EP3592979A1 - Procédé pour réguler la vitesse d'une pompe centrifuge - Google Patents

Procédé pour réguler la vitesse d'une pompe centrifuge

Info

Publication number
EP3592979A1
EP3592979A1 EP18710820.4A EP18710820A EP3592979A1 EP 3592979 A1 EP3592979 A1 EP 3592979A1 EP 18710820 A EP18710820 A EP 18710820A EP 3592979 A1 EP3592979 A1 EP 3592979A1
Authority
EP
European Patent Office
Prior art keywords
pump
controller
correction parameter
speed
actual
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.)
Granted
Application number
EP18710820.4A
Other languages
German (de)
English (en)
Other versions
EP3592979B1 (fr
Inventor
Martin Eckl
Joachim Schullerer
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.)
KSB SE and Co KGaA
Original Assignee
KSB SE and Co KGaA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by KSB SE and Co KGaA filed Critical KSB SE and Co KGaA
Priority to EP21161061.3A priority Critical patent/EP3851678A1/fr
Publication of EP3592979A1 publication Critical patent/EP3592979A1/fr
Application granted granted Critical
Publication of EP3592979B1 publication Critical patent/EP3592979B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
    • F04D15/0066—Control, e.g. regulation, of pumps, pumping installations or systems by changing the speed, e.g. of the driving engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems

Definitions

  • the present invention relates to a method for controlling the rotational speed of a centrifugal pump operated in an open hydraulic circuit, wherein the controller of the pump controller determines a desired rotational speed of the pump drive taking into account a desired and actual delivery head and the actual rotational speed.
  • controller parameters can not be set separately, but only under a holistic view of the system dynamics. In practice, the correct setting of these parameters is therefore an enormous challenge.
  • the classic setting rules for PI or PID controller refer to linear systems, otherwise a linearization must be carried out in advance in one operating point. If the latter is the case, then the controller parameters found are usually optimally set only in the vicinity of the selected operating point. For the reasons mentioned above, the use of a PI controller for a variable-speed centrifugal pump is not the optimum solution. On the one hand, pumps show a strongly non-linear behavior, on the other hand pumps must be able to be operated stably in different operating ranges.
  • the operating point during pump start-up may be different than during constant pump operation.
  • the setting of the controller parameters of a PI or PID controller is therefore always based on a compromise between these different operating points of the pump.
  • affinity regulators which operate on the basis of affinity laws.
  • These controller types are considered to be robust, especially in different operating situations, and make obsolete the previously discussed elaborate setting of the controller parameters.
  • a disadvantageous limitation of these types of regulators, however, is that they can only be used in closed hydraulic circuits. In the open circle, where a geodetic height may need to be overcome, the mathematical relationship between the sizes mentioned above changes and the regulation does not lead to a satisfactory result. It is therefore searched for a suitable controller modification to solve the above problem.
  • a method for controlling the rotational speed of a centrifugal pump operated in an open hydraulic circuit is proposed.
  • the basis of the method is a controller of the pump control, which calculates a target speed of the pump drive taking into account a desired and actual delivery and an actual speed.
  • This controller is neither a PI nor a PID controller.
  • the controller modification sees the Extension by at least one correction parameter for the consideration and compensation of a geodreliischen height to be handled by the pump. Using this correction parameter, the control approach can also be used for open hydraulic circuits.
  • a displacement of the delivery height-speed curve is effected by means of the correction parameter. This makes it easy to compensate for the geodetic height.
  • affinity controllers that make use of the affinity law for the setpoint or setpoint determination
  • control approach is based on a quadratic relationship between speed and delivery height for the control value calculation.
  • the result is a parabolic control curve, which is selectively shifted up or down by the correction parameter.
  • the quadratic relationship between the setpoint speed and the setpoint conveying height is set in relation to the quadratic relationship between the actual speed and the actual delivery height. Based on this ratio, the target speed can be determined. By inverting the quadratic relationship, the non-linear behavior of the pump can be compensated at the same time. This allows the pump to stabilize like a linear system.
  • the parabola of the control curve defined by the quadratic relationship between rotational speed and delivery height is displaced by the correction parameter into the coordinate origin, whereby a geodetic height can be compensated either on the pressure or suction side of the pump.
  • the correction value depends on the conditions of the entire hydraulic system. Also, the geodetic height and thus the required value of the correction parameter in the current pump operation can change. For this reason, it is desirable that the value of the correction parameter is automatically determined by the pump controller in the current pump mode.
  • One way to automatically determine the correction parameter is to first assign the correction parameter when commissioning the pump with a definable initial value.
  • a suitable initial value is, for example, the value zero.
  • the required value of the correction parameter for the compensation of the geodetic height can then be determined during operation from the resulting control error, because both the desired delivery height and the actual delivery amount are known to the pump controller. Subsequently, the value of the correction parameter can be adjusted until the desired delivery head is reached.
  • the determination of the correction parameter k can be determined by means of the following equation describe.
  • the term err characterizes here the error value, which is set between the nominal delivery head and the actual delivery head. By detecting the difference between the setpoint and the actual actual delivery head, the pump control is consequently aware of the current error value and the pump control can calculate the correction value k on the basis of the above equation.
  • the present invention also relates to a centrifugal pump with a pump control for carrying out the method according to the invention. Accordingly, the same advantages and properties arise for the centrifugal pump as have already been discussed in detail above with reference to the method according to the invention. A repetitive description is omitted for this reason.
  • FIG. 1 shows a speed-delivery height characteristic curve in the closed hydraulic
  • FIG. 2 a speed-delivery height characteristic in the open hydraulic circuit
  • FIG. 3 shows a time-delivery height diagram for clarifying the control quality of the regulation according to the invention in comparison with conventional control techniques.
  • the core idea of the present invention is the use of a novel type of regulator for the speed control of a centrifugal pump. Unlike in the prior art proposed, is currently not resorted to a PI or PID controller, but instead a so-called affinity controller is used, which uses the affinity laws for the setpoint / setpoint determination and therefore of a quadratic relationship between speed and resulting delivery head of the centrifugal pump.
  • affinity controller uses the affinity laws for the setpoint / setpoint determination and therefore of a quadratic relationship between speed and resulting delivery head of the centrifugal pump.
  • the controller permanently sets the correct nominal delivery height.
  • the controller By inverting the quadratic relationship between head and speed, the non-linear behavior of the pump is compensated and the pump can be stabilized like a linear system.
  • the controller is robust in different operating situations and the complex setting of the controller parameters is eliminated.
  • a limitation of the affinity controller is that it can be used in the previous embodiment only in closed hydraulic circuits.
  • the H / n curve of Figure 1 shifts and the mathematical relationship changes.
  • the idea of the present invention is to modify the affinity controller so that it also leads to passable results within an open hydraulic circuit. This is achieved according to the invention by the extensions of the affinity controller by a parameter for describing the geodesic height.
  • the curve in FIG. 2 shows the relationship between delivery head and rotational speed on the assumption that a suction geodetic height prevails. Due to the geodesic height, the parabolic curve no longer runs through the origin of coordinates, but is shifted downwards by the value k.
  • FIG. 3 shows a test result with three different controller types.
  • the tested controlled system is a pump that has to overcome a geodetic head.
  • a PI controller, a conventional affinity controller and an affinity controller with the extension according to the invention are tested for the correction parameter.
  • the desired nominal head is 5 m for all tested controller types.
  • FIG. 3 shows a time diagram of the actual delivery head set by the individual controller types.
  • Curve 2 of the conventional affinity controller without correction of the geodetic height initially shows a very strong overshoot, but due to the iterative correction of the system deviation, the target delivery height is nevertheless achieved.
  • the Pl controller with the curve 3 also reaches its setpoint, but this result requires a lot of effort in the correct setting of the controller parameters.
  • the curve 1 of the affinity controller with consideration of the geodetic height shows the best result. There is no overshoot, no permanent control deviation and the target head is reached quickly. In addition, it is not necessary to set controller parameters. As a result, a high stability of the controller is ensured even with a changing performance.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Non-Positive-Displacement Pumps (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

La présente invention concerne un procédé pour réguler la vitesse d'une pompe centrifuge fonctionnant dans un circuit hydraulique ouvert, le régulateur de la commande de pompe calculant une vitesse de consigne de l'entraînement de pompe en tenant compte d'une hauteur de refoulement théorique et d'une hauteur de refoulement réelle ainsi que de la vitesse réelle. Selon l'invention, pour le calcul de la vitesse de consigne, le régulateur prend en compte un paramètre de correction pour la description de la hauteur géodésique.
EP18710820.4A 2017-03-10 2018-03-07 Procédé pour réguler la vitesse d'une pompe centrifuge Active EP3592979B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21161061.3A EP3851678A1 (fr) 2017-03-10 2018-03-07 Procédé de régulation de la vitesse de rotation d'une pompe centrifuge

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017203990.6A DE102017203990A1 (de) 2017-03-10 2017-03-10 Verfahren zur Regelung der Drehzahl einer Kreiselpumpe
PCT/EP2018/055602 WO2018162555A1 (fr) 2017-03-10 2018-03-07 Procédé pour réguler la vitesse d'une pompe centrifuge

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP21161061.3A Division-Into EP3851678A1 (fr) 2017-03-10 2018-03-07 Procédé de régulation de la vitesse de rotation d'une pompe centrifuge
EP21161061.3A Division EP3851678A1 (fr) 2017-03-10 2018-03-07 Procédé de régulation de la vitesse de rotation d'une pompe centrifuge

Publications (2)

Publication Number Publication Date
EP3592979A1 true EP3592979A1 (fr) 2020-01-15
EP3592979B1 EP3592979B1 (fr) 2024-06-19

Family

ID=61627085

Family Applications (2)

Application Number Title Priority Date Filing Date
EP18710820.4A Active EP3592979B1 (fr) 2017-03-10 2018-03-07 Procédé pour réguler la vitesse d'une pompe centrifuge
EP21161061.3A Pending EP3851678A1 (fr) 2017-03-10 2018-03-07 Procédé de régulation de la vitesse de rotation d'une pompe centrifuge

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP21161061.3A Pending EP3851678A1 (fr) 2017-03-10 2018-03-07 Procédé de régulation de la vitesse de rotation d'une pompe centrifuge

Country Status (6)

Country Link
EP (2) EP3592979B1 (fr)
JP (2) JP7496685B2 (fr)
CN (2) CN112833031A (fr)
DE (1) DE102017203990A1 (fr)
RU (1) RU2769325C2 (fr)
WO (1) WO2018162555A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019004317A1 (de) * 2019-06-19 2020-12-24 KSB SE & Co. KGaA Verfahren zur Regelung einer Umwälzpumpe sowie Umwälzpumpe
ES2963631T3 (es) * 2020-11-13 2024-04-01 Schneider Toshiba Inverter Europe Sas Funcionamiento de una bomba centrífuga
LU501134B1 (de) 2021-12-30 2023-07-04 Wilo Se Verfahren zur Regelung einer Kreiselpumpe
CN116542039B (zh) * 2023-04-26 2024-01-12 安徽新沪屏蔽泵有限责任公司 一种水泵性能曲线模拟方法

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JPS5375501A (en) * 1976-12-15 1978-07-05 Hitachi Ltd Pump flow controller
JPS61226594A (ja) * 1985-04-01 1986-10-08 Toshiba Corp 可変速ポンプの流量検出方法
JPH03168386A (ja) * 1989-11-24 1991-07-22 Fuji Electric Co Ltd ポンプ吐出流量の計測装置
US6033187A (en) * 1997-10-17 2000-03-07 Giw Industries, Inc. Method for controlling slurry pump performance to increase system operational stability
JP3535369B2 (ja) * 1998-01-19 2004-06-07 株式会社日立製作所 導水流量制御方法
RU2310792C1 (ru) * 2006-04-10 2007-11-20 Государственное Унитарное Предприятие "Водоканал Санкт-Петербурга" Способ управления энергопотреблением насосной станции
WO2009020402A1 (fr) * 2007-08-03 2009-02-12 Derceto Limited Distribution d'eau
US10267324B2 (en) * 2011-08-26 2019-04-23 Toshiba International Corporation Linear pump control
CN103114984B (zh) * 2011-11-16 2015-04-29 北京航天动力研究所 一种开闭式泵试验控制系统及控制方法
DK2610693T3 (en) * 2011-12-27 2015-02-02 Abb Oy Process and apparatus for optimizing energy efficiency of pump system
CN104619991B (zh) * 2012-09-13 2017-12-22 Abb瑞士股份有限公司 用于操作并行离心泵的装置及方法
FR3014961B1 (fr) * 2013-12-16 2019-01-25 Schneider Toshiba Inverter Europe Sas Procede de commande pour minimiser la consommation d'energie electrique d'un equipement de pompage
DE102014006828A1 (de) * 2014-05-13 2015-11-19 Wilo Se Verfahren zur energieoptimalen Drehzahlregelung eines Pumpenaggregats
JP6404593B2 (ja) * 2014-05-14 2018-10-10 株式会社荏原製作所 ポンプ装置
DE102015000373A1 (de) * 2015-01-20 2016-07-21 Magnussen EMSR-Technik GmbH Verfahren zur Reduzierung des Energieverbrauchs einer Förderpumpe, die Wasser aus einem Brunnen in ein Leitungsnetz fördert, sowie Anlage zum Fördern von Wasser aus mindestens einem Brunnen in ein Leitungsnetz
CN105864016B (zh) * 2016-04-27 2017-12-19 西安建筑科技大学 一种开式多水泵输配系统变水量运行调节方法

Also Published As

Publication number Publication date
WO2018162555A1 (fr) 2018-09-13
CN110382873A (zh) 2019-10-25
RU2019131528A (ru) 2021-04-12
RU2769325C2 (ru) 2022-03-30
BR112019018584A2 (pt) 2020-04-07
EP3592979B1 (fr) 2024-06-19
JP2021101113A (ja) 2021-07-08
EP3851678A1 (fr) 2021-07-21
JP7496685B2 (ja) 2024-06-07
RU2019131528A3 (fr) 2021-07-20
DE102017203990A1 (de) 2018-09-13
CN112833031A (zh) 2021-05-25
CN110382873B (zh) 2021-05-25
JP2020510154A (ja) 2020-04-02

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