Speed regulating system redundancy control double-machine switching method

Abstract

A kind of redundancy control dual-computer switching method of speed regulation system belongs to the current speed regulation system redundancy control technical field, and most of existing speed regulation systems are designed with a switching program outside basic control logic by controller itself, to realize controller switching function.Due to the safety and stability control of unit being given priority to by controller, the flexibility and accuracy of switching logic of controller have further space for improvement.The present application mainly introduces new dual-computer switching logic algorithm in speed regulation system program, which exchanges relevant state information by two sets of controllers, and judges the health state of two sets of controllers by scientific and reasonable logic algorithm, so that two sets of controllers are coordinated, and the intelligent safety and stability switching function of controller is realized more flexibly and accurately without affecting the basic function of controller.

Description

Technical Field

[0001] This invention belongs to the field of hydropower technology, and specifically relates to a method for switching between two machines in redundant control of a speed regulation system. Background Technology

[0002] As a core component of the automatic control system of hydro-generator units, the speed control system's performance and operating conditions directly affect the quality of power output from the power plant and the stability of the power system. To ensure safe and reliable power production, hydro-generator unit speed control system controllers often adopt redundant control structures. For a single unit, when a major fault occurs in a single controller of the speed controller, it can quickly and seamlessly switch to the standby controller. If both the primary and standby controllers experience major faults, the speed controller will switch to either electric manual or mechanical manual operation based on the fault type and operating conditions. Therefore, based on the equipment's on-site conditions, analyzing the switching information exchange methods and control power competition logic between different speed control system controllers is crucial for improving equipment performance and reliability. Currently, most existing speed control systems are configured with two controllers to achieve mutual redundancy. The two controllers exchange relevant signals through hard-wired loops, such as major fault signals and primary signals (i.e., dual-machine handshake and dual-machine handshake fault signals) to each other. After acquiring the signals, the controllers perform logical operations and ultimately complete the switching between the primary and standby controllers. Figure 4 The logic of the main controller inside the speed controller is closely related to the signals of the dual-machine interaction, which can be specifically divided into the takeover and handover of the main control.

[0003] The master control takeover logic is as follows: When a controller is not in master mode and has no major fault, it will issue a master control command to itself when it receives a major fault signal from another controller or when the master control signal disappears. When a controller is not in master mode, even if it has experienced a major fault, it will still issue a master control command to itself because another controller also has a major fault but is not master. However, due to the major fault of the controller, it will only receive and process information but will not output control.

[0004] The handover of primary control generally occurs when the primary controller experiences a major failure. The switching logic between controllers is as follows: When the primary controller determines that its own sampled data or the controlled object has experienced a major failure, it sends a major failure signal to the other controller. When the primary controller receives a major failure signal, it first checks whether the backup controller has experienced a major failure (i.e., whether it has received a dual-machine handshake failure signal). If the backup controller does not have a major failure, the primary controller resets its primary status to zero. If the backup controller has already experienced a major failure, the speed controller will remain in its current primary state but will only be responsible for receiving and processing information, and will no longer perform primary status switching control. At this time, the controller no longer participates in any control, and the speed controller control mode is downgraded to a purely mechanical manual control mode. The switching logic is as follows: Figure 5 As shown.

[0005] The drawbacks of existing technology are:

[0006] 1. The controller lacks its own operational status condition judgment, and there is no feedback for the primary and backup signals. The logic is not rigorous enough, and there is no logic truth table.

[0007] 2. Dual-machine switching relies on hardware devices, increasing the potential for failure.

[0008] 3. The speed governor controller and the switching device controller operate simultaneously, and the order of logic judgment is inconsistent, which increases the risk of switching errors.

[0009] 4. Regarding fault classification, the system does not fully consider situations where the controller itself malfunctions and cannot accurately transmit switching information or make switching decisions. Furthermore, the hardware modules themselves may also malfunction, so in some extreme cases, switching commands may be mistakenly issued or rejected. Summary of the Invention

[0010] In view of the technical problems existing in the background technology, the dual-machine switching method for redundant control of speed regulation system provided by the present invention has simple and rigorous logic, relies less on hardware, improves the controller switching process, increases the signal transmission success rate, and reduces the risk of the speed regulation system controller erroneously issuing or refusing to issue switching commands during operation.

[0011] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0012] A method for switching between two redundant control units in a speed regulation system includes a dual-unit switching system, which comprises an intelligent switching device, a main unit, and a counterpart unit. The switching steps are as follows:

[0013] Step 1: Initialize the intelligent switching device;

[0014] Step 2, condition 1: initialization time is greater than 9.9s;

[0015] If condition one is met, proceed to step 3;

[0016] Step 3, condition 2: The main feedback of this machine is "=1", and the feedback of the other machine is "=1";

[0017] If condition two is met, the host outputs "=1"; otherwise, proceed to step 4.

[0018] Step 4, Check condition 3: The machine's heartbeat "=1";

[0019] If condition 3 is met, proceed to step 5; otherwise, check if the heartbeat of the pairing device is "=1".

[0020] Step 4.1: If the machine heartbeat is "=1", then the machine outputs "=0"; otherwise, switch to "machine manual" mode.

[0021] Step 5, Judgment condition four: The heartbeat of the machine is "=1";

[0022] If condition 4 is met, proceed to step 6; otherwise, the machine outputs "=1".

[0023] Step 6, Judgment condition 5: Machine fault switching command "=1";

[0024] If condition 5 is met, proceed to step 7; otherwise, proceed to step 6.1.

[0025] Step 6.1, Judgment condition 6-1: Major fault of this machine "=1":

[0026] If condition 6-1 is met, the machine outputs "=0"; otherwise, it proceeds to the machine's major fault diagnosis.

[0027] Step 7, Judgment condition six: The main button of this machine is "=0";

[0028] If condition six is ​​met, proceed to step 8; otherwise, the machine outputs "=1".

[0029] Step 8, check condition seven: Major machine malfunction "=1";

[0030] If condition seven is met, proceed to step 9; otherwise, the machine outputs "=0".

[0031] Step 9, Judgment condition eight: The machine feedback is "=0";

[0032] If condition eight is met, the machine outputs "=1"; otherwise, the machine outputs "=0".

[0033] In the preferred embodiment, the steps for determining major machine malfunctions are as follows:

[0034] Step 6.1.1: Judgment condition 6-1-1: The main button of this machine is "=0";

[0035] If condition 6-1-1 is met, proceed to step 6.1.1.1; otherwise, the machine outputs "=1".

[0036] Step 6.1.1.1, Judgment condition 6-1-1-1: The machine feedback is "=0";

[0037] If condition 6-1-1-1 is met, the machine outputs "=1"; otherwise, the machine outputs "=0".

[0038] In the preferred embodiment, the different output states of steps 1-9 are converted into a speed controller control logic operation table.

[0039] This patent can achieve the following beneficial effects:

[0040] This invention improves the controller switching process, increases signal transmission success rate, and reduces the risk of the speed control system controller mistakenly issuing or rejecting switching commands during operation. Based on actual field conditions and with well-prepared electrical circuits, a comprehensive analysis of the advantages and disadvantages of various switching logics is conducted, and a new switching logic is proposed. This new logic adds a check to determine whether the primary and backup controllers are in operation: when the primary controller malfunctions or loses power, the backup controller quickly and seamlessly switches to the primary state. The condition for determining whether the primary command has disappeared has also been optimized. By feeding back primary and backup signals to the controller itself through the electrical circuit, the controller is set to manual mode by internal program calculations, resulting in a more complete logical structure. Attached Figure Description

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0042] Figure 1 This is a flowchart of the workflow of the present invention;

[0043] Figure 2 This is a connection diagram of the dual-machine switching system of the present invention;

[0044] Figure 3 This is a simplified electrical circuit diagram of the dual-machine switching system of the present invention;

[0045] Figure 4 This is a schematic diagram of information exchange between speed control system controllers in the prior art;

[0046] Figure 5 This is a switching logic diagram for a speed control system controller in the prior art. Detailed Implementation

[0047] Example 1:

[0048] This invention adds a dual-machine heartbeat judgment logic: based on the right bank power station governor switching logic, this logic adds a judgment logic on whether the main and backup controllers are in operation: when the main controller crashes or loses power, the backup controller quickly and seamlessly switches to the main state. At the same time, the judgment condition for whether the main command has disappeared has been optimized. The main and backup signals are fed back to the controller itself through an electrical circuit, and the controller's manual command is set by internal program calculations, making the logic structure more complete. Governor switching does not rely on additional hardware equipment, reducing the risk of switching failure due to hardware malfunctions during the switching process. The specific switching method is as follows:

[0049] Preferred solutions include Figure 1 As shown, a method for switching between two redundant control units in a speed regulation system includes the following steps:

[0050] Step 1: Initialize the intelligent switching device;

[0051] Step 2, condition 1: initialization time is greater than 9.9s;

[0052] If condition one is met, proceed to step 3;

[0053] Step 3, condition 2: The main feedback of this machine is "=1", and the feedback of the other machine is "=1";

[0054] If condition two is met, the host outputs "=1"; otherwise, proceed to step 4.

[0055] "=1" and "=0" represent digital signals.

[0056] Step 4, Check condition 3: The machine's heartbeat "=1";

[0057] If condition 3 is met, proceed to step 5; otherwise, check if the heartbeat of the pairing device is "=1".

[0058] Step 4.1: If the machine heartbeat is "=1", then the machine outputs "=0"; otherwise, switch to "machine manual" mode.

[0059] Step 5, Judgment condition four: The heartbeat of the machine is "=1";

[0060] If condition 4 is met, proceed to step 6; otherwise, the machine outputs "=1".

[0061] Step 6, Judgment condition 5: Machine fault switching command "=1";

[0062] If condition 5 is met, proceed to step 7; otherwise, proceed to step 6.1.

[0063] Step 6.1, Judgment condition 6-1: Major fault of this machine "=1":

[0064] If condition 6-1 is met, the machine outputs "=0"; otherwise, proceed to step 6.1.1.

[0065] Step 6.1.1: Judgment condition 6-1-1: The main button of this machine is "=0";

[0066] If condition 6-1-1 is met, proceed to step 6.1.1.1; otherwise, the machine outputs "=1".

[0067] Step 6.1.1.1, Judgment condition 6-1-1-1: The machine feedback is "=0";

[0068] If condition 6-1-1-1 is met, the machine outputs "=1"; otherwise, the machine outputs "=0".

[0069] Step 7, Judgment condition six: The main button of this machine is "=0";

[0070] If condition six is ​​met, proceed to step 8; otherwise, the machine outputs "=1".

[0071] Step 8, check condition seven: Major machine malfunction "=1";

[0072] If condition seven is met, proceed to step 9; otherwise, the machine outputs "=0".

[0073] Step 9, Judgment condition eight: The machine feedback is "=0";

[0074] If condition eight is met, the machine outputs "=1"; otherwise, the machine outputs "=0".

[0075] Based on the designed logic, software was written, compiled, and the corresponding control program was downloaded to the controller. The ladder diagram flow was analyzed, and the calculation results under different input conditions were summarized (Table 1).

[0076] Table 1 Speed ​​Controller Control Logic Operation Table

[0077]

[0078] Based on the right bank power station, this structure adds logic to determine whether the primary and backup controllers are in operation: when the primary controller malfunctions or loses power, the backup controller quickly and seamlessly switches to primary mode. The criteria for determining whether the primary command has disappeared have also been optimized. Primary and backup signals are fed back to the controller itself via electrical circuits, and the internal program calculates and sets the controller to manual mode, resulting in a more complete logical structure.

[0079] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A method for redundant control and dual-machine switching in a speed regulation system, characterized in that: The system includes a dual-machine switching system, which consists of an intelligent switching device, a host, and a counterpart. The switching steps are as follows: Step 1: Initialize the intelligent switching device; Step 2, condition 1: initialization time is greater than 9.9s; If condition one is met, proceed to step 3; Step 3, condition 2: The primary feedback of this machine is "=1", and the feedback of the counterpart machine is "=1"; If condition two is met, the host outputs "=1"; Otherwise proceed to step 4; Step 4, Check condition 3: The machine's heartbeat "=1"; If condition 3 is met, proceed to step 5; otherwise, check if the heartbeat of the pairing device is "=1". Step 4.1: If the machine heartbeat is "=1", then the machine outputs "=0"; otherwise, switch to "machine manual" mode. Step 5, Judgment condition four: The heartbeat of the machine is "=1"; If condition 4 is met, proceed to step 6; otherwise, the machine outputs "=1". Step 6, Judgment condition 5: Machine fault switching command "=1"; If condition 5 is met, proceed to step 7; Otherwise proceed to step 6.1; Step 6.1, Judgment condition 6-1: Major machine fault "=1": If condition 6-1 is met, the machine outputs "=0"; otherwise, it proceeds to the machine's major fault diagnosis. Step 7, Decision condition six: The main button of this machine is "=0"; If condition six is ​​met, proceed to step 8; otherwise, the machine outputs "=1". Step 8, check condition seven: Major machine malfunction "=1"; If condition seven is met, proceed to step 9; otherwise, the machine outputs "=0". Step 9, Judgment condition eight: The machine feedback is "=0"; If condition eight is met, the machine outputs "=1"; otherwise, the machine outputs "=0".

2. The method for redundant control dual-machine switching in a speed regulation system according to claim 1, characterized in that: The steps for diagnosing major faults in this machine are as follows: Step 6.1.1: Judgment condition 6-1-1: The main button of this machine is "=0"; If condition 6-1-1 is met, proceed to step 6.1.1.1; otherwise, the machine outputs "=1". Step 6.1.1.1, Judgment condition 6-1-1-1: The machine feedback is "=0"; If condition 6-1-1-1 is met, the machine outputs "=1"; otherwise, the machine outputs "=0".

3. The method for redundant control and dual-machine switching in a speed regulation system according to claim 1, characterized in that: Convert the different outputs of steps 1-9 into a speed controller control logic operation table.

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