauschsignal mit kleiner Amplitude überlagert. Eine direkte Diffe­renzierung dieses Eingangssignals hätte deshalb unter Umständen zur Folge, daß das Rauschsignal erheblich verstärkte werden würde.A variant is described below in which the differentiating effect of the controller is also influenced, but not by changing the time constant, but by adding further function blocks. The variant described here is particularly suitable for controls in which one of the input signals has signal noise, i.e. a high-frequency, low-amplitude noise signal is superimposed on the input signal. A direct differentiation of this input signal could therefore under certain circumstances result in the noise signal being amplified considerably.

Die nachteiligen Wirkungen derartiger Rauschsignale lassen sich erheblich reduzieren, wenn die Differenzie­rung nur in einer Richtung, bei einer Pumpgrenzregelung z.B. in Richtung kleinerer Durchflußsignale, erfolgt.The adverse effects of such noise signals can be considerably reduced if the differentiation takes place only in one direction, in the case of a surge limit control, for example in the direction of smaller flow signals.

In Fig. 2 ist ein modifizierter PID-Regler dargestellt, bei dem die Unterdrückung der difernzierenden Wirkung in der nichtgewollten Richtung durch die Einführung eines Begrenzers 19 am Ausgang des Differenziergliedes 7b erreicht wird. Der Begrenzer 19 ist so ausgelegt, daß nur die Signale des Differenziergliedes durchgelassen werden, die eine Verlagerung des Arbeitspunktes in Rich­tung des Stabilitätsbereiches bewirken.FIG. 2 shows a modified PID controller in which the suppression of the differentiating effect in the undesired direction is achieved by introducing a limiter 19 at the output of the differentiating element 7b. The limiter 19 is designed in such a way that only the signals of the differentiating element which cause the operating point to be shifted in the direction of the stability range are passed.

Bei einer derartigen Anordnung werden alle Signalände­rungen in Richtung z.B. kleinerer Durchflüsse dirfferen­ziert, d.h. auch die Signaländerungen, die ihre Ursache lediglich in Signalrauschen haben. Um den durch das Rauschen bedingten Einfluß auf das Differenzierglied weiter zu vermindern, kann vor das Differenzierglied ein einseitig wirkender Verzögerer 17 eingefügt werden.With such an arrangement, all signal changes in the direction of e.g. Directionalisation of smaller flows, i.e. also the signal changes, which are only caused by signal noise. In order to further reduce the influence on the differentiating element caused by the noise, a one-way retarder 17 can be inserted in front of the differentiating element.

In Fig. 3 ist die Wirkungsweise des Verzögerers 17 an­hand eines möglichen Eingangssignals und des daraus folgenden Ausgangssignals dargestellt. Der einseitig wirkende Verzögerer ist ein Bauelement, dessen Aus­gangssignal in einer Richtung (z.B. in Richtung fallen­ der Signale) dem Eingangssignal zunächst unverzögert folgt, bis das Eingangssignal ein relatives Minimum erreicht. Ein anschließendes Ansteigen des Eingangssignals, auch wenn es schnell erfolgt, führt zu einem relativ langsamen Ansteigen des Ausgangssignals,wobei die Anstiegsrate durch eine vorge­gebene, ggf. einstellbare Zeitkonstante bestimmt wird. Das Ausgangssignal des Verzögerers 17 folgt also dem Eingangssignal in dieser Richtung nur verzögert. Sobald das Eingangssignal wieder den Signalpegel des Ausgangs­signals erreicht, folgt das Ausgangssignal dem Eingangs­signal, bis ein neuer Minimalwert eingenommen wird. Das Ausgangssignal des Verzögerers 17 verbleibt also stets auf oder in der Nähe des kleinsten Eingangswertes. Der verbleibende Rauschanteil wird durch diese Anordnung wesentlich reduziert, da nur noch kurzzeitige Signal­änderungen, die immer dann auftreten, wenn die Eingangs­größe einen neuen, noch kleineren Minimalwert annimmt, an die Differenzierschaltung weitergegeben werden.In Fig. 3 the operation of the delay 17 is shown based on a possible input signal and the resulting output signal. The one-way retarder is a component whose output signal falls in one direction (eg in one direction) of the signals) initially follows the input signal without delay until the input signal reaches a relative minimum. A subsequent rise in the input signal, even if it occurs quickly, leads to a relatively slow rise in the output signal, the rate of rise being determined by a predetermined, possibly adjustable time constant. The output signal of the delay 17 follows the input signal in this direction only with a delay. As soon as the input signal reaches the signal level of the output signal again, the output signal follows the input signal until a new minimum value is assumed. The output signal of the delay 17 thus always remains at or in the vicinity of the smallest input value. The remaining noise component is significantly reduced by this arrangement, since only brief signal changes, which always occur when the input variable takes on a new, even smaller minimum value, are passed on to the differentiating circuit.

Es ist erforderlich, daß der Verzögerer 17 eine end­liche Zeitkonstante in Richtung steigender Signale hat, um dem System Gelegenheit zu geben, nach einem einmali­gen Erreichen eines extremen Minimalwertes wieder den Normalwert zu erreichen bzw. um den Ausgang des Verzö­gerers 17 dem Anstieg des Nutzsignales nachzuführen. Um den geringen Einfluß der ansteigenden Flanke des Aus­ gangssignals des Verzögerers 17, die vom Differenzier­glied 7b registriert wird, auf die Stellgröße zu ver­meiden, kann dem Differenzierglied 7b der schon vor­her erwähnte Begrenzer 19 nachgeschaltet werden.It is necessary that the delay 17 has a finite time constant in the direction of increasing signals in order to give the system the opportunity to return to normal after reaching an extreme minimum value once or to track the output of the delay 17 as the useful signal increases. The slight influence of the rising edge of the off To avoid the output signal of the delay 17, which is registered by the differentiator 7b, on the manipulated variable, the limiter 19 already mentioned can be connected downstream of the differentiator 7b.

Da Signalrauschen durch eine hohe Frequenz gekennzeich­net ist, können verbliebende kurzzeitige Regelimpulse, die ihre Ursache im Signalrauschen haben, durch die Einfügung eines zusätzlichen Totzeitgliedes 21 am Aus­gang des Differenziergliedes 7b, wirksam unterdrückt werden.Since signal noise is characterized by a high frequency, remaining short-term control pulses, which have their cause in signal noise, can be effectively suppressed by inserting an additional dead time element 21 at the output of the differentiating element 7b.

Das Totzeitglied 17 bewirkt, daß nur die Signale weiter­gegeben werden, deren Signallängen die Totzeit überschreiten. Für die Ausgestaltung des Totzeit­gliedes 21 sind dabei zwei Alternativen vorgesehen: Bei der ersten Alternative wird das Signal für die Dauer der Totzeit blockiert und erst danach unverzö­gert auf den Ausgang weitergegeben. Bei der zweiten Alternative wird das Signal um die Totzeit verzögert weitergegeben, wenn es während der gesamten Totzeit am Eingang angestanden hat. Dies hat den Vorteil, daß der Signalverlauf des Differenziergliedes während der Totzeit nicht verlorengeht, sondern um die Totzeit ver­zögert auf die Stellgröße aufaddiert wird.The dead time element 17 has the effect that only the signals whose signal lengths exceed the dead time are passed on. Two alternatives are provided for the design of the dead time element 21: In the first alternative, the signal is blocked for the duration of the dead time and only then passed on to the output without delay. In the second alternative, the signal is passed on delayed by the dead time if it has been present at the input during the entire dead time. This has the advantage that the signal curve of the differentiating element is not lost during the dead time, but is added to the manipulated variable delayed by the dead time.

Beide Ausgestaltungen bewirken, daß Signale, die inner­halb der Totzeit wieder verschwinden, unterdrückt werden und die Stellgröße nicht beeinflussen.Both configurations have the effect that signals that disappear again within the dead time are suppressed and do not influence the manipulated variable.

Claims (13)

1. Verfahren zum Regeln eines Turbokompressors, bei dem einem Regler ein Eingangssignal, das vom laufend er­faßten Istwert mindestens einer Betriebsgröße, insbe­sondere Durchfluß, Förderdruck und/oder Druckverhältnis abgeleitet ist, zugeführt wird und der Regler durch ein eine Differentiation oder gleichwertige, die Ände­rungsgeschwindigkeit erfassende Operation einschließen­des Verarbeiten des Eingangssignals ein Ausgangssignal zum Steuern mindestens einer Betriebsgröße, insbesondere zum Steuern eines Ab- oder Umblaseventils am Kompressor­ausgang, erzeugt, und bei dem das Regelverhalten des Reglers in Abhängigkeit vom Arbeitspunkt geändert wird, dadurch gekennzeichnet, daß der Anteil der differenzierenden Wirkung in Abhängigkeit von der Lage des Arbeitspunktes und/oder von der Richtung der Lageänderung des Arbeitspunktes geändert wird.1. A method for regulating a turbocompressor in which an input signal which is derived from the continuously detected actual value of at least one operating variable, in particular flow, delivery pressure and / or pressure ratio, is fed to a regulator and the regulator by means of a differentiation or equivalent that detects the rate of change Operation including processing of the input signal produces an output signal for controlling at least one operating variable, in particular for controlling a blow-off or blow-off valve at the compressor outlet, and in which the control behavior of the controller is changed as a function of the operating point, characterized in that the proportion of the differentiating effect in Dependence on the Position of the working point and / or the direction of the change in position of the working point is changed. 2. Verfahren nach Anspruch 1, dadurch gekenn­zeichnet, daß die für die Differentiation maß­gebliche Zeitkonstante in Abhängigkeit von mindestens einer Kennfeldkoordinate des Arbeitspunktes geändert wird.2. The method according to claim 1, characterized in that the time constant relevant for the differentiation is changed as a function of at least one map coordinate of the working point. 3. Verfahren nach Anspruch 1, dadurch gekenn­zeichnet, daß die zum Arbeitpunkt gehörende Stei­gung der Kompressorkennlinie konstanter Drehzahl oder konstanter Schaufelstellung erfaßt und die Differenzier­zeitkonstante in Abhängigkeit von der Steigung, insbesonde­re umgekehrt proportional zur Steigung der Kompressorkenn­linie verändert wird.3. The method according to claim 1, characterized in that the slope belonging to the operating point of the compressor characteristic curve of constant speed or constant blade position is detected and the differentiation time constant is changed as a function of the slope, in particular in inverse proportion to the slope of the compressor characteristic curve. 4. Verfahren nach Anspruch 1, dadurch gekenn­zeichnet, daß der Abstand des Arbeitspunktes von einer im Kennfeld vorgegebenen Abblaselinie erfaßt und die Differenzierzeitkonstante in Abhängigkeit von dem Ab­stand verändert wird.4. The method according to claim 1, characterized in that the distance of the operating point is detected from a blow-off line specified in the characteristic diagram and the differentiation time constant is changed as a function of the distance. 5. Verfahren nach Anspruch 1, dadurch gekenn­zeichnet, daß die Größe des Differentialanteils des Regelverhaltens relativ zum Proportional- und Integral­anteil in Abhängigkeit von einer Betriebsgröße verändert wird.5. The method according to claim 1, characterized in that the size of the differential portion of the control behavior is changed relative to the proportional and integral portion depending on an operating variable. 6. Verfahren nach Anspruch 5, dadurch gekenn­zeichnet, daß die Größe des Differentialanteils in Abhängigkeit von der Steigung der im Kennfeld vorge­gebenen Abblaselinie verändert wird.6. The method according to claim 5, characterized in that the size of the differential portion is changed depending on the slope of the blow-off line specified in the map. 7. Verfahren nach Anspruch 5, dadurch gekenn­zeichnet, daß die Größe des Differentialanteils des Regelverhaltens in Abhängigkeit vom Ausgangssignal des Reglers verändert wird.7. The method according to claim 5, characterized in that the size of the differential component of the control behavior is changed depending on the output signal of the controller. 8. Verfahren nach Anspruch 1, dadurch gekenn­zeichnet, daß das Eingangssignal des Differen­tialteils des Reglers richtungsabhängig verzögert wird.8. The method according to claim 1, characterized in that the input signal of the differential part of the controller is delayed depending on the direction. 9. Verfahren nach Anspruch 1, dadurch gekenn­zeichnet, daß das Eingangssignal des Differen­tialteils des Reglers richtungsabhänig begrenzt wird.9. The method according to claim 1, characterized in that the input signal of the differential part of the controller is limited depending on the direction. 10. Regler für die Durchführung des Verfahrens nach Anspruch 1 mit einem Differentialteil und ggf. einem Proportionalteil und/oder einem Integralteil, dadurch gekennzeichnet, daß die Zeitkonstante des Differentialteils (7b) mittels eines Steuergliedes (15) steuerbar ist, und daß dem Steuerglied (15) ein eine Ortskoordinate des Arbeitspunktes im Arbeitskennfeld repräsentierendes Signal von einem Koordinatenrechner (13) zuführbar ist.10. Controller for performing the method according to claim 1 with a differential part and possibly a proportional part and / or an integral part, characterized in that the time constant of the differential part (7b) can be controlled by means of a control element (15), and that the control element ( 15) a signal representing a spatial coordinate of the working point in the working map can be supplied by a coordinate computer (13). 11. Regler für die Durchführung des Verfahrens nach Anspruch 1, mit einem Differentialteil und ggf. einem Proportionalteil und/oder einem Integralteil, dadurch gekennzeichnet, daß dem Differentialteil (7b) des Reglers ein Verzögerungsglied (17) mit rich­tungsabhängig unterschiedlichen Zeitkonstanten vorge­schaltet ist.11. Regulator for performing the method according to claim 1, with a differential part and possibly a proportional part and / or an integral part, characterized in that the differential part (7b) of the controller is preceded by a delay element (17) with directionally different time constants. 12. Regler nach Anspruch 11, dadurch gekenn­zeichnet, daß dem Differentialteil (7b) des Reglers ein Signalbegrenzer (19) mit richtungsabhängig unterschiedlichen Begrenzungswerten nachgeschaltet ist.12. Controller according to claim 11, characterized in that the differential part (7b) of the controller is followed by a signal limiter (19) with different direction-dependent limit values. 13. Regler nach Anspruch 11 oder 12, dadurch ge­kennzeichnet, daß dem Differentialteil (7b) des Reglers ein Totzeitglied (21) nachgeschaltet ist.13. Controller according to claim 11 or 12, characterized in that the differential part (7b) of the controller is followed by a dead time element (21).
EP86115702A 1985-11-12 1986-11-12 Regulation process of turbo compressors Expired - Lifetime EP0222382B1 (en)

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Publication number Priority date Publication date Assignee Title
EP0328729A2 (en) * 1988-02-18 1989-08-23 MAN Gutehoffnungshütte Aktiengesellschaft Method and system to control centrifugal compressors
EP0328729A3 (en) * 1988-02-18 1990-07-18 Man Gutehoffnungshutte Aktiengesellschaft Method and system to control centrifugal compressors

Also Published As

Publication number Publication date
JPS62113890A (en) 1987-05-25
US4810163A (en) 1989-03-07
DE3540087A1 (en) 1987-05-14
DE3674540D1 (en) 1990-10-31
EP0222382B1 (en) 1990-09-26
EP0222382A3 (en) 1988-01-13

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