JPH0334081B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a turbine governor that enables bumpless switching between a manual operation mode and an automatic operation mode.

Generally, a mechanical drive turbine such as a power generation turbine or a compressor is provided with a governor for speed adjustment.
In recent years, turbine governors have been developed that have both an automatic operation mode and a manual operation mode, and can switch between each mode bumplessly.

In such a turbine governor, the automatic operation mode means that the governor automatically operates the regulating valve, so that the actual turbine rotation speed, bleed pressure, etc. match the rotation speed, bleed pressure, etc. set by the operator. This is an operation mode in which control is performed by moving pressure regulating valves, etc. In addition, in manual operation mode, when the operator sets the lift of the speed regulating valve, pressure regulating valve, etc., the governor actually controls the lift of the valve to achieve that lift, but it does not control the rotation speed, extraction pressure, etc. It's a driving mode that doesn't seem like it. When the operating mode is switched here, it is not allowed that the control variables such as the rotational speed of the turbine or the extraction pressure vary.
Switching without such fluctuation is usually called bumpless switching. In order to perform bumpless switching, in manual operation mode, the valve drive signal on the automatic operation mode side must match the valve drive signal on the manual operation mode side, and the rotation speed and extraction pressure setting signals and their feedback must be matched. It is necessary to change the above-mentioned setting signal so that a certain relationship with the signal is maintained. Further, in the automatic operation mode, it is necessary to match the valve drive signal on the manual operation mode side to the valve drive signal on the automatic operation mode side. This kind of operation is called tracking.

A conventional tracking method will be described using a governor for an extraction condensate turbine as an example. FIG. 1 is a conceptual diagram of the governor and the extraction condensate turbine. In FIG. 1, 5, 7, 9, 11, 12, and 13 are changeover switches, the terminal marked MPC corresponds to the manual operation mode, and the terminal marked APC corresponds to the automatic operation mode. Note that the digital signal line is shown by a broken line, and the analog signal line is shown by a solid line. 15, 16, 17, and 18 are pulse generators. Up-down counters 19, 20, 21, and 22 count up or down the pulses from the pulse generators 15 to 18 in accordance with a counter control signal. 2
D/A converters 3, 24, 25, and 26 perform D/A conversion on the count results of the counters 19 to 22 and output them as set value (target value) signals. 2
7, 30 are manual operation side servo amplifiers, 28, 2
9 is a servo amplifier on the automatic driving side. 31,3
2 is a deviation monitor, and each servo amplifier 2
A counter control signal is generated based on the deviation between the output signals of servo amplifiers 7 and 28 and servo amplifiers 29 and 30. 1,
Reference numerals 2, 3, and 4 are a regulating valve lift setting device, a rotation speed setting device, a bleed pressure setting device, and a pressure regulating valve lift setting device, respectively, which generate a counter control signal by operating a push button (not shown). . 33 is an electro-hydraulic converter for driving the speed regulating valve, and 34 is an electro-hydraulic converter for driving the pressure regulating valve. 35 is a turbine;
Lift (valve opening degree) of speed regulating valve, pressure regulating valve, etc. (not shown)
The rotation speed and extraction pressure (flow rate) are determined by Q is the rotation speed, P is the extraction pressure, X _H is the regulating valve lift, and X _L is the pressure regulating valve lift. 38 is a PID regulator, and 37 is a P operation regulator. 36 is a non-interference matrix circuit for non-interfering control of rotation speed and extraction pressure. X _H1 and X _H2 in the figure are the target values of the governor valve lift for the automatic operation mode and manual operation mode, respectively. Moreover, X _L1 and X _L2 are target values of the pressure regulating valve lifts on the automatic operation mode side and the manual operation mode side, respectively. Q′ is the target value of rotational speed, and P′ is the target value of bleed pressure.

In the case of automatic operation mode, selector switch 5,
7, 9, 11, 12, and 13 are all contacts on the APC side, and pulses from the pulse generator 16 are sent to the counter 20 in accordance with the counter control signal generated by operating the push button (not shown) of the rotation speed setting device 2. supplied to The counter 20 counts the pulses, and the count result is converted into an analog signal by the D/A converter 24 and output as the target value Q' of the rotational speed. Similarly, by operating the bleed pressure setting device 3, the target value P' of the bleed pressure can be obtained. In automatic operation mode, the regulator valve lift X _H and pressure regulator lift X _L are automatically changed so that the rotation speed and bleed pressure become the target values Q' and P'.
At this time, tracking is performed on the manual operation side so that each output of the servo amplifiers 27 and 30 is the same as on the automatic operation side. In other words, the servo amplifier 28 on the automatic operation side
The output of the servo amplifier 27 on the manual operation side is monitored by a deviation monitor 31, and a counter control signal is generated based on the magnitude relationship of the output signals. This counter control signal is transmitted to the counter 19 through the changeover switch 5.
Furthermore, by the operation of the D/A converter 23, the governor valve lift target value in the manual operation mode is set so that the outputs of the servo amplifiers 27 and 28 are made the same.
X Change _H2 . Similarly, the output of the servo amplifier 29 on the automatic operation side and the servo amplifier 30 on the manual operation side
Change the pressure regulating valve lift target value X _L2 in manual operation mode so that the outputs match. Even if the automatic operation mode is switched to the manual operation mode in this state, the signals to the electro-hydraulic converters 33 and 34 will not change, so
Neither the speed control valve nor the pressure control valve operates, and the speed Q and pressure P are not affected.

In manual operation mode, selector switches 5, 7,
9, 11, 12, 13 are all MPC side contacts,
Push button of governor lift setting device 1 (not shown)
The governor valve lift _XH is controlled so that the governor lift target value _XH2 in the manual operation mode is determined by the operation, and is also determined by the operation of a push button (not shown) of the pressure regulator lift setting device 4. The regulator valve lift X _L is controlled to reach the target value X _L2 of the regulator valve lift in the manual operation mode. At this time, tracking is performed so that the outputs of the servo amplifiers 28 and 29 on the automatic operation mode side become the same as the servo amplifier output on the manual operation mode side. That is, the outputs of the servo amplifier 29 and the servo amplifier 30 are monitored by the deviation monitor 32, and a counter control signal is generated based on the magnitude relationship of the output signals, and the changeover switch 12, counter 21,
A target value P' of the extraction pressure is generated in the path of the D/A converter 25, the regulator 37, and the non-interference control matrix circuit 3.
6, the outputs of the servo amplifiers 29 and 30 are finally matched. In addition, the outputs of the servo amplifier 27 and the servo amplifier 28 are monitored by a deviation monitor 31, and a counter control signal is generated based on the magnitude relationship of the output signals, and the output is rotated through the path of the changeover switch 7, counter 20, and D/A converter 24. A target speed value Q' is generated, and the outputs of the servo amplifiers 27 and 28 are finally made to match each other via the regulator 38 and the non-interference control matrix circuit 36. At this time, if the target value Q' of the rotational speed and the actual rotational speed Q do not match, the outputs of the servo amplifiers 28 and 29 change due to the integral operation of the regulator 38. The outputs of the servo amplifiers 29 and 30 are equal, and furthermore, Q' and Q are equal.

In such a tracking method in the manual operation mode, the regulating valve driving side and the regulating valve driving side are related to each other via the non-interference matrix circuit 36, and the tracking mechanism is quite complicated. In the case of a single-stage bleed turbine, the non-interference matrix has 2 rows and 2 columns, but in the case of a 2-stage bleed turbine, for example, it has a matrix of 3 rows and 3 columns, and the tracking method described above can be used to adjust the parameters. This can be extremely difficult, and if done incorrectly, it may become impossible to track.

In order to solve this problem, we use the inverse matrix of the non-interference matrix to find the controller output There is a method in which the value f is known and tracking is performed by finding a set value r that makes the regulator output X. However, such a method
There is no problem at all when only proportional control is used, such as the governor of a power generation turbine, but there is a slight problem when proportional-integral control is essential for rotational speed control, such as the governor of a mechanically driven turbine such as a compressor. be. That is, even if an attempt is made to find the set value r that will give the regulator output x with the feedback value f already known, if the regulator includes an integrator, r will not be determined only by f and x. This is because if the input to the integrator is nonzero, the output of the integrator will change forever.

The present invention has improved the above-mentioned drawbacks, and its purpose is to stop the integration function by determining the setting value so that the integrator input is zero during tracking, and to change the initial value of the integrator to automatic operation mode and To provide a turbine governor which can achieve reliable tracking by matching the outputs of each servo amplifier in manual operation mode, and can reliably realize bumpless switching between automatic operation mode and manual operation mode.

An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 shows a governor and two
FIG. 2 is a conceptual diagram of a stage bleed turbine. The turbine is 35
It is shown in the block, f ₁ is the rotation speed signal, f ₂
indicates the first stage extraction pressure signal, and _f3 indicates the second stage extraction pressure signal. Furthermore, m ₁ , m ₂ , and m ₃ are a speed governor lift signal, a first bleed pressure regulating valve lift signal, and a second bleed pressure regulating valve lift signal, respectively. Numerals 33, 34, and 40 are electro-hydraulic converters for driving the speed regulating valve, the first bleed pressure regulating valve, and the second bleed pressure regulating valve, respectively. 1,
2, 3, 4, 41, and 42 are respectively a governor valve lift setting device, a rotation speed setting device, a first stage bleed pressure setting device, a first bleed pressure regulating valve lift setting device, a second stage bleed pressure setting device, and a second stage bleed pressure setting device. It is a bleed air pressure regulating valve lift setting device,
A counter control signal is generated by operating a push button (not shown). 5,7,9,11,1
2, 13, 44, 46, 58, 60, 65 are changeover switches, APC and MPC attached to each terminal.
The symbols indicate automatic operation mode and manual operation mode, respectively. Also, as in the case of FIG. 1, digital signal lines are shown by broken lines and analog signal lines are shown by solid lines. 15, 16, 17, 18, 55, 5
9 is a pulse generator. 19, 20, 2
Up-down counters 1, 22, 56, and 61 count up or down the pulses from the pulse generators 15 to 18, 55, and 59, according to a counter control signal. 23, 24, 25, 26, 57, 62 are
It is a D/A converter, and counters 19 to 22,5
The count results of 6 and 61 are D/A converted and output as a set value (target value). 27, 28, 29,
30, 64, and 66 are servo amplifiers. 31,
32, 43, 53, 54, and 63 are deviation monitors, which respectively detect the output deviation of the servo amplifiers 27 and 28, the output deviation of the servo amplifiers 29 and 30, the deviation between the rotation speed signal f ₁ and the rotation speed setting value r ₁ , Deviation between the target value r ₂ ' of the set value of the first stage bleed air pressure in manual operation mode and the set value r ₂ of the first stage bleed air pressure, the target value r of the set value of the second stage bleed air pressure in the manual operation mode ₃ ' and the set value _r3 of the second stage bleed pressure, and the output deviation of the servo amplifiers 64 and 66, a counter control signal is generated. 47 indicates a PID controller;
g ₁ indicates its transfer function. 48 represents a proportional gain section of the PID controller, 49 represents an integrator, and 50 represents a differentiator. 51 and 52 indicate P adjusters. x ₁ , x ₂ ,
x ₃ are output signals of regulators 47, 51, 52, respectively. Reference numeral 36 denotes a non-interference matrix circuit for non-interfering control of the rotational speed, the first-stage bleed pressure, and the second-stage bleed pressure. The outputs y ₁ , y ₂ , and y ₃ of the non-interference matrix circuit 36 indicate the set values of the speed governor lift, the first bleed pressure regulating valve lift, and the second bleed pressure regulating valve lift in the automatic operation mode, respectively. 67 is a non-interference matrix inverse matrix circuit. Amplifiers 68 and 69 are set to gains of 1/g ₂ and 1/g ₃ , respectively. Note that the other configurations are the same as those shown in FIG. 1 above, so explanations will be omitted.

In the above configuration, the operation according to one embodiment will be explained. First, the automatic driving mode will be explained. However, since the operation of each element is the same as in the case of FIG. 1, only a simple explanation will be given. Changeover switch 5, 7, 9, 11, 12, 13, 44, 46, 5
8, 60, and 65 are all APC side contacts. Each set value r 1 , r ₂ , r ₃ is created by operating each push button (not shown) of the rotation speed setting device 2, the first stage bleed pressure setting device ₃ , and the second stage bleed pressure setting device 41, Feedback amount f ₁ of rotational speed, feedback amount f ₂ of first bleed air pressure, feedback amount of second bleed air pressure
The deviation from f ₃ is input to regulators 47, 51, 52. Outputs x ₁ of these regulators 47, 51, 52,
x ₂ and x ₃ are input to the non-interference matrix circuit 36, and the speed regulating valve lift, the first bleed pressure regulating valve lift,
Setting values y ₁ , y ₂ , y ₃ in the automatic operation mode of the second bleed pressure regulating valve lift are output. The above-mentioned lift setting values y ₁ , y ₂ , y ₃ of each valve, the feedback amount m ₁ of the governor valve lift, the feedback amount m ₂ of the first bleed air pressure regulating valve lift, and the feedback amount m of the second bleed air pressure regulating valve lift ₃ , three minor loops as shown in FIG. 2 are configured, and the speed regulating valve lift, the first bleed air pressure regulating valve lift, and the second bleed air pressure regulating valve lift are controlled. Note that the rotational speed and the first and second stage bleed pressures are determined in accordance with the first and second bleed pressure regulating valve lifts.

The tracking on the manual operation side in the automatic operation mode is exactly the same as in the case of FIG. In short, output Z ₁ of servo amplifier 28 and servo amplifier 27
The output w ₁ of is monitored by the deviation monitor 31, a counter control signal is generated, and the set value v ₁ of the governor valve lift on the manual operation mode side is set so that the above-mentioned w ₁ and Z ₁ match.
Create. Similarly, the setting value of the first bleed air pressure regulating valve lift on the manual operation mode side is set so that the output Z ₂ of the servo amplifier 29 and the output W ₂ of the servo amplifier 30 match.
v ₂ is created, and a set value v ₃ of the second bleed pressure regulating valve lift on the manual operation mode side is created so that the output Z ₃ of the servo amplifier 64 and the output w ₃ of the servo amplifier 66 match.

Next, the manual operation mode will be explained. Changeover switch 5, 7, 9, 11, 12, 13, 44, 4
6, 58, 60, and 65 are all MPC side contacts.
By operating the regulator valve lift setting device 1, the first bleed pressure regulating valve lift setting device 4, and the second bleed pressure regulating valve lift setting device 42, the valve lift setting values v ₁ , v ₂ , v ₃ in the manual operation mode are respectively set. Making, servo amplifier 2
7, the path of the changeover switch 9 and the electro-hydraulic converter 33;
The regulating valve is lifted in the path of the servo amplifier 30, the changeover switch 11, and the electro-hydraulic converter 34, and the path of the servo amplifier 66, the change-over switch 65, and the electro-hydraulic converter 40.
Controls the first bleed pressure regulating valve lift and the second bleed pressure regulating valve lift. Furthermore, tracking in the automatic driving mode in the manual driving mode will be explained.
First, the principle will be explained using mathematical formulas.

Tracking is performed so that r ₁ ,
All you have to do is change r ₂ and r ₃ .

Z ₁ Z ₂ Z ₃ = w ₁ w ₂ w ₃ ...(1) r ₁ = f ₁ ...(2) Here, equation (2) is necessary because the regulator 47 includes an integral function. . Satisfying the above formula (1) means that the servo amplifiers 27, 28, 29 and 3
Assuming that 0, 64 and 66 have the same gain, it is sufficient if y ₁ y ₂ y ₃ =v ₁ v ₂ v ₃ (3). To create y ₁ , y ₂ , y ₃ that satisfies (3), x ₁ , x ₂ , x ₃ are written as x ₁ ′, x ₂ ′, x ₃ ′
x ₁ ′, x ₂ ′, and x ₃ ′ satisfy the following equation.

x ₁ ′ x ₂ ′ x ₃ ′＝Φ ^-1 v ₁ v ₂ v ₃ ≡Ψv ₁ v ₂ v ₃ ……(4) However, Φ ^-1 ≡Ψ ……(5) On the other hand, x _{2 ′} , must satisfy the following formula.

(r ₂ − f ₂ ) g ₂ = x ₂ ′ (r ₃ − f ₃ ) g ₃ = x ₃ ′ ……(6) Therefore, set values r ₂ , r ₃ to obtain x ₂ ′, x ₃ ′ If we write r ₂ ′, r ₃ ′, then r ₂ ′=f ₂ +1/g ₂ x ₂ ′ ……(7) r ₃ ′=f ₃ +1/g ₃ x ₃ ′ ……(8).

In other words, the set values for the extraction pressure in the first and second stages are (7) and (8)
Let r ₂ ′, r ₃ ′ be determined by the formula, the set value of the rotation speed is f ₁ from the above formula (2), and the output of the regulator 47 is determined by the above formula (4).
If x ₁ ′ is determined by this, tracking is completed.

In FIG. 2, 67 is an inverse matrix calculation circuit for the non-interference matrix Φ, and the inverse matrix calculation circuit 6 calculates x ₁ ′x ₂ ′x ₃ ′ based on the above equation (4).
The outputs x ₂ ′ and x ₃ ′ of 7 pass through amplifiers 68 and 69 to become r ₂ ′ and r ₃ ′ determined by the above equations (7) and (8), and are input to deviation monitors 53 and 54, respectively. Deviation monitor 53
The output r ₂ of the D/A converter 25 is input as another input, and the deviation monitor 53 receives r ₂ ' and r ₂
A counter control signal that reduces the deviation of is output, and the counter 21 is controlled via the changeover switch 12. r _{2 ,} which is the D/A conversion result of the contents of the counter 21, eventually coincides with r ₂ '. Similarly, r ₃ is input as another input to the deviation monitor 54, and the deviation monitor 54 outputs a counter control signal that reduces the deviation of r ₃ 'r ₃ , and switches the changeover switch 5.
8 to control a counter 56. In this way r ₃ coincides with r ₃ ′. The inputs to the deviation monitor 43 are the output r ₁ of the D/A converter 24 and the feedback amount f ₁ of the rotational speed, and the deviation monitor 43 outputs a counter control signal so that the deviation between r ₁ and f ₁ becomes small. , the changeover switch 7, the counter 20, and the D/A converter 24, r ₁ eventually coincides with f ₁ . The integrator 49 of the regulator 47 has an integral calculation enable signal input and an external setting signal input in addition to a normal integration input. The integrator 49 performs the integral calculation only while the integral calculation enable signal is input, and does not perform the integral calculation when the enable signal is not input, but instead uses the initial value of the integrator as the external setting signal input signal. It's starting to match. The output x ₁ ' of the inverse matrix calculation circuit 67 is input to the external setting signal input of the regulator 47. 4
Reference numeral 5 denotes an integral calculation enable signal generator, which is inputted to the integral calculation enable signal input of the integrator 49 via a changeover switch 46. In the manual operation mode, the changeover switch 46 is a contact on the MPC side, so the integral calculation enable signal is not input to the integrator 49, and the initial value of the integrator 49 matches x ₁ '. In this way, tracking on the automatic driving side in the manual driving mode is performed. According to such a method, there is no need to find a compromise between control and tracking when determining the parameters of the regulator, and there is no need to find a compromise between the control and tracking functions. It can be easily applied to those with It can also be easily applied to cases where the regulator includes integrals.

As described in detail above, according to the present invention, in a turbine governor having an automatic operation mode and a manual operation mode, tracking can be performed reliably when switching between each mode. Therefore,
Regardless of the type of turbine, bumpless switching between automatic operation mode and manual operation mode can be achieved reliably.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the structure of a conventional turbine governor, and FIG. 2 is a block diagram showing the structure of a turbine governor according to an embodiment of the present invention. 1... Governor valve lift setting device, 2... Rotation speed setting device, 3, 41... Bleed pressure setting device, 4, 42...
...Pressure regulating valve lift setting device, 5, 7, 9, 11-1
3, 44, 46, 58, 60, 65... Changeover switch, 15-18, 55, 59... Pulse generator, 19-22, 56, 61... Up/down counter, 27-30, 64, 66... ...Servo amplifier, 31, 32, 43, 53, 54, 63
... Deviation monitor, 47 ... PID controller, 51,5
2... P adjuster, 36... Non-interference matrix circuit, 67... Non-interference matrix inverse matrix circuit.

Claims (1)

[Claims] 1. In a turbine governor having a plurality of control loops and each mode of automatic operation mode and manual operation mode, integration is performed only when the integration enable signal is on,
a controller having an integrator whose initial value is a signal value of an external setting signal input when it is off; a switch means for turning on or off the integral enable signal according to the automatic operation mode or manual operation mode; and manual operation. an inverse matrix calculation circuit that multiplies a mode-side valve lift set value by an inverse matrix of a non-interference matrix; and the inverse matrix calculation circuit that corresponds to a first controlled variable in a control loop having a regulator that does not include an integral function. A first control unit that multiplies the output of
means, first matching means for matching the set value corresponding to the first controlled variable with the addition result of the first means in the manual operation mode, and a control loop having a regulator including an integral function. The output of the inverse matrix calculation circuit corresponding to the second controlled variable is used as the external setting signal input of the integrator, and the set value corresponding to the second controlled variable is matched to the corresponding feedback value in the manual operation mode. A turbine governor characterized in that it comprises second matching means for causing