JP2005339315A - Control device for hydraulic power plant - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize a control device suitable for controlling control equipment related to a hydraulic power plant. <P>SOLUTION: This control device for hydraulic power plant comprises a computer control system 12 controlling control equipment related to hydraulic power generation (e.g., a servo motor 10). The computer control system 12 divides the processing for controlling the control equipment according to the length of control period, and makes a plurality of computer control devices (e.g., a main control device 16 and a sub-control device 18) share and execute each piece of the divided processing. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a control device for a hydroelectric power plant.

  For example, a hydroelectric power plant generates electric power by flowing water from a dam into a water turbine, rotating the water turbine, and operating the generator along with the rotation. Such a hydroelectric power plant is provided with a control device that controls a control device (for example, an on-off valve that adjusts the amount of water flowing into the water turbine) related to hydroelectric power generation.

  This control device generally gives control commands for each control device based on commands from a higher-level control system, for example, commands such as operation commands, switching modes for operator modes, system frequency fluctuations, dam water level fluctuations, and electric energy. The control system is divided into a main control system to be generated and a sub-control system that controls each control device in accordance with the generated control command.

  Conventionally, digital control has been performed in which both a main control system and a sub-control system are executed in a time-sharing manner by a single computer control device (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 7-35023

  By the way, the main control of the control device of the hydroelectric power station receives a command according to a sequence determined in advance from the host control system and executes the control, so that the control cycle has a certain limitation. On the other hand, the sub-control needs to be executed in a relatively short control cycle so that the state of the control device is accurately matched to the control command.

  Here, if the main control and the sub control are executed by a single computer control device as in Patent Document 1, the main control is interrupted at a set cycle, so that a waiting time occurs in the sub control. In some cases, the control response of the control device may be reduced. In addition, when an abnormality occurs in the computer control apparatus, the behavior of the main control and the sub-control becomes unstable at the same time, so there is a possibility that the hydroelectric power plant cannot be stably controlled.

  The subject of this invention is implement | achieving the control apparatus suitable for controlling the control apparatus which concerns on a hydroelectric power station.

  In order to solve the above-described problems, a control device for a hydroelectric power plant according to the present invention includes a computer control system that controls a control device related to hydropower generation, and the computer control system performs a process for controlling the control device with a length of a control cycle. The processing is divided according to the above, and each divided processing is executed by being shared by a plurality of computer control devices.

  In this way, processes with different control cycles can be executed simultaneously and independently by each computer control device, so there is no waiting time due to the difference in the control cycle of each process, and the control response of the control device Can be improved.

  Further, since the processing is divided into each computer control device, the capacity of one computer control device can be increased as necessary according to the processing, and an increase in device cost can be suppressed. For example, since the main control receives a plurality of commands from the host control system and generates a control command, the control program becomes relatively large, but the capacity of the computer control device that executes the main control (for example, the memory necessary for the calculation) It is sufficient to increase only the means), and it is not necessary to increase the capacity of the other computer control device, so that an increase in device cost can be suppressed.

  In this case, a monitoring unit that mutually senses an abnormality of a plurality of computer control devices is provided, and when an abnormality of one computer control device is detected by the monitoring unit, the abnormal computer control device outputs to the control device. The command can be held by a sound computer controller and output to the control device. As a result, even when an abnormality occurs in one computer control device, the operation of the hydroelectric power plant can be continued by a sound computer control device in which no abnormality has occurred, so the reliability of the hydroelectric power plant is improved.

  Such a control device includes, for example, a main computer control system that generates a control command for a control device based on a command from a host control system, and a sub computer that controls the control device according to a control command generated by the main computer control system. The main computer control system can execute a process with a long control cycle among the processes for controlling the control device, and the sub computer control system can execute the process with a short control cycle.

  In addition, the main computer control system retains the command output from the sub computer control system to the control device on behalf of the sub computer control system in accordance with the output signal of the monitoring means for detecting the abnormality of the sub computer control system. Thus, it is possible to provide protection means for outputting to the control device. Furthermore, the sub computer control system retains the command output from the main computer control system to the control device on behalf of the main computer control system in accordance with the output signal of the monitoring means for detecting the abnormality of the main computer control system. Thus, it is possible to provide protection means for outputting to the control device. Here, there may be provided means for varying a command output from the main computer control system or the sub computer control system to the control device by the protection means.

  ADVANTAGE OF THE INVENTION According to this invention, the control apparatus suitable for controlling the control apparatus which concerns on a hydropower station is realizable.

  (1st Embodiment) 1st Embodiment of the control apparatus of the hydroelectric power station to which this invention is applied is described with reference to FIG. FIG. 1 is a configuration diagram of a control apparatus for a hydroelectric power plant to which the present invention is applied.

  As shown in FIG. 1, the control device for a hydroelectric power plant includes a computer control system 12 that controls, for example, a servo motor 10 as a control device related to the hydroelectric power plant. The computer control system 12 includes a main control device 16 as a main computer control system that generates a control command for the servo motor 10 based on a command from the host control device 14, and a servo motor according to the control command generated by the main control device 16. 10 is divided into a sub-control device 18 as a sub-computer control system for controlling 10. The main control device 16 and the sub control device 18 are constituted by a CPU or the like. Further, as the host control device 14, for example, a remote control device in which an operator resides is applied.

  The computer control system 12 is connected to the servo motor 10 via a switch 19 and an actuator 20. The switch 19 selects a signal output from the computer control system 12 according to the input signal and outputs it to the actuator 20. The actuator 20 drives the pressure distribution valve lift in accordance with a signal output from the switch 19 to supply oil to the servo motor 10, and drives the opening / closing valve of the servo motor 10 by the oil pressure of the supplied oil. The main control device 16 has a plurality of input modules (DI) for fetching commands from the outside, and is configured such that the number of input modules can be increased.

  The operation of the control device for a hydroelectric power plant configured as described above will be described. First, from the host controller 14, for example, an operation command, an operation mode switching command, a system frequency variation, a dam water level variation, an electric energy amount command, and the opening / closing valve opening degree of the servo motor 10 detected by the sensor. Are taken into the main controller 16 at a set cycle (for example, several tens to several hundreds of ms). Based on the fetched command, the main control device 16 calculates a command X related to the target opening of the servo motor 10. Based on the calculated command X, the sub CPU control system 18 calculates a command Y for instructing the opening degree of the on-off valve of the actuator 20. The calculated command Y is input to the actuator 20 via the switch 19. Oil is supplied to the servo motor 10 by driving at a predetermined speed until the pressure distribution valve lift of the actuator 20 reaches a target state based on the input command Y. In short, the electric signal is converted into mechanical motion by the actuator 20, and oil is supplied to the servo motor 10 in accordance with the mechanical motion. The oil pressure of the supplied oil opens and closes at a predetermined speed until the on-off valve of the servo motor 10 reaches the target opening. Then, when the on-off valve is driven, the water in the dam flows into the water wheel by a predetermined amount, and the water wheel is rotated by the water that has flowed in. Electric power is generated by the operation of the generator as the water turbine rotates. The generated electric power is supplied to the system load.

  Further, the state of the pressure distribution valve lift of the actuator 20 is detected by a sensor, and the detected value is fed back to the sub-control device 18 by a feedback device at a set cycle T (for example, several ms to several tens of ms). A control command Y for matching the detected value fed back to the target value based on the control command X is calculated by the sub-control device 18 in a control cycle (a time that is 1/2 to 1/4 or less of the set cycle T). The calculated control command Y is input to the actuator 20 again. Thereby, the state of the pressure distribution valve lift of the actuator 20 is maintained in the target state.

  In such a hydroelectric power plant control device, the control of the main control device 16 is executed in response to a command from the host control device 14 according to a predetermined sequence, so that a relatively long control cycle (for example, several 10 ms to several hundred ms). On the other hand, the control cycle of the control of the sub-control device 18 is a comparatively short control cycle (for example, ½ of several ms to several tens of ms so that the state of the pressure distribution valve lift of the actuator 20 is accurately matched with the control command X. ˜¼ or less).

  In the present embodiment, the main control device 16 executes a process having a long control cycle among the commands for controlling the servo motor 10, and the sub-control device 18 executes a process having a short control cycle. As a result, it is possible to cause the main control device 16 and the sub control device 18 to simultaneously execute processes having different control cycles independently. Therefore, it is possible to suppress the occurrence of a waiting time due to the difference between the control cycles of the main control and the sub control, and the control responsiveness of the servo motor 10 can be improved.

  In addition, since the main control receives a command from the host control device 14 and other plural measuring instruments via the input module and generates the control command X, the control program is relatively large. In that case, it is only necessary to increase the capacity of the main control device 16 (for example, storage means necessary for the calculation), and it is not necessary to increase the capacity of the sub-control device 18, so that an increase in device cost can be suppressed.

  Moreover, although the example which controls the servomotor 10 was demonstrated, this invention is applicable also when controlling various apparatuses. In short, a variety of devices can be obtained by dividing the processing for controlling the control device according to the length of the control cycle, and sharing the divided processing (for example, work) among a plurality of computer control devices. The increase in device cost can be suppressed while improving the control response.

  Moreover, although the example divided into two computer control apparatuses called the main control apparatus 16 and the sub control apparatus 18 was demonstrated, you may divide into three or more computer control apparatuses. In this case, the process for controlling the servo motor 10 is divided according to the number of computer control devices according to the length of the control cycle, and each divided process is executed by being shared by each computer control device.

  (2nd Embodiment) The form which provided the protective device in the control apparatus of 1st Embodiment is demonstrated with reference to FIG. Therefore, the description of the same parts as those of the first embodiment will be omitted, and the description will be focused on the differences.

  As shown in FIG. 1, the main control device 16 includes a monitoring means 23 for detecting an abnormality of the sub-control device 18 by, for example, a watchdog timer (WDT), and a protection means having the pressure distribution valve lift state of the actuator 20 as an input signal. 22 is provided. The sub-control device 18 is provided with monitoring means 25 that senses an abnormality of the main control device 16 by, for example, WDT, and protection means 24 that uses the opening / closing valve signal of the servo motor 10 as an input signal. The watchdog timer (WDT) is used to determine that an abnormality has occurred in the control system when the control cycle is disturbed. Further, not limited to the watchdog timer, any device may be applied as long as it can detect that an abnormality has occurred in the control system.

  FIG. 2 is a configuration diagram of the protection means 24 provided in the sub-control device 18. As shown in FIG. 2, the protection means 24 has an integrator 30 and an addition point 36 provided on the input side of the integrator 30. A detection signal of the opening / closing valve of the servo motor 10 is input to the plus side of the addition point 36 via the contact 34, and the output of the integrator 30 is fed back to the minus side via the contact 32. An OR gate 38 is connected to the addition point 36. An increasing means 40 is connected to the input side of the OR gate 38 via a contact 41 and a decreasing means 42 is connected via a contact 43. The integrator 30 holds the output value as a constant value when the output value changes according to time integration and the input value becomes zero. The contacts 32 and 34 are closed when the main control device 16 is operating normally, and are opened when an abnormality occurs.

  In such a protection means 24, when the main control device 16 is operating normally, the opening signal of the servo motor 10 is input to the plus side of the addition point 36, and the output of the integrator 30 is added to the addition point 36. It is input on the minus side of. The deviation of the signal input to the addition point 36 is output to the integrator 30. Due to such a closed loop, when the deviation input to the integrator 30 becomes zero, the integrator 30 maintains a predetermined value and outputs it. In short, the protection means 24 keeps the output of the integrator 30 the same as the opening signal of the servo motor 10 when the main control device 16 is operating normally.

  When an abnormality of the main control device 16 is detected by the monitoring means 23, the contacts 32 and 34 of the protection means 24 are opened, so that the opening signal of the servo motor 10 and the feedback signal from the integrator 30 are added points 36. Is no longer entered. Thereby, the output value (integrated value) of the integrator 30 is held at a constant value (command α). Then, the command α output from the integrator 30 is used as an input command for the sub control device 18 instead of the command X output from the main control device 16. Here, the command α is a command corresponding to the opening degree of the on-off valve of the servo motor 10 when an abnormality occurs in the main control device 16. Then, the sub control device 18 outputs a control command to the actuator 20 based on the command α. Thus, even when an abnormality occurs in the main control device 16, the protection means 24 functions as a backup means, so that the opening degree of the on-off valve of the servo motor 10 is maintained, so that the operation of the hydroelectric power plant is continued. can do.

  In this case, by inputting a command from the increasing means 40 to the adding point 38 via the contact 41 and the OR gate 38, the command α output from the protecting means 24 is corrected to be increased. Further, by inputting a command from the reducing means 42 to the addition point 38 via the contact 43 and the OR gate 38, the command output from the protecting means 24 is corrected to be reduced. In short, since the output value (integrated value) of the integrator 30 can be increased or decreased by the increase means 40 or the decrease means 42, the opening degree of the opening / closing valve of the servo motor 10 can be finely adjusted. The increase means 40 and the decrease means 42 may be driven manually, or may be automatically driven based on a command output from the host controller 14.

  FIG. 3 is a configuration diagram of the protection means 22 provided in the main control system. As shown in FIG. 3, the protection means 22 includes an integrator 50, an addition point 52 provided on the output side of the integrator 50, a limiter 54 provided on the output side of the addition point 52, and the integrator 50. A reset means 58 for inputting a reset signal via the contact 56 is provided. The output of the integrator 50 is input to the plus side of the addition point 52, and the opening signal of the pressure distribution valve of the actuator 20 is input to the minus side. An OR gate 60 is connected to the input side of the integrator 50. An increasing means 64 is connected to the input side of the OR gate 60 via a contact 62 and a decreasing means 68 is connected via a contact 66. The contact 56 is closed when the sub-control device 18 is operating normally, and is opened when an abnormality occurs.

  In such a protection means 22, when the sub-control device 18 is operating normally, a reset signal (integral value = 0) is input to the integrator 50 by the reset means 58 at set time intervals. The output of the integrator 50 is input as a neutral signal to the plus side of the addition point 52, and the opening signal of the actuator 20 is input to the minus side of the addition point 52. Then, the deviation of the signal input to the addition point 52 is output as a command β through the limiter 54. In short, the protection means 22 outputs the command β corresponding to the opening degree of the pressure distribution valve of the actuator 20 when the sub-control device 18 is operating normally.

  When an abnormality of the sub-control device 18 is detected by the monitoring means 23, a detection signal γ is output from the monitoring means 23 to the switch 19, and the contact 56 of the protection means 22 is opened. Then, the command β output from the protection unit 22 is input to the actuator 20 by the switch 19 in place of the command Y output from the sub-control device 18. Here, the command β is a command corresponding to the opening degree of the pressure distribution valve of the actuator 20 when an abnormality occurs in the sub-control device 18. As a result, even when an abnormality occurs in the sub-control device 18, the opening of the pressure distribution valve of the actuator 20 is maintained as a result of the protection means 22 functioning as a backup means, so the operation of the hydroelectric power plant is continued. can do.

  In this case, since no reset signal is input from the reset means 58 to the integrator 50, a command is input from the increase means 64 to the addition point 52 via the contact 62 and the OR gate 60, and is output from the protection means 22. Command β is corrected to increase. Further, by inputting a command from the reducing unit 68 to the addition point 52 via the contact 66 and the OR gate 60, the command β output from the protection unit 22 is corrected to decrease. In short, since the output value (integrated value) of the integrator 50 can be increased or decreased by the increase means 64 or the decrease means 68, the pressure distribution valve of the actuator 20 can be finely adjusted. The increase means 64 and the decrease means 68 may be driven manually, or may be automatically driven based on a command output from the host controller 14. Further, the limiter 54 limits the upper limit value and the lower limit value of the command β.

  According to the present embodiment, the main control device 16 is provided with the protection means 22, and the sub control device 18 is provided with the protection means 24, thereby causing an abnormality in either the main control device 16 or the sub control device 18. Sometimes, the operation of the hydroelectric power plant can be continued with a sound control system in which no abnormality has occurred, and the reliability of the hydroelectric power plant is improved. Further, the apparatus cost can be reduced as compared with a dual system in which two identical computer control systems are provided.

  In particular, since hydroelectric power plants are often installed in mountainous areas, they are easily affected by power failure. If it is affected by a power failure, noise will be generated, causing malfunctions and failures, resulting in abnormal operation of the hydropower plant and downtime. In this respect, according to the present embodiment, the monitoring means 23 and 25 and the protection means 22 and 24 can reduce the downtime of the hydroelectric power plant.

  Instead of providing both the protection means 22 and the protection means 24, either one may be provided. Further, although the protection means 22 and 24 have been described as circuit configurations in FIG. 2 or 3 for convenience, they can be implemented in the main control device 16 or the sub control device 18 as software. As shown in FIG. 4, a monitoring device 70 having the functions of the monitoring means 23 and 24 may be provided separately from the computer control system 12.

It is a block diagram of the control apparatus of the hydroelectric power plant to which this invention is applied. It is a block diagram of the protection means provided in the sub-control apparatus of FIG. It is a block diagram of the protection means provided in the main control apparatus of FIG. It is another block diagram of the control apparatus of the hydroelectric power station to which this invention is applied.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Servo motor 12 Computer control system 14 Host controller 16 Main controller 18 Sub controller 19 Switcher 20 Actuator 22, 24 Protection means 23, 25 Monitoring means

Claims (5)

  In the control device of the hydroelectric power plant provided with a computer control system for controlling the control equipment related to hydroelectric power generation, the computer control system divides the processing for controlling the control equipment according to the length of the control cycle, and A control device for a hydroelectric power plant, wherein the processing is executed by being shared by a plurality of computer control devices.   And a monitoring unit configured to mutually detect an abnormality of the plurality of computer control devices, and when the abnormality of the one computer control device is detected by the monitoring unit, the other computer control device is configured as the one computer control device. The control apparatus for a hydroelectric power plant according to claim 1, wherein a command output to the control device is held and output to the control device.   The computer control system includes a main computer control system that generates a control command for the control device based on a command from a host control system, and a sub-control that controls the control device according to the control command generated by the main computer control system. Having a computer control system, causing the main computer control system to execute a process with a long control cycle among the processes for controlling the control device, and sharing and executing a process with a short control cycle to the sub-computer control system The control apparatus for a hydroelectric power plant according to claim 1.   The main computer control system, in response to the output signal of the monitoring means for sensing the abnormality of the sub computer control system, in place of the sub computer control system, the command that was output from the sub computer control system to the control device The control device for a hydroelectric power plant according to claim 3, further comprising a protection unit that holds and outputs the output to the control device.   The sub computer control system, in response to the output signal of the monitoring means for sensing an abnormality of the main computer control system, in place of the main computer control system, the command that was output from the main computer control system to the control device The control device for a hydroelectric power plant according to claim 3, further comprising a protection unit that holds and outputs the output to the control device.

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