JPH04168502A - Controller - Google Patents

Abstract

PURPOSE:To continue the normal operation without giving an oscillation to a control object apparatus by giving a detection correcting command to a correcting part event if a difference is generated in each detecting signal due to a difference of characteristics of each detecting part, in the controller formed by a redundant constitution in order to improve the reliability. CONSTITUTION:For instance, when a control object apparator is a generator 1, in this excitation controller, a detection correcting part 13, a setting correcting part 14, correcting parts 15a - 15c, and adding parts 16a - 16c are provided by adding them newly, and target values Ra - Rc of voltage setting parts 8a - 8c are outputted from each corresponding correcting part 14, and increased and decreased by setting correcting commands Ba - Bc. In this case, the detection correcting part 13 is constituted of an intermediate value selecting part 17, comparing parts 18a - 18c, and increase/ decrease command parts 19a - 19c. From a selecting part, an intermediate value K is outputted by detecting an intermediate value in detecting signals Ka - Kc, and from a comparing part, a difference between the corresponding detection correcting signals Fa - Fc and the intermediate value K is outputted to a command part, and in such a state, detection correcting signals Aa - Ac are outputted and outputted to the correcting parts 15a - 15c.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a control device having a redundant configuration to improve reliability.

(Prior art) In general, equipment for which reliability is important, such as generators and their prime movers for the purpose of supplying electricity to the public, has an extremely large impact when they stop operating due to a failure, so their control devices are High reliability is also required.

Conventionally, such a control device has a redundant configuration to improve its reliability.

FIG. 4 is a block configuration diagram of a generator excitation control device showing a conventional example of a redundant configuration.

In the figure, a field breaker 3 is connected to the field winding 2 of the generator 1.
The thyristor rectifier 4 and the AC power supply 5 are connected through the thyristor rectifier 4, and the field current is supplied from the thyristor rectifier 4.

Voltage detection units 7a, 7b, and 7c input the terminal voltage of the generator 1 via the voltage transformer 6 and output detection signals Ka, Kb, and Kc proportional to the terminal voltage of the generator 1.

The voltage setting units 8a, 8b, and 8c set target values Ra, Rb, and Rc of the terminal voltages of the generator 1 to the corresponding comparison unit 9a.
, 9b, and 9c.

Comparing sections 9a, 9b, and 9c each detect signals Ka and Kb.
, Kc and the target values Ra, Rb, Re, and output the deviation signal Da + Db + Dc to the corresponding voltage control unit 10.
Output to a, 10b, and 10c.

The voltage control units 10a, 10b, ]Oc each receive a deviation signal D.
a, Db.

The DC is amplified and phase compensated to a predetermined value, and based on this value, it is converted into a phase pulse and the pulses Pa, Pb,
Output Pc.

The intermediate pulse selection units 11a, llb, and llc each select a pulse with a temporally intermediate phase among the pulses Pa, Pb, and Pc, and output the pulse P L a to the pulse output unit 12.
Output either r P L b r P L c.

The pulse output section 12 outputs pulses PLa, PLb,
A logical sum of PLc is performed and a pulse PL is output to the thyristor rectifier 4.

With the above configuration, the thyristor rectifier 4 has the above-mentioned pulse P
The AC power supply 5 is controlled and rectified based on the phase of L to generate the generator 1.
The field current of the generator 1 is automatically adjusted, thereby controlling the terminal voltage of the generator 1 to be constant.

By the way, the above-mentioned voltage detection sections 7a, 7b, 7c, voltage setting sections 8a, 8b, 8c, and comparison sections 9a, 9
b, 9c, voltage control units 10a, 10b, 10c, and intermediate pulse selection units 11a, llb, llc each have a triple configuration, that is, a redundant configuration, having the same configuration and operation.

Therefore, even if a failure occurs in one of the triplexed parts, the excitation control device for the generator 1 can continue the control operation.

For example, the voltage detection section 7a, the voltage setting section 8a, and the comparison section 9a
If a failure occurs in either of the voltage control section 10a and the pulse Pa becomes abnormal, the intermediate pulse selection section 11a, l
Pulses PLa and PLb are generated by the action of lb and llc.
, PLc can obtain normal output. Furthermore, even if a failure occurs in the intermediate pulse selection section 11a and the pulse PLa is no longer output, the action of the pulse output section 12 allows the pulse PL to be
gives normal output.

In this way, one of the control devices of the generator 1 with the redundant configuration
Operation can continue even if a failure occurs in the section.

(Problem to be Solved by the Invention) However, in the excitation control device for the generator 1 of the conventional example described above, if there is a slight difference between the deviation signals Da, Db, and Dc, the phases of the pulses Pa, Pb, and Pc will change. There is a problem in that a large difference occurs, which induces fluctuations in the terminal voltage of one generator 1, which is not favorable for improving reliability.

That is, in order to reduce the control deviation when controlling the terminal voltage of the generator 1, that is, the deviation signals Da, Db, and Dc, the amplification factors of the voltage control units 10a, 10b, and 10c are increased.

Therefore, the slight difference between the deviation signals Da, Db, and Da is greatly amplified by the voltage control units 10a, 10b, and 10c, and this becomes a large phase difference, which causes the pulses Pa,
Pb and Pc mutually occur. For this reason, the pulses selected by the intermediate pulse selection units 11a, Ilb, and Ilc change due to the phase pulses Pa, Pb, and Pc having a large phase difference, which causes fluctuations in the terminal voltage of the generator l.

For example, if the deviation signals Da, Db, and Dc are Da>Db>Da
When the relationship is, the phase of pulse Pa is the most advanced (output in the direction of increasing the terminal voltage of generator 1), and the pulse pb is the first
Let us consider a case in which the phase of the pulse Pc is followed by the phase of the pulse Pc, and in such a case, a large difference occurs between the respective phases.

First, the pulse pb is selected by the actions of the intermediate pulse selection units 11a, llb, and llc, and the pulses PLa,
PLb and PLO are output to the pulse output section I2.

In such a situation, a failure occurs in one of the voltage detection section 7b, voltage setting section 8b, comparison section 9B, and voltage control section 10b, and the phase of pulse pb rapidly advances beyond the phase of pulse Pa. Let's assume that the problem occurs. At this time, the intermediate pulse selection section 11a.

Pulse Pa is selected by the action of 11b and Ilc.

Therefore, the pulses PLa, PLb, PLc are p
Since the voltage suddenly changes from b to Pa and is output to the pulse output section 12, fluctuations are induced in the terminal voltage of the generator 1, resulting in an unfavorable result.

By the way, the following two reasons can be considered for the difference between the deviation signals Da, Db, and Da.

One of them is that the detection signal K a r K b r
This is because a difference occurs in K c.

The other reason is due to the voltage setting units 8a, 8b, and 8c, in which a device (not shown) or human operation is used to change the terminal voltage of the generator 1.
A, 8b, and 8c may be increased or decreased at the same time, and the difference between the target values Ra, Rh, and Re is due to a slight timing shift that occurs at this time.

Further, a difference in the characteristics of the voltage setting sections 8a, 8b, and 8c causes a difference in the target values Ra, Rb, and Re, which causes a difference in the deviation signals Da, Db, and Da.

Therefore, the present invention provides a control device having a multiplexed configuration,
It is an object of the present invention to provide an extremely reliable control device that can continue operation without inducing agitation in a controlled object even if a failure occurs in one part of the control device.

[Structure of the Invention] (Means for Solving the Problems) The present invention provides a multiplexed control device with a controller provided corresponding to each detection unit for correcting each detection signal to obtain each detection correction signal. Among the detection signals of the plurality of correction units having the same configuration and each of the detection units, one detection signal having a predetermined relative relationship is selected, and each of the corrections is performed based on this detection signal and each of the detection correction signals. A detection correction section that outputs each detection correction command to the section, and one that has a predetermined relative relationship among the target values of each setting section.
a setting correction section that selects a target value of The values are set to be equal.

(Function) According to the above configuration, even if there is a difference in each detection signal due to a difference in the characteristics of each detection unit, the detection correction unit gives a detection correction command to the correction unit to correct the detection correction value, so the detection correction is corrected. The signal becomes approximately equal to one value in a predetermined relative relationship among the detection signals.

In addition, even if there is a difference in the target value due to a slight timing shift or a difference in the characteristics of the setting section when increasing or decreasing operations are performed on the setting section at the same time, the setting correction section sends a setting correction command to the setting section. The value can be approximately equal to one value in a predetermined relative relationship with the target value.

As a result, the detection correction signal and the target value always have the same value, so the deviation signal also has substantially the same value, and as a result, the control signal also has substantially the same value.

Therefore, even if a failure occurs in one part of the multiplexed control devices, the device to be controlled will not be disturbed.

(Embodiment) FIG. 1 is a block diagram of an excitation control device for a generator showing an embodiment of the present invention.

In the figure, the same parts as those in FIG. 4 described in the conventional example are given the same reference numerals, and the explanation thereof will be omitted.

This figure differs from FIG. 4 in that a detection correction section 13, a setting correction section 14, correction sections 15a, 15b, 15c, and addition sections 16a, 16b, 16c are added.

Further, the target value R of the voltage setting units 8a, 8b, 8c
The configuration is such that a, Rb, and Rc can be increased or decreased by setting correction commands Ba, Bb, and Be output from the corresponding setting correction sections 14, respectively.

As shown in FIG. 2, the detection correction section includes an intermediate value selection section 17.
Comparison units 18a, 18b, 18c and increase/decrease command unit 19a
, 19b, and 19c.

Here, the intermediate value selection unit 17 selects the detection signals Ka, Kb, K
An intermediate value of c is selected and an intermediate value K is output.

The comparison units 18a, 18b, and 18c increase/decrease the difference between the corresponding detection correction signals Fa, Fb, and Fc and the intermediate value by an increase/decrease command unit 19.
Output to a, 19b, and 19C.

The increase/decrease command units 19a, 19b, and 19c issue detection correction commands Aa, A in the decreasing direction when the detection correction signals Fa, Fb, and Fc are larger than the intermediate value, and in the increasing direction when the detection correction signals Fa, Fb, and Fc are smaller than the intermediate value.
Corresponding correction units 15a, 15b, 15 that output b and Ac
Output to c.

The correction units 15a, ISb, and 15c receive detection correction commands Aa,
Detection correction values Ha, Hb, H according to Ab and Ac
Adding units 16a, 16b, 16c corresponding to increasing/decreasing c
Output to.

The adders 16a, 16b, 16c receive the detection signals Ka, Kb.
, Kc and the detection correction values Ha, )Ib, Hc are added to obtain a detection correction signal Fa.

Outputs Fb and Fc.

As shown in FIG.
0, comparison parts 21a, 21b, 21c and increase/decrease command part 2
2a.

22b and 22c.

Here, the intermediate value selection unit 20 selects target values Ra, Rb, Rc
An intermediate value is selected from among these, and an intermediate value R is output. The comparison units 21a, 21b, 21c compare the corresponding target values Ra, Rb.
, increase/decrease command units 22a, 22b,
22c.

When the target values Ra, Rb, and Re are larger than the intermediate value R, the increase/decrease command units 22a, 2Zb, and 22c issue a setting correction command Ba in the decreasing direction.

Conversely, when the target values Ra, Rb, Re are smaller than the intermediate value R, setting correction commands Ba, Bb are output in the increasing direction.

Bc is outputted to the voltage setting sections 8a, 8b, and 8c.

With the above configuration, the voltage detection units 7a, 7b, 7c detect the terminal voltage of the generator 1 via the instrument transformer 6,
The detection signals Ha and KbJc are output to the detection correction section 13 and addition sections 16a, 16b, and 16c. Detection correction section 1
In step 3, an intermediate value K among the detection signals Ka, Kb, and Kc is selected.

On the other hand, if these intermediate values are used, the detection correction signals Fa, Fb, F
The comparison units 18a, 18b, and 18c compare the difference with C and input the difference to the increase/decrease command units 19a, 19b, and 19c. The increase/decrease command units 19a, 19b, and 19c issue a detection correction command Aa in the decreasing direction when the detection correction signals Fa, Fb, and Fc are large due to the intermediate value.

Ab and Ac are output to correction sections 15a, 15b, and 15c.

On the other hand, the detection correction signal Fa,
When Fb and Fc are small, increase direction detection correction command A
a + A b y A c is corrected by the correction units 15a, 15b,
Output to 15c. This detection correction command A a! A
The correction units 15a and 15b input the b r A c.

15c outputs the detected correction values Ha, Hb, and Hc to adders 16a, 16b, and 16c.

As a result, the detection correction signals Fa, Fb, and Fc correspond to the detection signals Ka, N, and C of the voltage detection units 7a, 7b, and 7c.
The value is approximately equal to the intermediate value between. For example, if the values of the detection signals Ka, Kb, and Kc are in the relationship of Ka)Kb>Kc, the detection correction signals Fa, Fb, and Fc output values approximately equal to the detection signal Kb.

On the other hand, the target values Ra and Rb of the voltage setting units 8a, 8b, 8c
, Re are inputted, an intermediate selection section selects an intermediate value R among the target values Ra, Rb, and Re, and a comparison section compares the intermediate value R with each of the target values Ra, Rb, and Re. 2
Compare 1a, 21b, and 21c. Then, the comparison units 21a, 21b are controlled by the increase/decrease command units 22a, 22b, 22c.
, 21c, the target values Ra, Rb are determined from the intermediate value R.
, when Rc is large, set value correction command Ba in the decreasing direction,
Conversely, when the target values Ra, Rb, Rc are smaller than the intermediate value R, set value correction commands Ba, Bb, Be in the increasing direction are output.

As a result, the target values Ra, Rb, and Rc of the set voltage setting units 8a, 8b, and 8c become approximately equal to the intermediate value R among the target values Ra, Rb, and Rc.

For example, when the target values Ra, Rb, and Re have a relationship of Ra>Rb>Re, all the target values output values that are approximately equal to Rb.

Subsequently, the comparison sections 9a, 9b, and 9c compare the detected correction signals Fa, Fb, and Fc, which have almost equal values, with the target values Ha, Rb, and Rc, which have approximately equal values, and the voltage control section 10a, 10b, and 10c output pulses Pa, Pb, and Pc of approximately equal values to intermediate portions 11a, llb, and llc.

Then, intermediate pulse selection units 11a, llb, 11. Pulses PLa, PLb, PL of approximately equal values from c
Pulse output section 12 which outputs c and inputs this pulse.
The pulse PL output from the thyristor rectifier 4
control the phase.

Thereby, the excitation current of the field winding 2 of the generator 1 becomes constant, so that the terminal voltage of the generator 1 can be kept constant.

Due to such an action, the voltage detection parts 7a, 7b,
Even if there is a difference in the detection signals Ka, Kb, and Kc due to the difference in the characteristics of the detection correction section 13, the detection correction signal Fa
, Fb, and Fc are approximately equal to intermediate values among the detection signals Ka, Ni, and Kc.

Furthermore, due to slight timing deviations that occur when voltage setting units 8 a + 8 b + 8 c are simultaneously increased and decreased, and differences in characteristics of voltage setting units 8 a, 8 b, and 8 c, the target values Ra, Rb, Even if there is a difference in Re, the setting correction section 14 adjusts the voltage setting sections 8a, 8b,
The target values Ra, Rb, Re of 8c are the target values Ra, Rb, R
Follows the intermediate value of e.

As described above, since the detection correction signals Fa, Fb, Fc and the target values Ra, Rb, Re always have approximately the same values, the deviation signals Da, Db, Dc also have approximately the same values, and as a result, the pulse Pa , Pb, and Pc have almost the same value.

Therefore, even if a failure occurs in one part of the triplexed control device, the generator 1 will not be disturbed.

For example, when the pulses Pa, Pb, and Pc are operating with almost the same phase, even if a failure occurs in the voltage detection section 7a and the pulse Pa has an abnormal phase, the pulse P
b, Pc maintain the same phase as before the failure occurred. Therefore, one of the pulses Pb and Pc is selected by the action of the intermediate pulse selection unit 11a, Ilb, and llc to output the pulses PLa, PLb, and PLc, and the phase thereof is the same value as before the failure occurs, so that the power generation is stopped. The failure of the voltage detection unit 7a does not affect the machine 1.

In this way, the control device of the present embodiment has extremely high reliability in that even if a failure occurs in one part of the triplexed control device, the generator 1 will not be disturbed.

Note that the present invention is not limited to the above-mentioned embodiments, and can be implemented similarly to the above-mentioned embodiments for other control devices, such as automatic adjustment of the speed of a rotating machine, fixed-value control such as process control, etc.

Further, the control device is not limited to a triplexed one, and a multiplexed one can also be implemented in the same manner as in this embodiment.

Furthermore, although the detection correction unit 13, setting correction unit 14, and intermediate pulse selection units 11a, llb, and llc of this embodiment are configured to select an intermediate value, the average value of a plurality of target values, One value having a predetermined relative relationship, such as an upper limit value or a lower limit value, may be selected.

[Effects of the Invention] As explained above, according to the present invention, in a multiplexed control device, even if any one of the sets of the detection unit, setting unit, comparison unit, and control unit fails, these units are not affected. One value that has a predetermined relative relationship among the plurality of control signals does not change.

Therefore, normal operation can be continued without causing any disturbance to the equipment to be controlled, resulting in an extremely reliable control device.

[Brief explanation of the drawing]

FIG. 1 is a block configuration diagram of a generator excitation control device showing an embodiment of the present invention, FIG. 2 is a block configuration diagram of a detection correction section of the same device shown in FIG. 1, and FIG. FIG. 4 is a block diagram of a setting correction section of the device shown in FIG. 4, and FIG. 4 is a block diagram of a conventional excitation control device for a generator. 1... Generator, 2... Field winding, 7a, 7b, 7c
...Voltage detection section, 8a, 8b, 8cm voltage setting section, 9
a, 9b, 9cm comparison section, 10a, 10b, 1
0cm voltage control section, lla, llb, 1lc - intermediate pulse selection section, 12... pulse output section, 13... detection correction section, 14... setting correction section, 15a, 15b, 15c
m correction section, 16a, 16b. 16c...addition section. Agent Patent Attorney Noriyuki ChikaFigure 2Figure 3

Claims (1)

[Claims] a plurality of detection units having the same configuration that detect the same controlled quantity;
A controller is provided corresponding to each of these detection units and corrects each detection signal based on one detection signal having a predetermined relative relationship among the detection signals of each of the detection units to obtain each detection correction signal. a correction section having the same configuration, a setting section having the same configuration that is provided corresponding to the detection section and setting a target value for the same controlled variable, and a relative relationship among the target values of each of the setting sections; a setting correction unit that selects a certain target value and corrects a setting error of each of the setting units based on the target value and the target value of each of the setting units; and each of the detected correction signals and each of the setting units. A comparison section with the same configuration that outputs each deviation signal by comparing with the target value of A control device comprising an operating means for selecting one control signal having a predetermined relative relationship among the signals and using it as a manipulated variable.