CN-121978885-A - Cylinder valve control method, system, equipment and medium based on hydraulic-electric open-closed loop regulation

CN121978885ACN 121978885 ACN121978885 ACN 121978885ACN-121978885-A

Abstract

The invention discloses a cylinder valve control method, a system, equipment and a medium based on hydraulic-electric open-closed loop regulation, which belong to the technical field of hydraulic mechanical control of hydropower stations, and comprise the steps of arranging a hardware sensor and a controller, collecting sensor signal data, preprocessing, establishing an open-loop control model based on the preprocessed data, and calculating an initial control instruction of each servomotor; in the initial stage of opening or closing the cylinder valve, open-loop pre-control is adopted, when the displacement of all the relays reaches the preset proportion of target displacement, the control mode is switched to an open-closed loop cooperative control mode, a final control instruction is output, and when the cylinder valve reaches the target opening degree and the synchronous deviation index is lower than a preset threshold value, the stable operation stage is entered. The invention has the advantages of high synchronization precision, strong disturbance rejection capability, quick control response, simple engineering realization, high operation reliability, unit shutdown avoidance and equipment fault tolerance improvement.

Inventors

QU LITAO
YI CHENGMING
SUN HONG
Ning Shenjun
LI HAIFENG
ZHOU LING
Jiao Fanxiao
RONG HONG
ZHOU YU
WANG GUOSEN
Qiao Jifeng
LIU KAI

Assignees

华能澜沧江水电股份有限公司
河海大学

Dates

Publication Date: 20260505
Application Date: 20251215

Claims (10)

1. A cylinder valve control method based on hydraulic-electric open-close loop regulation is characterized by comprising the following steps of, Arranging a hardware sensor and a controller, collecting sensor signal data, preprocessing, establishing an open-loop control model based on the preprocessed data, and calculating an initial control instruction of each servomotor; In the initial stage of opening or closing the cylinder valve, adopting open-loop pre-control, outputting an initial control command to a proportional valve of each servomotor, and dynamically correcting an oil temperature coefficient to adjust the initial control command; When the displacement of all the relays reaches the preset proportion of the target displacement, switching to an open-closed loop cooperative control mode, calculating displacement deviation and synchronous deviation indexes of each relay, generating correction control quantity by using a corresponding independent PID controller, and outputting a final control instruction to a proportional valve; and when the cylinder valve reaches the target opening degree and the synchronous deviation index is lower than a preset threshold value, entering a stable operation stage, adjusting the PID parameters to reduce control instruction fluctuation, and storing key data at fixed time.
2. The cylinder valve control method based on hydraulic-electric open-close loop regulation of claim 1, wherein the preprocessing comprises arranging a sensor, a controller and an actuating mechanism of a hardware layer; the method comprises the steps of collecting sensor signals in real time, and filtering collected data to eliminate noise interference; And (5) carrying out linear calibration on the displacement sensor data.
3. The method for controlling a cylinder valve based on hydraulic-electric open-close loop regulation according to claim 2, wherein the initial control command comprises establishing an open-loop control model based on the preprocessed data; the open loop control model comprises a cylinder valve-servomotor mechanical model and a hydraulic system flow-displacement model; and calculating the target displacement of each servomotor according to the target opening, dynamically correcting the oil temperature correction coefficient by combining the oil temperature data, and outputting an initial control instruction.
4. The method for controlling the cylinder valve based on the hydraulic-electric open-close loop regulation of claim 3, wherein the initial stage comprises the steps of adopting open loop control when the displacement data is 0-30% of the stroke of the target displacement in the initial stage of opening or closing the cylinder valve based on acquisition of sensor signals including displacement data, oil temperature data, pressure data and opening data; The controller will initiate control instructions The control valve is sent to a proportional valve corresponding to the servomotor to drive the servomotor; the hydraulic oil temperature T is collected in real time, and the oil temperature coefficient is dynamically corrected And adjust synchronously ; The 6 servomotor displacements are pushed to the target value range, and the synchronous deviation is controlled within 1 mm.
5. The method for controlling a cylinder valve based on hydraulic-electric open-close loop regulation of claim 4 wherein the open-close loop cooperative control mode comprises switching to open-close loop cooperative control after the displacement of 6 relays reaches 30% of the target displacement, collecting the actual displacement of the ith servomotor in real time by a magnetostrictive displacement sensor mounted on a piston rod of each servomotor Collecting the integral actual opening of the cylinder valve through an opening sensor on the valve body of the cylinder valve with the sampling frequency of 100Hz ; Calculating synchronous deviation, single servomotor displacement deviation : Average displacement of 6 servomotors The method comprises the following steps: judging whether emergency correction is needed to calculate synchronous deviation index The method comprises the following steps: PID closed loop correction is carried out, and an independent PID controller is established for each servomotor to shift deviation To input and output correction control quantity : Wherein, the Is a coefficient of proportionality and is used for the control of the power supply, In order to integrate the time of the time, In order to differentiate the time of the time, Target displacement for each servomotor; Setting by critical proportionality method to make →∞、 =0, Adjust Critical oscillation of the system is caused, and critical oscillation period is recorded And critical proportionality coefficient According to =0.6 、 =0.5 、 =0.125 Determining initial parameters, and optimizing through field debugging; outputting a final control command, namely outputting a final control command of the ith servomotor: = + ; When the synchronization deviation index When the length is greater than 1.5mm, triggering a strong correction mode and increasing the proportion coefficient of the PID controller The deviation convergence speed is increased to 1.2 times; When (when) At <0.5mm, enter steady mode, decrease To 0.8 times, avoiding overshoot; with the whole actual opening of the cylinder valve And the target opening degree Deviation Δα=of (2) – To supplement the feedback, the open loop initial command for all the relays is adjusted when |Δα| >1% 。
6. The method for controlling a cylinder valve based on hydro-electric open-close loop regulation according to claim 5, wherein the steady operation phase comprises, when the cylinder valve reaches a target opening degree, i.e., |Deltaalpha| <0.5% and <0.5 Mm) and then enters a stable operation stage; Maintains open-closed loop cooperative control, reduces the integral action of the PID controller, Increasing to 1.5 times; The displacement deviation of the servomotors and the pressure of a hydraulic system are monitored in real time, and the oil supply pressure of each servomotor is collected through a pressure sensor When (when) When the rated pressure exceeds 10%, overload protection is triggered, PID correction of the Dai Qi servomotor is suspended, open loop control is only maintained, and an alarm signal is sent.
7. A cylinder valve control system based on hydraulic-electric open-close loop regulation, which is characterized by comprising a hardware layer and a software layer, wherein the cylinder valve control system is based on the hydraulic-electric open-close loop regulation and is applied to the cylinder valve control method based on the hydraulic-electric open-close loop regulation according to any one of claims 1-6; The hardware layer comprises a sensor module, a controller module, an actuating mechanism module and a communication and monitoring module; The sensor module comprises a displacement sensor, an oil temperature sensor, a pressure sensor and an opening sensor; The controller module comprises a main controller and an expansion module; the actuating mechanism module comprises a proportional valve group, an oil pressure device, a power unit and a servomotor; The communication and monitoring module comprises a communication module and a local monitoring unit.
8. The cylinder valve control system based on hydraulic-electric open-close loop regulation of claim 7, wherein the software layer comprises a data acquisition and preprocessing module, an open-loop model calculation module, a PID control module, a synchronous control and protection module and a data storage and interaction module; The data acquisition and preprocessing module acquires sensor signals in real time, performs filtering processing on acquired data, eliminates noise interference and performs linear calibration on displacement sensor data; the open loop model calculation module is used for storing mathematical formulas and parameters of a cylinder valve-servomotor mechanical model and a hydraulic system flow-displacement model, calculating the target displacement of each servomotor according to the target opening degree, and dynamically correcting by combining oil temperature data to output an initial control instruction; The PID control module is used for respectively configuring independent PID control subroutines for the relay, supporting parameter online setting and automatic switching logic, and adjusting PID parameters according to the synchronous deviation index; The synchronous control and protection module calculates the synchronous deviation index and the integral opening deviation, outputs a final control instruction, and performs overload protection, displacement overrun protection and sensor fault diagnosis; And the data storage and interaction module is used for regularly storing key data and realizing data interaction with the HMI system.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of a cartridge valve control method based on hydro-electric open-closed loop regulation as claimed in any one of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of a cylinder valve control method based on hydraulic-electric open-close loop regulation as claimed in any one of claims 1 to 7.

Description

Cylinder valve control method, system, equipment and medium based on hydraulic-electric open-closed loop regulation Technical Field The invention relates to the technical field of hydraulic mechanical control of hydropower stations, in particular to a cylinder valve control method, system, equipment and medium based on hydraulic-electric open-closed loop regulation. Background The hydropower station cylinder valve is used as a key overflow control device of the hydroelectric generating set and is arranged at the front end of a water turbine runner, and has the main functions of accurately adjusting the inflow flow to control the speed increasing process of the rotating speed of the set when the set is started, stabilizing the overflow area to maintain the output of the set when the set is in normal operation, and rapidly cutting off the water flow to protect the safety of the set when the set is stopped or in an accident working condition. At present, a hydraulic drive and mechanical transmission execution structure is generally adopted for a barrel valve of a large hydropower station, wherein a hydraulic drive system is generally provided with 6 independent hydraulic servomotors (uniformly distributed along the circumference of the barrel valve), and a barrel valve body is driven to lift (open/close) by the expansion and contraction of a piston rod of the servomotors. Because the diameter of the cylinder valve body is large (usually 3-6 m), the weight is heavy (tens of tons), and 6 servomotors need to synchronously act along the circumference to ensure the stress balance of the valve body, the servomotor synchronism is a core technical index of cylinder valve control. The existing barrel valve control scheme mainly has the following problems: 1. the synchronous deviation is large, namely, the hydraulic system of 6 servos has the problems of leakage difference (such as different wear degrees of sealing elements), manufacture error of the servos (such as area deviation of a piston and straightness error of a piston rod), unbalanced load (local stress concentration caused by deformation of a door body) and the like, when the traditional unified command control (namely, the same control signals are output to the 6 servos) is adopted, the displacement deviation of the servos is easy to occur, the synchronous deviation often exceeds 2mm in actual operation, the inclination of a cylinder valve body is caused, the friction is generated between the cylinder valve body and a sealing surface or a guide structure of a valve body in the opening/closing process, and the phenomenon of bleeding is caused; 2. The control strategy is single, the existing scheme adopts simple open-loop control or simple closed-loop control (1) the simple open-loop control is based on an empirical formula or a simplified model to calculate a control instruction (such as calculating the oil supply time of the servomotor according to a target opening degree), feedback adjustment is not available, disturbance such as leakage of a hydraulic system, load fluctuation and the like cannot be handled, deviation is accumulated along with operation time, (2) the simple PID closed-loop control is carried out, the whole opening degree of a cylinder valve is used as a feedback signal to adjust total oil supply pressure/flow, independent correction is not conducted on displacement deviation of a single servomotor, the problem of local synchronous deviation cannot be solved, PID parameter setting difficulty is high, overshoot or response lag is easy to occur, and (3) the jamming effect is serious, namely the cylinder valve jam caused by the synchronous deviation of the servomotor is prolonged to be more than 120s when the machine set is started up or stopped, faults such as sealing element damage (such as abrasion of a door body sealing rubber strip) and bending of a piston rod of the servomotor are possibly caused, and the power generation benefit of a hydropower station is influenced when the jam is serious. In order to solve the synchronization problem, partial improvement attempts have been made in the industry, wherein in scheme 1, master-slave synchronization control is performed, 1 servomotor is used as a master servomotor, the other 5 relays are used as slave servos, and the slave servomotor displacement is tracked to the master servomotor displacement. However, the scheme has the problem of error transmission, namely if the main servomotor has displacement deviation due to failure, all the slave servos synchronously follow the deviation and the problem of load disturbance of the main servomotor cannot be solved, and the scheme 2 comprises that the flow valves are independently regulated, independent proportional flow valves are configured for each servomotor, and the deviation is compensated by manually setting parameters of the flow valves, or a throttle valve is matched with a switching valve mode. However, the scheme depends on manual experience,