EP0223208B1 - Method and apparatus for the regulation of turbo compressors - Google Patents

Method and apparatus for the regulation of turbo compressors Download PDF

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Publication number
EP0223208B1
EP0223208B1 EP86115792A EP86115792A EP0223208B1 EP 0223208 B1 EP0223208 B1 EP 0223208B1 EP 86115792 A EP86115792 A EP 86115792A EP 86115792 A EP86115792 A EP 86115792A EP 0223208 B1 EP0223208 B1 EP 0223208B1
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Prior art keywords
blow
controller
variable
curve
reference variable
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EP86115792A
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German (de)
French (fr)
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EP0223208A2 (en
EP0223208A3 (en
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Wilfried Dipl.-Ing. Blotenberg
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MAN Gutehoffnungshutte GmbH
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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 for preventing pumping, of the type specified in the preamble of claim 1, and a device for carrying out the method
  • pumps are the intermittent or periodic backflow of the medium from the pressure to the suction side. This condition occurs e.g. if the final pressure or final pressure / suction pressure ratio and / or the throughput are too low.
  • a surge limit line can therefore be clearly defined in the map, which divides the map into the stable and unstable area.
  • the surge line is usually curved, i.e. it has different slopes in different areas of the map. In the frequently used map display with throughput and pressure as coordinates, for example, the surge line is flatter with increasing pressure. The same applies to other possible characteristic diagram representations with guide vane position, speed, head of the compressor or the like.
  • a blow-off line is defined at a safety distance parallel to the surge line, and when the current operating point approaches the blow-off line, a blow-off valve is opened more or less so that the actual value of a controlled variable, in particular the throughput, is based on the Blow-off line and the reference variable, especially the final pressure, do not exceed the setpoint.
  • a controlled variable in particular the throughput
  • the throughput serves as a reference variable for forming the setpoint and the final pressure is the controlled variable to be regulated to the setpoint.
  • the result of the curved course of the blow-off line is that a predetermined change in the command variable at different points on the blow-off line results in changes in the desired value for the controlled variable of different sizes. This affects the strengthening of the control loop to different degrees.
  • Pump limit controllers are safety controllers and are usually activated so that they work close to the stability limit in order to ensure the best possible compressor protection.
  • the position of the stability limit is very much influenced by the overall gain of the control loop. A high overall gain is most likely to lead to instability.
  • the gain factor of the actual controller is therefore set in such a way that, together with the gain resulting from the slope of the blow-off line, it leads to an overall gain within the stability limit.
  • the area of the blow-off line in which the highest gain is effective must be used. In other areas of the blow-off line, which may also include the most common arberite areas, the control loop is then not optimally adjusted.
  • the strongly curved course of the blow-off line therefore has the consequence that a surge limit controller with fixed control parameters is not optimally adjusted in wide working areas.
  • a method of the type mentioned is known from FR-A-2 352 970.
  • the gain of the controller can be changed as a function of the control difference, in such a way that the gain factor is increased when the control difference takes a negative value. This can ensure that the control loop reacts quickly when the current operating point crosses the blow-off line towards the surge limit line. Since the gain is only a function of the control difference, it is independent of the course of the blow-off line, and the different slope of the blow-off line in the map has a corresponding effect on the overall loop gain.
  • the object of the invention is to provide a method of the type mentioned at the outset and a device for carrying it out, with which an adaptation of the control behavior to the requirements in the different areas of the characteristic diagram is possible.
  • the invention is based on the basic idea of compensating for the effects of the slope of the curved blow-off line, which changes according to the command variable, on the overall gain of the control loop by a correspondingly opposite change in the gain factor of the controller, so that there is a largely constant overall gain of the control loop in the entire working range.
  • This basic principle can also be approximated by switching between two or a few different values of the gain factor of the controller.
  • the pressure in front of and behind a throttle orifice is measured in the suction port 1 of a compressor K by means of sensors 3.5, from which a transmitter 7 forms the actual value for the compressor throughput V on the suction side.
  • a sensor 9 detects the actual value of the final pressure P, which is entered into a computer 13 via a transmitter 11.
  • the computer 13 is connected to a memory 15 in which the course of the blow-off line A is stored in the compressor map given by P and V.
  • the computer 13 determines a setpoint for the through from the actual value of P and the blow-off line Set V.
  • a differential element 17 Actual and setpoint are compared in a differential element 17 and the difference is fed as an input signal to a controller 19, which can have a proportional-integral and / or differential behavior and whose Aussenassignal is a manipulated variable for a relief valve 21 branching off from the compressor outlet or for Return nozzle return blow valve delivers.
  • the steep lower course of the blow-off line A corresponds to a small gain and the flat upper course to a high gain. If, on the other hand, what is also known is reversed, the role of the command variable and the controlled variable and the throughput V is used as the command variable for determining a desired value of the final pressure P, the conditions are reversed and the gain is large and flat in the steep part of the blow-off line Part small.
  • the total gain of the control loop is the sum of the gain resulting from the slope of the blow-off line and the gain factor of the controller 19 plus the so-called system gain, i.e. the gain factors specified by the controlled system, in particular the compressor and the relief valve.
  • the gain factor in the controller 19 is therefore changed according to the invention.
  • the course of the slope S of the blow-off line A is also specified as a function in the memory 15.
  • the computer 13 determines the associated value of the slope of the blow-off line and generates a corresponding control signal which is fed to a control input of the controller 19 and there causes a corresponding change in the gain factor of the controller 19.
  • the computer 13 can also calculate its slope from the values of the blow-off line A belonging to different values of P.
  • the actual value of P is not supplied to a computer, but rather to a simple function generator 23, which permanently assigns a desired value for V to each actual value of P in accordance with a predetermined relationship corresponding to the blow-off line.
  • the actual value of P is fed to a second function generator 25, which permanently assigns a corresponding value for the slope of the blow-off line to each actual value of P, which is then fed as a control signal to controller 19 for controlling the amplification factor.
  • the actual value of P is likewise fed to the function generator 23 and also to a comparator 27 which compares the actual value of P with predetermined upper and lower limit values Pmax, P min. As long as the actual value of P is within this limit, the gain factor of the controller 19 remains unchanged. If P max is exceeded or Pmin is undershot, the gain factor of controller 19 is increased or decreased by a fixed, predetermined value. This corresponds to an approximation of the curved course of the blow-off line through three straight sections with different slopes, the middle straight section running between the limit values Pmin, Pmax. In an even simpler embodiment, which corresponds to an approximation of the blow-off line by only two straight sections, the gain factor is switched between two values depending on whether a single limit value is exceeded or not reached.
  • blow-off line in the memory 15 can also not be predetermined by a table of values but by a mathematical function.
  • a course of the blow-off line approximated by two or more straight line sections can be predetermined in the function generator 25.
  • the described mode of operation is not tied to the selected map display with the coordinates final pressure and volume flow, but can also be adapted to any other map display familiar to a person skilled in the art.

Description

Die Erfindung betrifft ein Verfahren zum Regeln von Turbokompressoren zum Verhindern des Pumpens, von der im Oberbegriff des Anspruchs 1 angegebenen Art, sowie eine Einrichtung zur Durchführung des VerfahrensThe invention relates to a method for regulating turbo compressors for preventing pumping, of the type specified in the preamble of claim 1, and a device for carrying out the method

Als Pumpen bezeichnet man bei Kompressoren das stoßweise oder periodische Rückströmen von Fördermedium von der Druck- zur Saugseite. Dieser Zustand tritt z.B. bei zu hohem Enddruck bzw. Enddruck/Saugdruck-Verhältnis und/oder zu niedrigem Durchsatz ein. Im Kennfeld kann deshalb eine Pumpgrenzlinie eindeutig definiert werden, die das Kennfeld in den stabilen und instabilen Bereich teilt. Die Pumpgrenzlinie ist in der Regel gekrümmt, d.h. sie hat in verschiedenen Bereichen des Kennfeldes unterschiedliche Steigungen. In der häufig verwendeten Kennfelddarstellung mit Durchsatz und Druck als Koordinaten z.B., verläuft die Pumpgrenzlinie bei steigendem Druck flacher. Für andere mögliche Kennfelddarstellungen mit Leitschaufelstellung, Drehzahl, Förderhöhe des Kompressors oder dgl. gilt entsprechendes.In compressors, pumps are the intermittent or periodic backflow of the medium from the pressure to the suction side. This condition occurs e.g. if the final pressure or final pressure / suction pressure ratio and / or the throughput are too low. A surge limit line can therefore be clearly defined in the map, which divides the map into the stable and unstable area. The surge line is usually curved, i.e. it has different slopes in different areas of the map. In the frequently used map display with throughput and pressure as coordinates, for example, the surge line is flatter with increasing pressure. The same applies to other possible characteristic diagram representations with guide vane position, speed, head of the compressor or the like.

Um Kompressoren vor dem Pumpen zu schützen, wird in einem Sicherheitsabstand parallel zur Pumpgrenzlinie eine Abblaselinie definert, und bei Annäherung des momentanen Arbeitspunktes an die Abblaselinie wird ein Abblaseventil mehr oder weniger geöffnet, so daß der Istwert einer Regelgröße, insbesondere des Druchsatzes, einen anhand der Abblaselinie und der Führungsgröße, insbesondere des Enddrucks, ermittelten Sollwert nich übersteigt. Es gibt auch Regelungen, bei denen der Durchsatz als Führungsgröße zur Bildung des Sollwerts dient und der Enddruck die auf den Sollwert zu regelnde Regelgröße ist.In order to protect compressors from pumping, a blow-off line is defined at a safety distance parallel to the surge line, and when the current operating point approaches the blow-off line, a blow-off valve is opened more or less so that the actual value of a controlled variable, in particular the throughput, is based on the Blow-off line and the reference variable, especially the final pressure, do not exceed the setpoint. There are also regulations in which the throughput serves as a reference variable for forming the setpoint and the final pressure is the controlled variable to be regulated to the setpoint.

Der gekrümmte Verlauf der Abblaselinie hat zur Folge, daß eine vorgegebene Änderung der Führungsgröße an verschiedenen Stellen der Abblaselinie unterschiedlich große Änderungen des Sollwerts für die Regelgröße zur Folge hat. Dies wirkt sich als unterschiedlich starke Verstärkung im Regelkreis aus.The result of the curved course of the blow-off line is that a predetermined change in the command variable at different points on the blow-off line results in changes in the desired value for the controlled variable of different sizes. This affects the strengthening of the control loop to different degrees.

Pumpgrenzregler sind Sicherheitsregler und werden in der Regel so aktiviert, daß sie nahe der Stabilitätsgrenze arbeiten, um einen bestmöglichen Kompressorschutz zu gewährleisten. Die Lage der Stabilitätsgrenze wird sehr stark von der Gesamtverstärkung des Regelkreises beeinflußt. Eine hohe Gesamtverstärkung führt am ehesten zu Instabilität.Pump limit controllers are safety controllers and are usually activated so that they work close to the stability limit in order to ensure the best possible compressor protection. The position of the stability limit is very much influenced by the overall gain of the control loop. A high overall gain is most likely to lead to instability.

Der Verstärkungsfaktor des eigentlichen Reglers wird deshalb so eingestellt, daß er zusammen mit der sich aus der sich aus der Steigung der Abblaselinie ergebenden Verstärkung noch zu einer innerhalb der Stabilitätsgrenze liegenden Gesamtverstärkung führt. Hierbei ist selbstverständlich auf den Bereich der Abblaselinie abzustellen, in welchem die höchste Verstärkung wirksam ist In anderen Bereichen der Abblaselinie, zu denen auch die häufigsten Arberitsbereiche gehören können, ist der Regelkreis dann nicht optimal justiert. Der stark gekrümmte Verlauf der Abblaselinie hat deshalb zur Folge, daß ein Pumpgrenzregler mit festeingestellten Regelparamentern in weiten Arbeitsbereichen nicht optimal justiert ist.The gain factor of the actual controller is therefore set in such a way that, together with the gain resulting from the slope of the blow-off line, it leads to an overall gain within the stability limit. Of course, the area of the blow-off line in which the highest gain is effective must be used. In other areas of the blow-off line, which may also include the most common arberite areas, the control loop is then not optimally adjusted. The strongly curved course of the blow-off line therefore has the consequence that a surge limit controller with fixed control parameters is not optimally adjusted in wide working areas.

Ein Verfahren der eingangs genannten Art ist aus der FR-A-2 352 970 bekannt. Bei dieser bekannten Regelung ist die Verstärkung des Reglers in Abhängigkeit von der Regeldifferenz veränderbar, und zwar derart, daß der Verstärkungsfaktor erhöht wird, wenn die Regeldifferenz einen negativen Wert annimmt. Dadurch kann sichergestellt werden, dass der Regelkreis schnell reagiert, wenn der derzeitige Arbeitspunkt die Abblaselinie in Richtung auf die Pumpgrenzlinie überschreitet. Da die Verstärkung ausschließlich eine Funktion der Regeldifferenz ist, ist sie unabhängig vom Verlauf der Abblaselinie, und die unterschiedliche Steigung der Abblaselinie im Kennfeld wirkt sich entsprechend auf die Gesamtkreisverstärkung aus.A method of the type mentioned is known from FR-A-2 352 970. In this known control, the gain of the controller can be changed as a function of the control difference, in such a way that the gain factor is increased when the control difference takes a negative value. This can ensure that the control loop reacts quickly when the current operating point crosses the blow-off line towards the surge limit line. Since the gain is only a function of the control difference, it is independent of the course of the blow-off line, and the different slope of the blow-off line in the map has a corresponding effect on the overall loop gain.

Aufgabe der Erfindung ist es, ein Verfahren der eingangs genannten Art und eine Einrichtung zu seiner Durchführung zu schaffen, mit dem eine Anpassung des Regelverhaltens an die Erfordernisse in den verschiedenen Bereichen des Kennfeldes möglich ist.The object of the invention is to provide a method of the type mentioned at the outset and a device for carrying it out, with which an adaptation of the control behavior to the requirements in the different areas of the characteristic diagram is possible.

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

Die Erfindung beruht auf dem Grundgedanken, die Auswirkungen der sich entsprechend der Führungsgröße ändernden Steigung der gekrümmten Abblaselinie auf die Gesamtverstärkung des Regelkreises durch eine entsprechend gegenläufige Anderung des Verstärkungsfaktors des Reglers auszugleichen, so daß sich im gesamten Arbeitsbereich eine weitgehend konstante Gesamtverstärkung des Regelkreises ergibt. Dieses Grundprinzip kann aber auch durch Umschaltung zwischen zwei oder wenigen unterschiedlichen Werten des Verstärkungsfaktors des Reglers approximiert werden.The invention is based on the basic idea of compensating for the effects of the slope of the curved blow-off line, which changes according to the command variable, on the overall gain of the control loop by a correspondingly opposite change in the gain factor of the controller, so that there is a largely constant overall gain of the control loop in the entire working range. This basic principle can also be approximated by switching between two or a few different values of the gain factor of the controller.

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

  • Fig. 1 ein vereinfachtes Schema einer Einrichtung zur Regelung eines Turbokompressors zum Verhindern des Pumpens;
  • Fig. 2 schematisch den Verlauf der pumpgrenzlinie und Abblaselinie im Kennfeld des Kompressors;
  • Fig. 3 eine Teil einer vereinfachten Ausführungsform der Regeleinrichtung;
  • Fig. 4 ein Detail einer weiteren Ausführungsform der Regeleinrichtung.
Embodiments of the invention are explained in more detail below with reference to the drawings. It shows:
  • Figure 1 is a simplified diagram of a device for controlling a turbo compressor to prevent pumping.
  • Fig. 2 shows schematically the course of the pump limit line and blow-off line in the map of the compressor;
  • 3 shows a part of a simplified embodiment of the control device;
  • Fig. 4 shows a detail of a further embodiment of the control device.

Gemäß Fig. 1 wird im Saugstutzen 1 eines Kompressors K durch Meßfühler 3,5 der Druck vor und hinter einer Drosselblende gemessen, woraus ein Meßumformer 7 den Istwert für den saugseitigen Kompressordurchsatz V bildet. Am Kompressorausgang erfaßt ein Meßfühler 9 den Istwert des Enddruckes P, der über einen Meßumformer 11 in einen Rechner 13 eingegeben wird. Der Rechner 13 ist mit einem Speicher 15 verbunden, in welchem der Verlauf der Abblaselinie A in dem durch P und V gegebenen Kompressorkennfeld abgespeichert ist. Aus dem Istwert von P und der Abblaselinie ermittelt der Rechner 13 einen Sollwert für den Durchsatz V. Ist- und Sollwert werden in einem Differenzglied 17 verglichen und die Differenz als Eingangssignal einem Regler 19 zugeführt, der ein Proportional-Integral- und/oder Differentialverhalten aufweisen kann und dessen Ausgenassignal eine Stellgröße für ein vom Kompressoraustritt abzweigendes Abblaseventil 21 oder ein zum Saugstutzen zurückführendes Umblaseventil liefert.According to FIG. 1, the pressure in front of and behind a throttle orifice is measured in the suction port 1 of a compressor K by means of sensors 3.5, from which a transmitter 7 forms the actual value for the compressor throughput V on the suction side. At the compressor outlet, a sensor 9 detects the actual value of the final pressure P, which is entered into a computer 13 via a transmitter 11. The computer 13 is connected to a memory 15 in which the course of the blow-off line A is stored in the compressor map given by P and V. The computer 13 determines a setpoint for the through from the actual value of P and the blow-off line Set V. Actual and setpoint are compared in a differential element 17 and the difference is fed as an input signal to a controller 19, which can have a proportional-integral and / or differential behavior and whose Aussenassignal is a manipulated variable for a relief valve 21 branching off from the compressor outlet or for Return nozzle return blow valve delivers.

Wie in Fig. 2 dargestellt, verläuft im Kompressorkennfeld, welches durch den Durchsatz V als Abszisse und den Enddruck P (oder auch das Enddruck/Saugdruck-Verhältnis) als Ordinate gegeben ist, die Pumpgrenzlinie PG und die in einem Sicherheitsabstand rechts davon verlaufende Abblaselinie A jeweils gekrümmt. Dies hat zur Folge, daß eine bestimmte Änderung A P des als Führungsgröße diendenden Enddrucks unterschiedlich großen Änderungen A V bzw. A V' des Sollwertes für den Durchsatz entsprechen. Da der als Sollwertgeber dienende Speicher 15 mit dem Rechner 13 Teil des Regelkreises ist, wirken sich diese Unterschiede als Änderungen in der Gesamtverstärkung des Regelkreises aus, falls der Regler 19 einen konstanten Verstärkungsfaktor hat. In Fig. 2 entspricht der Steile untere Verlauf der Abblaselinie A einer kleinen Verstärkung und der flache obere Verlauf einer hohen Verstärkung. Wird dagegen, was ebenfalls bekannt ist, die Rolle von Führungs- und Regelgröße vertauscht und der Durchsatz V als Führungsgröße zur Bestimmung eines Sollwertes des Enddrucks P verwendet, dann kehren sich die Verhältnisse um und die Verstärkung ist im steilen Teil der Abblaselinie Groß und im flachen Teil klein.As shown in Fig. 2, in the compressor map, which is given by the flow rate V as the abscissa and the final pressure P (or also the final pressure / suction pressure ratio) as the ordinate, the surge line PG and the blow-off line A running at a safety distance to the right of it each curved. The result of this is that a certain change A P in the final pressure serving as the reference variable corresponds to changes A V or A V 'of the setpoint for the throughput of different sizes. Since the memory 15 serving as setpoint generator with the computer 13 is part of the control loop, these differences have an effect on changes in the overall gain of the control loop if the controller 19 has a constant gain factor. In Fig. 2 the steep lower course of the blow-off line A corresponds to a small gain and the flat upper course to a high gain. If, on the other hand, what is also known is reversed, the role of the command variable and the controlled variable and the throughput V is used as the command variable for determining a desired value of the final pressure P, the conditions are reversed and the gain is large and flat in the steep part of the blow-off line Part small.

Die Gesamtverstärkung des Regelkreises ist die Summe der sich aus der Steigung der Abblaselinie ergebenden Verstärkung und dem Verstärkungsfaktor des Reglers 19 plus der sogenannten Streckenverstärkung, d.h. den durch die Regelstrecke, insbesondere dem Kompressor und dem Abblaseventil vorgegebenen Verstärkungsfaktoren. Um eine möglichst in allen Bereichen konstante Verstärkung zu erzielen, wird deshalb erfindungsgemäß der Verstärkungsfaktor im Regler 19 geändert. Bei der Ausführungsform nach Fig. 1 ist im Speicher 15 außer dem Verlauf der Abblaselinie A auch der Verlauf der Steigung S der Abblaselinie A als Funktion vorgegeben. Der Rechner 13 ermittelt für jeden Istwert der Führungsgröße P den zugehörigen Wert der Steigung der Abblaselinie und erzeugt ein entsprechendes Steurersignal, welches einem Steuereingang des Reglers 19 zugeführt und dort eine entsprechende Änderung des Verstärkungsfaktors des Reglers 19 bewirkt.The total gain of the control loop is the sum of the gain resulting from the slope of the blow-off line and the gain factor of the controller 19 plus the so-called system gain, i.e. the gain factors specified by the controlled system, in particular the compressor and the relief valve. In order to achieve a gain that is as constant as possible in all areas, the gain factor in the controller 19 is therefore changed according to the invention. In the embodiment according to FIG. 1, in addition to the course of the blow-off line A, the course of the slope S of the blow-off line A is also specified as a function in the memory 15. For each actual value of the command variable P, the computer 13 determines the associated value of the slope of the blow-off line and generates a corresponding control signal which is fed to a control input of the controller 19 and there causes a corresponding change in the gain factor of the controller 19.

Anstatt den jeweiligen Wert der Steigung der Abblaselinie A aus dem Speicher 15 abzurufen, kann der Rechner 13 auch aus den zu verschiedenen Werten von P gehörenden Werten der Abblaselinie A deren Steigung ausrechnen.Instead of retrieving the respective value of the slope of the blow-off line A from the memory 15, the computer 13 can also calculate its slope from the values of the blow-off line A belonging to different values of P.

Bei der vereinfachten Ausführungsform nach Fig. 3 wird der Istwert von P nicht einem Rechner, sondern einem einfachen Funktionsgeber 23 zugeführt, welcher jedem Istwert von P einen Sollwert für V entsprechend einem vorgegebenen, der Abblaselinie entsprechenden Zusammenhang fest zuordnet. Außerdem wird der Istwert von P einem zweiten Funktionsgeber 25 zugeführt, welcher jedem Istwert von P einen entsprechenden Wert für die Steigung der Abblaselinie fest zuordnet, der dann als Steuersignal dem Regler 19 zum Steuern des Verstärkungsfaktors zugeführt wird.In the simplified embodiment according to FIG. 3, the actual value of P is not supplied to a computer, but rather to a simple function generator 23, which permanently assigns a desired value for V to each actual value of P in accordance with a predetermined relationship corresponding to the blow-off line. In addition, the actual value of P is fed to a second function generator 25, which permanently assigns a corresponding value for the slope of the blow-off line to each actual value of P, which is then fed as a control signal to controller 19 for controlling the amplification factor.

Bei der Ausführungsform nach Fig. 4 wird der Istwert von P ebenfalls dem Funktionsgeber 23 und außerdem einem Komparator 27 zugeführt, der den Istwert von P mit vorgegebenen oberen und unteren Granzwerten Pmax, P min vergleicht. Solange sich der Istwert von P innerhalb dieser Grenze befindet, bleibt der Verstärkungsfaktor des Reglers 19 unverändert. Bei Überschreiten von Pmax oder Unterschreiten von Pmin wird der Verstärkungsfaktor des Reglers 19 um einen fest vorgegebenen Wert erhöht bzw. erniedrigt. Dies entspricht einer Approximation des gekrümmten Verlaufes der Abblaselinie durch drei Geradenabschnitte mit unterschiedlicher Steigung, wobei der mittlere Geradenabschnitt zwischen den Grenzwerten Pmin, Pmax verläuft. Bei einer noch einfacheren Ausführungsform, die einer Approximation der Abblaselinie durch nur zwei Geradenabschnitte entspricht wird je nach Über- oder Unterschreiten eines einzigen Grenzwertes der Verstärkungsfaktor zwischen zwei Werten umgesteuert.In the embodiment according to FIG. 4, the actual value of P is likewise fed to the function generator 23 and also to a comparator 27 which compares the actual value of P with predetermined upper and lower limit values Pmax, P min. As long as the actual value of P is within this limit, the gain factor of the controller 19 remains unchanged. If P max is exceeded or Pmin is undershot, the gain factor of controller 19 is increased or decreased by a fixed, predetermined value. This corresponds to an approximation of the curved course of the blow-off line through three straight sections with different slopes, the middle straight section running between the limit values Pmin, Pmax. In an even simpler embodiment, which corresponds to an approximation of the blow-off line by only two straight sections, the gain factor is switched between two values depending on whether a single limit value is exceeded or not reached.

Auch bei der Ausführungsform nach Fig. 1 ist es möglich, den gekrümmten Verlauf der Abblaselinie bzw. ihrer Steigung durch Geradenabschnitte anzunähern, wobei im Speicher 15 lediglich die Koordinaten der Knickpunkte der Geradenabschnitte festgelegt zu sein brauchen, aus denen dann der Rechner 13 den Verlauf des Geradenabschnittes bzw. seine Steigung ermitteln kann. Auch kann die Abblaselinie im Speicher 15 nicht durch eine Wertetabelle, sondern durch eine mathematische Funktion vorgegeben sein. Entsprechend kann bei der Ausführungsform nach Fig. 3 im Funktionsgeber 25 ein durch zwei oder mehr Geradenabschnitte approximierter Verlauf der Abblaselinie vorgegeben sein.1, it is possible to approximate the curved course of the blow-off line or its slope by straight line sections, only the coordinates of the break points of the straight line sections need to be defined in the memory 15, from which the computer 13 then determines the course of the Line section or its slope can determine. The blow-off line in the memory 15 can also not be predetermined by a table of values but by a mathematical function. Correspondingly, in the embodiment according to FIG. 3, a course of the blow-off line approximated by two or more straight line sections can be predetermined in the function generator 25.

Selbstverständlich ist die beschriebene Funtionsweise nicht an die gewählte Kennfelddarstellung mit den Koordinaten Enddruck un Volumenstrom gebunden, sondern ist sinngemäß auch an jede andere, dem Fachmann geläufige Kennfelddarstellung anpaßbar.Of course, the described mode of operation is not tied to the selected map display with the coordinates final pressure and volume flow, but can also be adapted to any other map display familiar to a person skilled in the art.

Claims (7)

1. A method of controlling a turbocompressor to prevent surge, wherein the actual values of a reference variable, in particular final pressure, and a controlled variable, in particular flow rate, which together define the position of the working point in the compressor performance graph, are regularly determined, a desired value for the controlled variable is formed from the reference variable and a predetermined blow-off curve in the performance graph, and a control signal for a blow-off curve is generated via a controller on the basis of the desired value and actual value of the controlled variable, the amplification factor of the controller being variable, characterised in that the amplification factor is varied as a function of the actual value of the reference variable, and in that the effect of the gradient of the blow-off curve, which varies as a function of the reference variable, on the overall amplification of the control circuit is at least approximately compensated.
2. A method according to Claim 1, characterised in that the amplification factor of the controller is at least approximately inversely proportional to the value of the gradient of the blow-off curve, which value is associated 4 with the respective actual value of the reference variable.
3. A method according to Claim 1, characterised in that with approximation of the blow-off curve by straight sections the amplification factor of the controller is switched between different discrete values when the actual value of the reference variable exceeds or falls below predetermined limit values.
4. An apparatus for carrying out the method according to any one of Claims 1 to 3, having sensors for reference and controlled variables, a function generator, which is acted upon by the reference variable and which contains predetermined data for the blow-off curve, for generating the desired value of the controlled variable, a differentiator acted upon by the actual value and desired value of the controlled variable, a controller acted upon by the output signal of the differentiator and a blow-off valve controlled by the controller, wherein the controller (19) has a control input for varying its amplification factor, characterised in that the sensor (9) for the reference variable is connected to a signal generator (13, 25, 27) with predetermined data associated with the gradient of the blow-off curve, and in that the output of the signal generator (13, 25, 27) is connected to the control input of the controller (19).
5. An apparatus according to Claim 4, characterised in that a sequence of values reproducing the gradient of the blow-off curve as a function of the reference variable is predetermined in the signal generator (13, 25).
6. An apparatus according to Claim 4, characterised in that limit values Pmax, Pmin for the reference variable are predetermined in the signal generator (27), and in that the signal generator (27) generates switching signals for the variation in stages of the control factor of the controller (19) when the limlit values are not reached or are exceeded.
7. An apparatus according to Claim 1 [sic], characterised in that the amplification factor of the controller can be controlled by the selective switching-on of an amplifier connected upstream of the controller input and the output signal of the signal generator controls the switching-on of the amplifier.
EP86115792A 1985-11-13 1986-11-13 Method and apparatus for the regulation of turbo compressors Expired - Lifetime EP0223208B1 (en)

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DE19853540285 DE3540285A1 (en) 1985-11-13 1985-11-13 METHOD AND DEVICE FOR REGULATING TURBO COMPRESSORS
DE3540285 1985-11-13

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EP0223208A2 EP0223208A2 (en) 1987-05-27
EP0223208A3 EP0223208A3 (en) 1988-01-13
EP0223208B1 true EP0223208B1 (en) 1990-10-03

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EP (1) EP0223208B1 (en)
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Publication number Publication date
US4789298A (en) 1988-12-06
DE3674724D1 (en) 1990-11-08
EP0223208A2 (en) 1987-05-27
EP0223208A3 (en) 1988-01-13
DE3540285A1 (en) 1987-05-14
JPS62113891A (en) 1987-05-25

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