EP0222382B1 - Procédé de réglage de turbocompresseurs - Google Patents

Procédé de réglage de turbocompresseurs Download PDF

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Publication number
EP0222382B1
EP0222382B1 EP86115702A EP86115702A EP0222382B1 EP 0222382 B1 EP0222382 B1 EP 0222382B1 EP 86115702 A EP86115702 A EP 86115702A EP 86115702 A EP86115702 A EP 86115702A EP 0222382 B1 EP0222382 B1 EP 0222382B1
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EP
European Patent Office
Prior art keywords
controller
function
varied
differential
signal
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Expired - Lifetime
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EP86115702A
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German (de)
English (en)
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EP0222382A3 (en
EP0222382A2 (fr
Inventor
Wilfried Dipl.-Ing. Blotenberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MAN Turbo AG
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MAN Gutehoffnungshutte GmbH
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Publication of EP0222382A3 publication Critical patent/EP0222382A3/de
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Publication of EP0222382B1 publication Critical patent/EP0222382B1/fr
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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 Pat. No. 4,142,838
  • 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.
  • Pumping is understood to mean an unstable behavior of a turbocompressor, in which the delivery medium intermittently or periodically from the pressure side This behavior occurs when the throughput or the pressure ratio between the compressor inlet and outlet is too low.
  • the so-called surge limit line separates the stable from the unstable area in the characteristic map of the compressor.
  • the surge limit control ensures that when the current operating point approaches the Surge line or one at a safety distance parallel to di a blow-off or blow-off valve at the compressor outlet is opened.
  • 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.
  • the final pressure P 2 at the compressor outlet is detected by a second actual value transmitter 3.
  • a computer 11 with associated memory 13 uses the actual values to form the coordinates of the working point in the map determined by the throughput and the final pressure / suction pressure ratio and compares them with a stored blow-off line A specified in the map. In general, the final and suction pressure must be recorded will. To simplify matters, however, it can be assumed that the suction pressure is constant and is therefore not constantly measured.
  • 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.
  • the slope of the compressor characteristic curve K constant speed and / or constant blade position, or also stored constant throttle position in the inlet.
  • a control element On 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 To 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 i.e. the proportion of the differential part 7b compared to the proportional part 7a and integral part 7c of the controller can be changed.
  • 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. E.g. the differential component 7b can be switched off when the controller output signal 100% or the control difference reaches another predetermined value which 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 permissible.
  • the slope of the characteristic curve and thus the size of the differentiation time constant To depends only on the pressure P or pressure flow Vab.
  • the course of the characteristic curve can either be stored in a digital memory or can also be predefined analogously in a function generator 14, which is indicated by dashed lines in the drawing.
  • the input of this function generator is the pressure, the output directly the size To.
  • the function is not ideally reproduced 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 variable To 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 polyline.
  • the position of the operating point is determined by detecting the final pressure and the throughput
  • other variables such as the pressure ratio between final and suction pressure, the speed, the guide vane position can also be used for determining the working point or for defining the map , the power, the input signal of the controller or the output signal of a process controller can be used.
  • the map can be determined by other parameters, such as the adiabatic delivery head and the intake volume flow are determined. 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.
  • the one-way retarder is a component whose output signal initially follows the input signal in one direction (e.g. in the direction of falling signals) 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 rise rate being determined by a predefined, 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 short-term signal changes that always occur when the input variable assumes 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 differentiator 7b can be followed by the limiter 19 already mentioned.
  • 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.

Claims (13)

1. Procédé pour réguler un turbocompresseur, dans lequel un signal d'entrée, obtenu à partir de la valeur réelle, captée en continu, d'au moins une grandeur de fonctionnement, notamment du débit, de la pression de refoulement et/ou du rapport de compression, est envoyé à un régulateur, ce régulateur produisant, par une différentiation ou par un traitement équivalent du signal d'entrée comprenant une opération de détermination de la vitesse de variation, un signal de sortie pour commander au moins une grandeur de fonctionnement, notamment pour commander une soupape de purge ou de soufflage à la sortie du compresseur, et dans lequel on fait varier le comportement de réglage du régulateur suivant le point de fonctionnement, caractérisé en ce qu'on fait varier la part de l'action de différentiation en fonction de la position du point de fonctionnement et/ou du sens de la variation de position de ce point de fonctionnement.
2. Procédé selon la revendication 1, caractérisé en ce qu'on fait varier la constante de temps déterminante pour la différentiation en fonction d'au moins une coordonnée du point de fonctionnement dans le diagramme caractéristique.
3. Procédé selon la revendication 1, caractérisé en ce qu'on détermine la pente, correspondant au point de fonctionnement, de la caractéristique du compresseur à vitesse de rotation constante ou à position des aubes constante et on fait varier la constante de temps de différentiation en fonction de cette pente, notamment de façon inversement proportionnelle à la pente de la caractéristique du compresseur.
4. Procédé selon la revendication 1, caractérisé en ce qu'on détermine la distance du point de fonctionnement à une ligne de purge prédéterminée dans le diagramme caractéristique et on fait varier la constante de temps de différentiation en fonction de cette distance.
5. Procédé selon la revendication 1, caractérisé en, ce qu'on fait varier en fonction d'une grandeur de fonctionnement la grandeur de la part différentielle du comportement de réglage par rapport à la part proportionnelle et à la part intégrale.
6. Procédé selon la revendication 5, caractérisé en ce qu'on fait varier la grandeur de la part différentielle en fonction de la pente de la ligne de purge prédéterminée dans le diagramme caractéristique.
7. Procédé selon la revendication 5, caractérisé en ce qu'on fait varier la grandeur de la part différentielle en fonction du signal de sortie du régulateur.
8. Procédé selon la revendication 1, caractérisé en ce qu'on retarde en fonction du sens le signal d'entrée de la partie différentielle du régulateur.
9. Procédé selon la revendication 1, caractérisé en ce qu'on limite en fonction du sens le signal d'entrée de la partie différentielle du régulateur.
10. Régulateur pour la mise en pratique du procédé selon la revendication 1, comportant une partie différentielle et, le cas échéant, une partie proportionnelle et/ou une partie intégrale, caractérisé en ce que la constante de temps de la partie différentielle (7b) peut être commandée au moyen d'un organe de commande (15), et en ce qu'on peut envoyer à l'organe de commande (15), à partir d'un ordinateur de coordonnées (13), un signal représentant une coordonnée de position du point de fonctionnement dans le diagramme caractéristique.
11. Régulateur pour la mise en pratique du procédé selon la revendication 1, comportant une partie différentielle et, le cas échéant, une partie proportionnelle et/ou une partie intégrale, caractérisé en ce qu'un temporisateur (17) à constantes de temps différentes en fonction du sens est branché devant la partie différentielle (7b) du régulateur.
12. Régulateur selon la revendication 11, caractérisé en ce qu'un limiteur de signaux (19) à valeurs de limitation différentes en fonction du sens est branché derrière la partie différentielle (7b) du régulateur.
13. Régulateur selon la revendication 11 ou 12, caractérisé en ce qu'un élément temporisateur (21) est branché derrière la partie différentielle (7b) du régulateur.
EP86115702A 1985-11-12 1986-11-12 Procédé de réglage de turbocompresseurs Expired - Lifetime EP0222382B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3540087 1985-11-12
DE19853540087 DE3540087A1 (de) 1985-11-12 1985-11-12 Verfahren zum regeln von turbokompressoren

Publications (3)

Publication Number Publication Date
EP0222382A2 EP0222382A2 (fr) 1987-05-20
EP0222382A3 EP0222382A3 (en) 1988-01-13
EP0222382B1 true EP0222382B1 (fr) 1990-09-26

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EP86115702A Expired - Lifetime EP0222382B1 (fr) 1985-11-12 1986-11-12 Procédé de réglage de turbocompresseurs

Country Status (4)

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US (1) US4810163A (fr)
EP (1) EP0222382B1 (fr)
JP (1) JPS62113890A (fr)
DE (2) DE3540087A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10001365A1 (de) * 2000-01-14 2001-07-19 Man Turbomasch Ag Ghh Borsig Verfahren und Einrichtung zum Regeln eines Turbokompressors zur Verhinderung des Pumpens

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3805119A1 (de) * 1988-02-18 1989-08-31 Gutehoffnungshuette Man Verfahren und einrichtung zum regeln von turbokompressoren
DE3809070A1 (de) * 1988-03-18 1989-10-26 Gutehoffnungshuette Man Verfahren zum sicheren betreiben von turbo-kompressoren
DE3811230A1 (de) * 1988-04-02 1989-10-26 Gutehoffnungshuette Man Verfahren zum schuetzen eines turboverdichters vor pumpen mittels abblasens ueber ein abblaseventil sowie vorrichtung zur durchfuehrung des verfahrens
IT1255836B (it) * 1991-10-01 1995-11-17 Procedimento per la sorveglianza del limite di pompaggio di turbocompressori a piu' stadi e refrigerazione intermedia
US5599161A (en) * 1995-11-03 1997-02-04 Compressor Controls Corporation Method and apparatus for antisurge control of multistage compressors with sidestreams
DE19541192C2 (de) * 1995-11-04 1999-02-04 Ghh Borsig Turbomaschinen Gmbh Verfahren zum Schutz eines Turbokompressors vor Betrieb im instabilen Arbeitsbereich mittels einer Abblaseeinrichtung
DE10144018A1 (de) * 2001-09-07 2003-03-27 Linde Ag Verfahren zum Regeln eines Verdichtersatzes
DE10304063A1 (de) * 2003-01-31 2004-08-12 Man Turbomaschinen Ag Verfahren zum sicheren Betreiben von Turbokompressoren mit einer Pumpgrenzregelung und einem Pumpgrenzregelventil

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DE2828124A1 (de) * 1978-06-27 1980-01-10 Gutehoffnungshuette Sterkrade Verfahren zur verhinderung des pumpens von turboverdichtern

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DE2623899B2 (de) * 1976-05-28 1979-11-29 Gutehoffnungshuette Sterkrade Ag, 4200 Oberhausen Verfahren zum Betreiben von Turboverdichtern in der Nähe der Pumpgrenze
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Publication number Priority date Publication date Assignee Title
DE10001365A1 (de) * 2000-01-14 2001-07-19 Man Turbomasch Ag Ghh Borsig Verfahren und Einrichtung zum Regeln eines Turbokompressors zur Verhinderung des Pumpens

Also Published As

Publication number Publication date
DE3540087A1 (de) 1987-05-14
EP0222382A3 (en) 1988-01-13
JPS62113890A (ja) 1987-05-25
DE3674540D1 (de) 1990-10-31
EP0222382A2 (fr) 1987-05-20
US4810163A (en) 1989-03-07

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