EP0334034B1 - Procédé de commande pour éviter le pompage d'un compresseur centrifuge - Google Patents

Procédé de commande pour éviter le pompage d'un compresseur centrifuge Download PDF

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Publication number
EP0334034B1
EP0334034B1 EP89103019A EP89103019A EP0334034B1 EP 0334034 B1 EP0334034 B1 EP 0334034B1 EP 89103019 A EP89103019 A EP 89103019A EP 89103019 A EP89103019 A EP 89103019A EP 0334034 B1 EP0334034 B1 EP 0334034B1
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EP
European Patent Office
Prior art keywords
blow
tracking
valve
regulating
difference
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP89103019A
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German (de)
English (en)
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EP0334034A3 (en
EP0334034A2 (fr
Inventor
Wilfried Dr.-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
Original Assignee
MAN Gutehoffnungshutte GmbH
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Publication date
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Priority to AT89103019T priority Critical patent/ATE75297T1/de
Publication of EP0334034A2 publication Critical patent/EP0334034A2/fr
Publication of EP0334034A3 publication Critical patent/EP0334034A3/de
Application granted granted Critical
Publication of EP0334034B1 publication Critical patent/EP0334034B1/fr
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Classifications

    • 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 control method according to the preamble of claim 1.
  • a control method of the type mentioned is known from DE-PS 26 23 899.3.
  • Proportional-integral controllers that are operated with high proportional gain for safety reasons are usually used in such control methods.
  • the controller mainly acts as a proportional controller. This leads to the fact that its output signal, the manipulated variable, changes in proportion to the input variable, the control difference, the manipulated variable decreasing here and vice versa as the control difference increases.
  • a method of the type mentioned at the outset which is characterized in that when a discrepancy between the position (y a ) of the relief valve (21) and the manipulated variable (u) of the controller (5) exceeds a predeterminable limit value ) the manipulated variable (u) of the controller (5) is tracked by a tracking circuit (9) to the current position (y a ) of the relief valve (21).
  • the controller has a manipulated variable at its output which essentially corresponds to the current position of the blow-off valve.
  • the further regulation takes place without a disturbing long settling, which means that the blow-off line is exceeded again is prevented by the operating point until the new stationary operating state of the compressor is reached.
  • the operating point approaches the blow-off line asymptotically from the permissible, non-hazardous map area. The security against pumping the compressor is thus significantly increased and, with a high level of security, the compressor can be operated at a smaller distance from the surge limit, which means improved economy.
  • the tracking only takes place when there is a difference between the manipulated variable of the controller and the position of the relief valve that exceeds a predefinable limit value.
  • a limit value ensures that the noise occurring in the case of control differences determined from measured values remains without effects on the tracking circuit.
  • the level of the limit value should therefore be selected so that it represents a threshold that noise cannot exceed.
  • the new method now offers the possibility of also manipulating the controller output. If the relief valve z. B.
  • valve control opened by manual intervention in the valve control than the controller actually allows, this receives a negative control difference at its input, but the manipulated variable of the valve position is adjusted due to the tracking, so that a previously occurring in this mode of operation, possibly very large discrepancy between manipulated variable and valve position is excluded.
  • a further development of the control method in which the relief valve is fully or partially opened at maximum adjustment speed by means of a safety control when a safety line running between the surge limit and blow-off line is reached through the working point, is characterized in that when the safety control is triggered, the control variable of the controller is also adjusted is triggered to the current position of the relief valve. This ensures that the further control is taken over by the controller after the safety control has been reset without jumps or bumps, as a result of which the disadvantages already described above are also avoided here.
  • the safety controller can either act directly on the controller output or alternatively on the manual control setpoint.
  • a proportional-integral controller with a proportional amplifier and a tracking integrator is usually used as the controller, the outputs of which are added in a summer.
  • the invention provides that as an integrator between a control command generated by the tracking circuit the integrating which represents the normal state with a predetermined time constant and a practically instantaneous tracking of its output, switchable tracking integrator is used.
  • the integrator is not tracked directly to a manipulated variable corresponding to the current position of the relief valve, but to the manipulated variable reduced by the product of the control difference and the gain factor of the proportional part of the controller, in order to obtain exactly the current manipulated variable at the output of the PI controller, yes is obtained by adding the outputs of the proportional part and the integral part.
  • This solution is characterized by a particular simplicity and keeps the procedural effort particularly low.
  • the invention provides as a further development that in the manual control a tracking integrator that can be switched over by a control command generated by the tracking circuit between the integration and the tracking of its output to a value corresponding to the current position of the relief valve is used.
  • This variant of the method is also inexpensive and therefore advantageously simple to implement.
  • the tracking circuit that the difference between the manipulated variable at the output of the controller and the position of the relief valve is formed in this, that this difference is compared with a predeterminable limit value and that as long as the limit value is exceeded by this difference is present, at the output of the tracking circuit, a logic control signal which switches the downstream tracking integrator of the controller or the manual control into the status of the tracking and maintains this status, from the comparison result and the output signal of the safety controller is generated by a logical AND operation.
  • the function of the AND operation is to ensure that the controller is tracked either when the specified differential limit between the manipulated variable and valve position is exceeded or when the safety controller is triggered.
  • the particular advantage here is that if the safety control is triggered, the controller begins to be tracked immediately and not only after the manipulated variable and valve position have already diverged by the difference limit value.
  • the method can be carried out easily and can therefore be implemented with little effort, and this can be done in digital, analog or mixed form.
  • a further development of the method embodiment described above provides that the difference, depending on the sign, is compared with a limit value which can be specified separately. This separate monitoring of the difference between the manipulated variable and the relief valve position for the exceeding of different limit values with a positive and negative sign of the difference ensures that a different deviation can be permitted in one direction than in the other direction.
  • the absolute value is formed from the difference formed from the manipulated variable and relief valve position and is used instead of the difference itself in the method steps following the difference formation.
  • the difference between the two variants lies in the triggering of the tracking.
  • the tracking only works in one direction, depending on the sign when forming the difference, either if the manipulated variable becomes larger than the valve position or if the manipulated variable becomes smaller than the valve position.
  • tracking is triggered regardless of the direction whenever one certain difference between manipulated variable and valve position is exceeded.
  • the controller is switched from the tracking mode to the control mode with a predefinable time delay after the corresponding control signal has been reset.
  • This has the advantage that the blow-off valve is given some time to assume a stationary position.
  • Such a device is particularly useful in compressors in which the relief valve or its drive unit contain time delays.
  • the relief valve after canceling a quick opening command does not immediately remain in the position it is then in, but continues to run a little due to delay effects or shows a transient behavior in the new position. Without a suitable countermeasure, there would be the danger that if there is an immediate switch back from tracking to control mode, the valve will switch to a position other than the stationary new one.
  • the time delay according to the invention can ensure that the blow-off valve has previously reached its stationary position and that the controller output is reliably adjusted to the correct valve position.
  • the position of the relief valve can also be determined indirectly.
  • the behavior of the relief valve is simulated in a simulation circuit, the input variable of which is the respective manipulated variable of the controller and the output variable is a calculated relief valve position.
  • the schematic characteristic diagram of a turbo compressor shown in FIG. 1 has the flow through the compressor as the abscissa and the delivery pressure of the compressor as the ordinate.
  • the respective operating point of the compressor is thus determined by a pair of values consisting of the instantaneous flow and the instantaneous delivery pressure, which are usually recorded continuously by suitable measuring devices.
  • the diagram in FIG. 1 shows a family of three parallel curves, of which the left represents the surge line, the middle the safety line and the right the blow-off line.
  • the surge limit is determined by the technical properties of the compressor and is usually determined by tests.
  • the safety line runs parallel to the surge line at a specified distance.
  • blow-off valve As soon as the operating point reaches or exceeds this safety line, the blow-off valve is fully opened at maximum actuating speed to avoid pumping.
  • the blow-off line is the line, when reached by the controller, a regulated opening of the blow-off valve begins to move the operating point back into the area to the right of the blow-off line, ie in the safe working area of the compressor. This safe working area is delimited by the blow-off line and the dash-dotted line in the map diagram.
  • a negative sign of the control difference e therefore means that the working point of the compressor is in the safe working area, while a positive sign of the control difference e means that the working point moves the blow-off line to the left, i.e. H. towards the surge limit. If the operating point exceeds the surge limit, the compressor pumps, which can damage it considerably. This process must be avoided as safely as possible using the control method.
  • FIGS. 2a and 2b The control behavior of a control method according to the prior art (FIG. 2a) and according to the new method (FIG. 2b) is illustrated in FIGS. 2a and 2b.
  • the diagrams in FIGS. 2a and 2b each show the control difference e supplied to the controller, the control manipulated variable u generated at the output of the controller and the relief valve position y a from bottom to top with the same time resolution.
  • time t 0 s, a fault occurs in the consumer network, which is connected downstream of the turbo compressor, which leads to the controller intervening and actuating the relief valve in the opening direction. This also leads to a control difference e rising from zero to a positive value being determined.
  • the controller changes its controller manipulated variable u accordingly, whereby the relief valve is actuated in the opening direction.
  • the value "1" corresponds to a fully closed relief valve and the value "0" corresponds to a fully opened relief valve.
  • the control difference e decreases again until it becomes negative at time t u and continues to run in the negative direction with increasing opening of the relief valve.
  • the controller manipulated variable u increases accordingly and the movement of the relief valve is reversed.
  • the control difference e now remains negative and approaches the value 0, ie the operating point is again in the safe map area to the right of the blow-off line.
  • the time t r there is a new exceeding of the control difference e via the zero line to positive values, ie the operating point is again beyond the blow-off line in the inadmissible map area.
  • FIG. 2b shows the behavior of a control system according to the invention in response to an identical fault, in which the controller first moves the relief valve in the opening direction. This can be seen in the upper diagram in FIG. 2b by the decrease in the value y a .
  • the controller manipulated variable u is continuously adjusted to the current value of the relief valve position y a while the relief valve is being opened.
  • the controller manipulated variable u has exactly the value that matches the relief valve position y a reached at this moment.
  • FIG. 3 shows an example of a control scheme for the method according to the invention.
  • the reference numeral 1 denotes a turbo compressor which is connected to a suction side Suction line 10 'and pressure side is connected to a pressure line 10.
  • a blow-off line 23 branches off via a blow-off valve 21, which opens here into the free atmosphere.
  • a non-return valve 3 is inserted behind the branch to the relief valve 21. This is followed in the further course of the pressure line 10 by the consumer network downstream of the turbo compressor 1.
  • the flow through the intake line 10 ' is detected by means of a flow measurement FLOW 113; on the pressure side, the delivery pressure P2 of the compressor 1 is detected by means of a pressure measurement PRESS 122.
  • the setpoint of the control is formed from P2, which is the minimum permissible flow at the respective delivery pressure.
  • the control difference e is formed in the summer SUM 305, specifically as the difference between the setpoint value and the intake flow from the measurement FLOW 113.
  • the blocks FNC 303 and SUM 305 can thus be combined to form a control difference generator 4.
  • the blocks GAI 308, ATT 309, NFI 310 and SUM 311 together form a proportional-integral controller 5 (PI controller).
  • the proportional gain is set in the GAI 308 amplifier and the reset time of the controller in the ATT 309 attenuator.
  • Block NFI 310 is the integrator of controller 5; in block SUM 311 the proportional part and the integral part of the controller 5 are added to each other. The function of block SUM 334 will be explained later.
  • the blow-off valve 21 can be manually adjusted via the blocks KEY 320, NFI 321 and SUM 322, which together form a manual control 7.
  • the desired setpoint for the relief valve is set in the integrator NFI 321. If this setpoint is greater than the current controller output, ie its manipulated variable u, the control difference e 'becomes positive.
  • the maximum selection MAX 312 selects the maximum value between e and e ′.
  • the controller output, ie its manipulated variable u is determined by the manual control 7 or the control difference generator 4.
  • the CON 315, CON 316 and REL 317 blocks form a safety line. If the output signal of the maximum selection MAX 312 exceeds a limit value set in the limit value level REL 317, the output of the limit value level switches to the value 0 and thereby suddenly moves the manual control setpoint e ′ to 0. The result is that the relief valve opens at maximum speed. If the limit level REL 317 has switched back again, the manual control setpoint slowly rises again to its maximum value. It is also important that the output of block REL 317 also affects limiter LIM 183. When the safety line is exceeded, the output of REL 317 assumes a signal which leads to the manipulated variable u being reduced by 1 in limiter LIM 183, i. H. takes a value of 0 or less. As a result, the relief valve opens at maximum actuating speed.
  • the tracking circuit 9 is formed here from the blocks CON 330, ABS 331, SUM 332, SUM 334 and AND 333.
  • block ABS 331 the difference between the manipulated variable u of the output of the controller 5 and the position y a of the relief valve 21 is formed.
  • the position of the relief valve 21 is determined by a position measurement POS 164 detected. If the difference formed in block ABS 331 exceeds an amount that is defined as a constant in block CON 330, summer SUM 332 controls a negative signal. This leads to the fact that the integrator NFI 310 in the controller 5, which is designed as a tracking integrator, is switched over to tracking mode.
  • this integrator NFI 310 no longer works as a normal integrator, but always assumes the value that is present at its second input, ie at the output of the summer SUM 334.
  • the control output that is, the manipulated variable u, for larger deviations between the blow-off valve position y and a manipulated variable u on the controller output is always on the current valve position y a is set.
  • a quick opening command from the safety controller 6 to the limiter LIM 183 also leads to the fact that when the relief valve 21 opens, the tracking circuit 9 tracks the integral part of the PI controller 5 to the current valve position y a . Further control interventions in controller 5 can therefore be dispensed with.
  • This control method also has the advantage that the controller output, ie its manipulated variable u when the safety controller responds, is not completely set to the value 0, but only drops as far as it corresponds to the current position y a of the relief valve 21.
  • blow-off valve 21 would remain in the half-open position with the disappearance of the control signal of the safety controller 6 and the PI controller from this position the other Take control without jumps and bumps without the need for further control commands.
  • controllers in which the manipulated variable u at the controller output is identical to the output signal from the integrator, it suffices to adjust the integrator to the actual valve position y a .
  • a correction variable deviating from the valve position y a is only required if the controller manipulated variable u is formed by adding different terms, e.g. B. from the integral part and the proportional part of the PI controller described above.
  • a possible device for performing the method according to the invention consists according to the control scheme in Figure 3 from a turbo compressor 1 with an intake line 10 'and a pressure line 10 with relief valve 21 and check valve 3.
  • a turbo compressor 1 with an intake line 10 'and a pressure line 10 with relief valve 21 and check valve 3.
  • In the intake line 10' is a flow meter 11 and in the pressure line 10 a pressure gauge 12 is used.
  • the blocks FNC 303 and SUM 305 are expediently combined as a switching unit for the control difference generator 4. This is followed by the maximum selection element 81, which corresponds to block MAX 312 in the control scheme.
  • the blow-off valve 21 is adjusted, as usual, via an actuator 22.
  • the current position of the valve 21 can take place via a position indicator 24, in accordance with the block POS 164 in the control diagram.
  • control scheme shown in Figure 3 can be extended by additional elements, for. B. Filter to reduce the noise of the measured values from the flow measurement FLOW 113 and the pressure measurement PRESS 122.

Claims (10)

1. Procédé de réglage pour éviter le pompage d'un turbo-compresseur (1), procédé dans lequel le débit et la pression de refoulement du compresseur (1), définissant le point de fonctionnement du compresseur (1), sont détectés en continu et dans lequel un régulateur (5), pour éviter le pompage avant que soit atteinte la limite de pompage, ouvre de façon réglée au moins une soupape d'évacuation (21) lorsque le point de fonctionnement atteint une ligne d'évacuation s'étendant parallèlement à la limite de pompage, procédé caractérisé en ce que lors de l'apparition d'une discordance, dépassant une valeur limite susceptible d'être prédéfinie, entre la position (ya) de la soupape d'évacuation (21) et la grandeur de réglage (u) du régulateur (5), la grandeur de réglage (u) du régulateur (5) est ramenée par un circuit de poursuite (9) à la position respectivement actuelle (ya) de la soupape d'évacuation (21).
2. Procédé de réglage selon la revendication 1, dans lequel la soupape d'évacuation (21) est susceptible d'être réglée manuellement au moyen d'une commande manuelle (7) agissant côté entrée sur le régulateur (5), procédé caractérisé en ce que pendant le réglage, évitant le régulateur (5), de la soupape d'évacuation (21), la grandeur de réglage (u) du régulateur (5) est ramenée indirectement par poursuite de la valeur de consigne de la commande manuelle (7) au moyen d'un circuit de poursuite (9), à la position actuelle (ya) de la soupape d'évacuation (21).
3. Procédé de réglage selon les revendications 1 et 2 dans lequel, au moyen d'une commande de sécurité (6) la soupape d'évacuation (21) est ouverte en totalité ou partiellement avec une vitesse de réglage maximale lorsque le point de fonctionnement atteint une ligne de sécurité s'étendant entre la limite de pompage et la ligne d'évacuation, procédé caractérisé en ce que, avec le déclenchement de la commande de sécurité, est déclenché le retour de la grandeur de réglage (u) du régulateur (5) à la position respectivement actuelle (ya) de la soupape d'évacuation (21).
4. Procédé de réglage selon les revendications 1 à 3, dans lequel on utilise comme régulateur (5) un régulateur proportionnel-intégral avec un amplificateur proportionnel (GAI 308) et un intégrateur de poursuite (NFI 310), dont les sorties sont totalisées dans un totalisateur (SUM 311), procédé caractérisé en ce que, comme intégrateur, on utilise un intégrateur de poursuite (NFI 310) susceptible d'être commuté par un nombre de commande engendré par le circuit de poursuite (9) entre l'intégration avec une constante de temps prédéfinie constituant l'état normal et une poursuite pratiquement sans temporisation de sa sortie, et en cas de poursuite de sa sortie, la poursuite a lieu sur la grandeur de réglage (u) diminuée du produit de la différence de réglage (e) et du facteur d'amplification (Kp) de la partie proportionnelle du régulateur (5).
5. Procédé de réglage selon les revendications 1 et 2, caractérisé en ce que, dans la commande manuelle (7) on utilise un intégrateur de poursuite (NFI 321) susceptible d'être commuté par un ordre de commande émanant du circuit de poursuite (9) entre l'intégration et la poursuite de sa sortie sur une valeur correspondant à la position actuelle (ya) de la soupape d'évacuation (21).
6. Procédé de réglage selon les revendications 1 à 5, caractérisé en ce que dans le circuit de poursuite (9) est formée la différence entre la grandeur de réglage (u) à la sortie du régulateur (5) et la position (ya) de la soupape d'évacuation (21), en ce que cette différence est comparée avec une valeur limite susceptible d'être prédéfinie et en ce que, tant qu'un dépassement de la valeur limite par cette différence a lieu, à la sortie du circuit de poursuite (9) un signal logique de commande commutant l'intégrateur de poursuite branché à la suite (NFI 310, NFI 321) du régulateur (5) ou de la commande manuelle (7) dans l'état de poursuite et le maintenant dans cet état, est produit par une opération logique ET à partir du résultat de la comparaison et du signal de sortie de la commande de sécurité (6).
7. Procédé de réglage selon la revendication 6, caractérisé en ce que la différence est comparée en fonction de son signe à une valeur limite susceptible d'être prédéfinie de façon distincte.
8. Procédé de réglage selon la revendication 6, caractérisé en ce qu'à partir de la différence, la valeur absolue de celle-ci est formée et est utilisée au lieu de la différence elle-même dans les étapes de procédé venant à la suite de la formation de la différence.
9. Procédé de réglage selon les revendications 1 à 7, caractérisé en ce que la commutation du régulateur (5) du fonctionnement en poursuite dans le fonctionnement en réglage, s'effectue avec une temporisation susceptible d'être prédéfinie, après la remise à l'état initial du signal de commande correspondant.
10. Procédé de réglage selon les revendications 1 à 9, caractérisé en ce que le comportement de la soupape d'évacuation (21) est reproduit dans un circuit de simulation dont la grandeur d'entrée est la grandeur de réglage respective (u) du régulateur (5) et dont la grandeur de sortie est une position calculée (ya) de la soupape d'évacuation.
EP89103019A 1988-03-24 1989-02-21 Procédé de commande pour éviter le pompage d'un compresseur centrifuge Expired - Lifetime EP0334034B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89103019T ATE75297T1 (de) 1988-03-24 1989-02-21 Regelverfahren zur vermeidung des pumpens eines turbokompressors.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3809881A DE3809881A1 (de) 1988-03-24 1988-03-24 Regelverfahren zur vermeidung des pumpens eines turbokompressors
DE3809881 1988-03-24

Publications (3)

Publication Number Publication Date
EP0334034A2 EP0334034A2 (fr) 1989-09-27
EP0334034A3 EP0334034A3 (en) 1990-07-18
EP0334034B1 true EP0334034B1 (fr) 1992-04-22

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EP89103019A Expired - Lifetime EP0334034B1 (fr) 1988-03-24 1989-02-21 Procédé de commande pour éviter le pompage d'un compresseur centrifuge

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US (1) US4946343A (fr)
EP (1) EP0334034B1 (fr)
JP (1) JPH01277699A (fr)
AT (1) ATE75297T1 (fr)
DE (2) DE3809881A1 (fr)

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DE3540285A1 (de) * 1985-11-13 1987-05-14 Gutehoffnungshuette Man Verfahren und einrichtung zum regeln von turbokompressoren
DE3544821A1 (de) * 1985-12-18 1987-06-19 Gutehoffnungshuette Man Verfahren zum regeln von turbokompressoren zur vermeidung des pumpens
DE3544822A1 (de) * 1985-12-18 1987-06-19 Gutehoffnungshuette Man Verfahren zur pumpgrenzregelung von turbokomporessoren
DE3620614A1 (de) * 1986-06-20 1987-12-23 Gutehoffnungshuette Man Verfahren zum filtern eines verrauschten signals
JP2638594B2 (ja) * 1986-11-08 1997-08-06 フアナツク株式会社 デイジタルサーボシステム
US4781524A (en) * 1987-02-12 1988-11-01 Man Gutehoffnungshuette Gmbh Method and apparatus for detecting pressure surges in a turbo-compressor
JPH08196A (ja) * 1994-06-17 1996-01-09 Q P Corp インディカ米用の炊飯剤及びそれを用いたインディカ米の炊飯方法

Also Published As

Publication number Publication date
JPH01277699A (ja) 1989-11-08
EP0334034A3 (en) 1990-07-18
DE58901216D1 (de) 1992-05-27
ATE75297T1 (de) 1992-05-15
EP0334034A2 (fr) 1989-09-27
US4946343A (en) 1990-08-07
DE3809881A1 (de) 1989-10-12
DE3809881C2 (fr) 1990-05-10

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