Method and system for monitoring running state of water guide mechanism

Abstract

The invention provides a water guide mechanism operation state monitoring method and system, and the method comprises the following steps: installing fiber grating sensors on a connecting rod and a servomotor of a water guide mechanism, and respectively obtaining corresponding real-time measurement point stresses; according to the real-time measurement point stress obtained on the servomotor and the real-time measurement point stress obtained on the connecting rod, the input torque and the output torque of each time point are calculated respectively, and according to the input torque and the output torque, the force transmission efficiency of each time point is obtained through calculation; according to the method, the curve relation between the force transmission efficiency and the servomotor stroke during normal operation is constructed through actually measured grating wavelength data, and the actually measured curve of the force transmission efficiency and the servomotor stroke is compared with the curve under the normal condition, so that the running state of the water guide mechanism can be effectively monitored in real time, the unit running mode is optimized, and the working efficiency of the water guide mechanism is improved. Therefore, the accuracy and timeliness of monitoring the running state of the water guide mechanism are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of water guiding mechanism operation status monitoring, and in particular to a water guiding mechanism operation status monitoring method and system. Background Art

[0002] The water guide mechanism is one of the core components of the turbine. The water guide mechanism drives the control ring to rotate through the movement of the piston rod of the relay under oil pressure, and transmits the movement to the guide vane through the guide vane arm. The relay completes the process of converting linear motion into guide vane rotation. It is mainly used to control the direction and flow of water entering the turbine unit. Long-term and high-frequency adjustment tasks put the water guide mechanism in a complex force environment, which is prone to wear and cracks, resulting in a large dead zone in the local tightly matched transmission connection, resulting in a longer unit adjustment response time and a lower adjustment rate, which directly affects the safe operation of the unit.

[0003] A water-guiding mechanism with publication number CN203515925U includes a control ring, a driving mechanism connected to the control ring, and a plurality of guide vanes located within the range of the control ring and fixed in rotation, the guide vanes including a rotating shaft and a guide blade connected to the front end of the rotating shaft, and also including sliders evenly distributed on the control ring and a guide vane arm connected to the rear end of the rotating shaft, a sliding hole being provided on the guide vane arm, and the slider being located in the sliding hole.

[0004] The current response is to shut down the system for regular maintenance, which is not only time-consuming and labor-intensive, but also affects production efficiency and may result in missed inspections. In addition, some hydropower manufacturers use the meter reading method to conduct routine tests on the water-guiding mechanism, but this method is based on the assumption that each relay remains symmetrical and the water-guiding mechanism is a statically determinate system. Therefore, there is an error between the test results and the actual results, which reduces the accuracy and timeliness of the water-guiding mechanism operating status monitoring. Summary of the invention

[0005] In view of this, the present invention proposes a method and system for monitoring the operating status of a water guiding mechanism, which can realize quasi-distributed detection by using fiber gratings, and provide real-time judgment of the operating status of the water guiding mechanism combined with measured data in combination with the operating conditions of the water guiding mechanism, thereby improving the accuracy and timeliness of monitoring the operating status of the water guiding mechanism.

[0006] The technical solution of the present invention is implemented as follows: In a first aspect, the present invention provides a method for monitoring the operating status of a water guide mechanism, the method comprising the following steps:

[0007] S1, fiber Bragg grating sensors are installed on the connecting rod and the servomotor of the water-guiding mechanism to obtain the corresponding real-time measurement point stress respectively;

[0008] S2, according to the real-time measurement point stress obtained on the relay and the real-time measurement point stress obtained on the connecting rod, respectively calculate the input torque and the output torque at each time point, and calculate the force transmission efficiency at each time point according to the input torque and the output torque;

[0009] S3, calculating the angular acceleration of the corresponding control loop according to the input torque at each time point, and obtaining the servomotor operation stroke corresponding to each time point in the operation of the water guiding mechanism based on the angular acceleration of the control loop;

[0010] S4, obtaining the current operating condition of the water-guiding mechanism according to the operating stroke of the relay, and establishing a curve relationship between the force transmission efficiency at each time point and the corresponding operating stroke of the relay based on the operating condition of the water-guiding mechanism to obtain a real-time relationship curve;

[0011] S5, constructing an operation curve database, wherein the operation curve database stores a standard relationship curve between the force transmission efficiency of the water guide mechanism at each time point in a normal operation state under different working conditions and the operation stroke of the corresponding relay;

[0012] S6, querying a corresponding standard relationship curve in an operation curve database according to the current operation condition of the water guiding mechanism, comparing the real-time relationship curve with the standard relationship curve obtained by querying, and judging and outputting the operation state of the water guiding mechanism.

[0013] On the basis of the above technical solution, preferably, the water guiding mechanism in step S1 has two servomotors, and a fiber grating sensor is installed on each servomotor and the connecting rod. The fiber grating sensor includes a strain grating and a temperature compensation grating. The corresponding wavelengths are measured respectively according to the strain grating and the temperature compensation grating, and the stress at the corresponding measurement point is calculated and obtained. The expression is:

[0014] F=σK S [(P S1 -P S0 )-K t (P t1 -P t0 )]

[0015] Where F is the stress at the measuring point, σ is the structural elastic modulus at the measuring point, and P S1 is the measurement wavelength of the strain grating at the measurement point, P S0 is the initial wavelength of the strain grating at the measuring point, P t1 is the measured wavelength of the temperature compensation grating at the measuring point, P t0 is the initial wavelength of the temperature compensation grating at the measurement point, K S K is the proportionality coefficient between strain and wavelength change, t is the temperature compensation coefficient.

[0016] On the basis of the above technical solution, preferably, the step S2 comprises the following sub-steps:

[0017] The real-time measurement point stress obtained on the relay is applied to the control loop, and the input torque corresponding to each time point is calculated. The expression is:

[0018] M in =M1+M2=F1×L1+F2×L2

[0019] Where M in is the input torque, M1 is the input torque of the first servomotor, M2 is the input torque of the second servomotor, F1 is the stress of the measuring point corresponding to the first servomotor, L1 is the vertical distance from the point of action of the first servomotor on the control ring to the center of the control ring, F2 is the stress of the measuring point corresponding to the second servomotor, and L2 is the vertical distance from the point of action of the second servomotor on the control ring to the center of the control ring;

[0020] The stress of the measuring point obtained on the connecting rod is applied to the guide vane shaft, and the output torque corresponding to each time point is calculated. The expression is:

[0021] M out =F3×L3×D

[0022] Where M out is the output torque, F3 is the stress at the measuring point on the connecting rod, L3 is the length of the guide vane arm, and D is the number of movable guide vanes;

[0023] According to the input torque and output torque corresponding to each time point, the force transmission efficiency at each time point is calculated and the expression is:

[0024]

[0025] Where η is the force transmission efficiency.

[0026] On the basis of the above technical solution, preferably, the step S3 of calculating the angular acceleration of the corresponding control ring according to the input torque at each time point, and obtaining the rotation angle of the control ring at each time point in the operation of the water guiding mechanism based on the angular acceleration of the control ring includes the following sub-steps:

[0027] According to the input torque at each time point, the corresponding angular acceleration of the control loop is calculated, and the expression is:

[0028]

[0029] Where a(t) is the angular acceleration at the current time point, M in(t) is the input torque at the current time point, and I is the moment of inertia of the control loop;

[0030] According to the angular acceleration of the control loop at the current time point and the angular velocity at the previous time point, the angular velocity at the current time point is calculated and expressed as:

[0031] ω t =ω t-1 +α(t)×Δt

[0032] In the formula, ω t is the angular velocity at the current time point, ω t-1 is the angular velocity at the previous time point, a(t) is the angular acceleration at the current time point, and Δt is the duration from the previous time point to the current time point;

[0033] According to the angular velocity at the current time point and the rotation angle at the previous time point, the rotation angle of the control loop at the current time point is calculated. The expression is:

[0034]

[0035] In the formula, θ t is the rotation angle at the current time point, θ t-1 is the rotation angle at the previous time point;

[0036] According to the rotation angle of the control ring at each time point, the servomotor running stroke corresponding to each time point is calculated, where the calculation expression is:

[0037] S t =D arm ×sin[θ t / 2]

[0038] In the formula, S t is the running distance of the relay at the current time point, D arm To control the diameter of the large ear distribution circle of the ring.

[0039] On the basis of the above technical solution, preferably, the current operating condition of the water guide mechanism is obtained according to the operating stroke of the relay in step S4, wherein the operating condition of the water guide mechanism includes the operating condition of opening and closing the guide vane in a waterless state, the operating condition of opening and closing the guide vane in a water-containing state, and the operating condition of a certain guide vane opening being unchanged in a water-containing state;

[0040] The working condition of the water guiding mechanism is determined according to the changing trend of the relay operation stroke, wherein, when the relay operation stroke gradually increases with time, the water guiding mechanism is in the guide vane open state, when the relay operation stroke gradually decreases with time, the water guiding mechanism is in the guide vane closed state, and when the relay operation stroke remains unchanged with time, the water guiding mechanism is in a certain guide vane opening unchanged state.

[0041] On the basis of the above technical scheme, preferably, in step S4, a curve relationship between the force transmission efficiency at each time point and the corresponding relay operating stroke is established based on the operating condition of the water guiding mechanism to obtain a real-time relationship curve, and a preset force transmission efficiency threshold range is included. The force transmission efficiency at each time point is obtained and compared with the force transmission efficiency threshold range. If the force transmission efficiency at each time point is not within the force transmission efficiency threshold range, an abnormality is prompted or corresponding measures are taken. If the force transmission efficiency at each time point is within the force transmission efficiency threshold range, a curve relationship between the force transmission efficiency at each time point and the corresponding relay operating stroke is established based on the operating condition of the water guiding mechanism to obtain a real-time relationship curve.

[0042] On the basis of the above technical solution, preferably, step S5 constructs an operation curve database, in which standard relationship curves of the force transmission efficiency of the water guiding mechanism at each time point in the normal operating state under different working conditions and the operating stroke of the corresponding relay are stored in the operation curve database, wherein the stop state is taken as the initial state, and the guide vane opening and closing process is tested point by point at different openings, and the force transmission efficiency of the water guiding mechanism in the normal operating state under each operating condition and the operating stroke of the corresponding relay are calculated, and the relationship curves between the two under different working conditions are constructed to obtain the corresponding standard relationship curves under different working conditions, and store them in the operation curve database.

[0043] On the basis of the above technical solution, preferably, in step S6, according to the current operating condition of the water guiding mechanism, the corresponding standard relationship curve is queried in the operating curve database, the real-time relationship curve is compared with the standard relationship curve obtained by the query, and the operating state of the water guiding mechanism is judged and output, wherein the following sub-steps are included:

[0044] A force transmission efficiency error threshold range and a slope error threshold are preset, and the real-time relationship curve is compared with the standard relationship curve obtained by query, and the force transmission efficiency difference at each time point is calculated respectively. If the force transmission efficiency difference at each time point is not within the force transmission efficiency threshold range, an abnormality is prompted and the time point is recorded. If the force transmission efficiency difference at each time point is within the force transmission efficiency threshold range, the slope of the real-time relationship curve and the standard relationship curve obtained by query is calculated using adjacent data points, and the slopes of the real-time relationship curve and the standard relationship curve at each data point are compared. If the slopes of the two curves have the same positive and negative properties at each point and the values ​​are within the slope error threshold, it is determined that the trends of the two curves are consistent, and the output water diversion mechanism is operating in a normal state, otherwise the output water diversion mechanism is operating in an abnormal state.

[0045] In a second aspect, the present invention further provides a water guiding mechanism operation status monitoring system, the system comprising:

[0046] The acquisition module is used to install fiber grating sensors on the connecting rod and the relay of the water guide mechanism to obtain the corresponding real-time measurement point stress respectively;

[0047] The first calculation module is used to calculate the input torque and the output torque at each time point according to the real-time measurement point stress obtained on the relay and the real-time measurement point stress obtained on the connecting rod, and obtain the force transmission efficiency at each time point according to the input torque and the output torque;

[0048] A second calculation module is used to calculate the angular acceleration of the corresponding control loop according to the input torque at each time point, and obtain the relay operation stroke corresponding to each time point in the operation of the water guiding mechanism based on the angular acceleration of the control loop;

[0049] A relationship building module is used to obtain the current operating condition of the water-guiding mechanism according to the operating stroke of the relay, and to establish a curve relationship between the force transmission efficiency at each time point and the corresponding operating stroke of the relay based on the operating condition of the water-guiding mechanism to obtain a real-time relationship curve;

[0050] A database module, used to construct an operation curve database, in which the standard relationship curves between the force transmission efficiency of the water-guiding mechanism at each time point in the normal operation state under different working conditions and the operation stroke of the corresponding relay are stored;

[0051] The judgment module is used to query the corresponding standard relationship curve in the operation curve database according to the current operation condition of the water guide mechanism, compare the real-time relationship curve with the standard relationship curve obtained by the query, and judge and output the operation status of the water guide mechanism.

[0052] In a third aspect, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the water guiding mechanism operating status monitoring method when executing the computer program.

[0053] The water guide mechanism operation status monitoring method and system of the present invention have the following beneficial effects compared with the prior art:

[0054] (1) The curve relationship between the force transmission efficiency and the relay stroke during normal operation is constructed through the actually measured grating wavelength data. By comparing the curve of the actually measured force transmission efficiency and the relay stroke with that under normal conditions, it can effectively help to monitor the operating status of the water guide mechanism in real time and optimize the unit operation mode so as to capture abnormal information in time, thereby improving the accuracy and timeliness of the water guide mechanism operating status monitoring;

[0055] (2) The measurement of the fiber Bragg grating wavelength can be used to calculate the relay stroke, which requires the installation of additional displacement sensors, thereby reducing the use of sensors and avoiding the errors and drift problems that may exist in traditional displacement sensors, thereby improving the monitoring accuracy;

[0056] (3) The operating status of the water guiding mechanism is judged by comparing the real-time relationship curve with the standard relationship curve retrieved from the operating curve database. The dual judgment criteria of force transmission efficiency error and slope error are combined to improve the accuracy and reliability of the judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0058] Figure 1 It is a flowchart of the method for monitoring the operating status of the water guide mechanism of the present invention;

[0059] Figure 2 A top view of a water guide mechanism of the water guide mechanism operation status monitoring method of the present invention;

[0060] Figure 3 It is a schematic diagram of the guide vane arm of the water guide mechanism operating status monitoring method of the present invention. DETAILED DESCRIPTION

[0061] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] like Figure 1 As shown, a method for monitoring the operating status of a water guiding mechanism of the present invention comprises the following steps:

[0063] S1, fiber Bragg grating sensors are installed on the connecting rod and the relay of the water-guiding mechanism to obtain the corresponding real-time measurement point stress.

[0064] In step S1 of this embodiment, the water-guiding mechanism has two servomotors. A fiber grating sensor is installed on each servomotor and the connecting rod. The fiber grating sensor includes a strain grating and a temperature compensation grating. The corresponding wavelengths are measured respectively according to the strain grating and the temperature compensation grating, and the stress at the corresponding measurement point is calculated. The expression is:

[0065] F=σK S [(P S1 -P S0 )-K t (P t1 -P t0 )]

[0066] Where F is the stress at the measuring point, σ is the structural elastic modulus at the measuring point, and P S1 is the measurement wavelength of the strain grating at the measurement point, P S0 is the initial wavelength of the strain grating at the measuring point, P t1 is the measured wavelength of the temperature compensation grating at the measuring point, P t0 is the initial wavelength of the temperature compensation grating at the measurement point, K S K is the proportionality coefficient between strain and wavelength change, t is the temperature compensation coefficient.

[0067] It should be noted that the fiber Bragg grating sensor is a grating strain gauge with temperature compensation: two gratings are connected in series inside the fiber Bragg grating strain gauge, one of which is a strain grating whose wavelength is affected by both strain and temperature; the other is a temperature compensation grating whose wavelength is only affected by temperature and is used for temperature compensation; considering the long-term stability of the sensor, the sensor is fixed through the upper base and the lower base by welding, which improves the stability of the measurement data.

[0068] It can be understood that the fiber Bragg grating sensor in this embodiment transmits the optical signal detected by the transmission optical cable to the fiber Bragg grating signal demodulator at the data processing end. The fiber Bragg grating signal demodulator adopts a high sampling frequency fiber Bragg grating signal demodulator, which is powered by a large-capacity lithium battery and is used to demodulate the wavelength signal of the grating strain sensor and transmit it to the background monitoring end through a wireless transmission device.

[0069] The water-guiding mechanism mainly drives the control ring to rotate by the movement of the piston rod of the relay under oil pressure, and transmits the motion to the guide vane through the guide vane arm. The servomotor completes the process of converting the linear motion into the guide vane rotation. Therefore, the operating state of the water-guiding mechanism can be judged by calculating the force transmission efficiency from the input torque to the output torque and combining it with the working condition of the water-guiding mechanism, and the working condition of the water-guiding mechanism can be obtained through the stroke of the servomotor.

[0070] S2, according to the real-time measurement point stress obtained on the relay and the real-time measurement point stress obtained on the connecting rod, the input torque and the output torque at each time point are calculated respectively, and the force transmission efficiency at each time point is obtained according to the input torque and the output torque.

[0071] In step S2 of this embodiment, the force transmission efficiency at each time point is calculated based on the real-time measurement point stress obtained on the relay and the real-time measurement point stress obtained on the connecting rod; the step S2 includes the following sub-steps:

[0072] The real-time measurement point stress obtained on the relay is applied to the control loop, and the input torque corresponding to each time point is calculated. The expression is:

[0073] M in =M1+M2=F1×L1+F2×L2

[0074] Where M in is the input torque, M1 is the input torque of the first servomotor, M2 is the input torque of the second servomotor, F1 is the stress of the measuring point corresponding to the first servomotor, L1 is the vertical distance from the point of action of the first servomotor on the control ring to the center of the control ring, F2 is the stress of the measuring point corresponding to the second servomotor, and L2 is the vertical distance from the point of action of the second servomotor on the control ring to the center of the control ring;

[0075] It should be noted that fiber Bragg grating sensors are installed along the axial direction of the two push-pull rods of the water turbine guide mechanism to measure the acting force, and then the rotational torque applied to the control ring, ie, the input torque, is calculated using these measurement data.

[0076] The stress of the measuring point obtained on the connecting rod is applied to the guide vane shaft, and the output torque corresponding to each time point is calculated. The expression is:

[0077] M out =F3×L3×D

[0078] Where M out is the output torque, F3 is the stress at the measuring point on the connecting rod, L3 is the length of the guide vane arm, and D is the number of movable guide vanes;

[0079] It should be noted that the force is measured by the fiber grating sensor on the connecting rod of the water turbine water guide mechanism, the direction of which is the direction in which the connecting rod acts on the axis of the guide vane arm, and then these measurement data are used to calculate the rotational torque applied to the guide vane shaft, that is, the output torque.

[0080] According to the input torque and output torque corresponding to each time point, the force transmission efficiency at each time point is calculated and the expression is:

[0081]

[0082] Where η is the force transmission efficiency.

[0083] It should be noted that the force transmission efficiency can be a reference for judging the operating state of the water-guiding mechanism. If the force transmission efficiency changes suddenly, it can indicate that the state of the water-guiding mechanism is abnormal. However, it is inaccurate to judge the operating state of the water-guiding mechanism only by the force transmission efficiency. The force transmission efficiency is constantly changing during the movement of the transmission mechanism. It is usually the largest when the guide vanes are fully closed and the smallest when the guide vanes are fully open. Therefore, it is necessary to analyze it in combination with the specific operating conditions of the water-guiding mechanism. The servomotor stroke can reflect the different openings of the guide vanes, that is, the different operating conditions of the water-guiding mechanism, to a certain extent. Therefore, the servomotor stroke is introduced for combined analysis, and a calculation method from the fiber grating wavelength to the servomotor stroke is provided, without the need to install an additional displacement sensor.

[0084] S3, calculating the angular acceleration of the corresponding control loop according to the input torque at each time point, and obtaining the servomotor operation stroke corresponding to each time point in the operation of the water guiding mechanism based on the angular acceleration of the control loop.

[0085] In step S3 of this embodiment, the angular acceleration of the corresponding control ring is calculated according to the input torque at each time point, and the rotation angle of the control ring at each time point in the operation of the water guiding mechanism is obtained based on the angular acceleration of the control ring, including the following sub-steps:

[0086] According to the input torque at each time point, the corresponding angular acceleration of the control loop is calculated, and the expression is:

[0087]

[0088] Where a(t) is the angular acceleration at the current time point, M in (t) is the input torque at the current time point, I is the moment of inertia of the control loop;

[0089] According to the angular acceleration of the control loop at the current time point and the angular velocity at the previous time point, the angular velocity at the current time point is calculated and the expression is:

[0090] ω t =ω t-1 +α(t)×Δt

[0091] In the formula, ω t is the angular velocity at the current time point, ω t-1 is the angular velocity at the previous time point, a(t) is the angular acceleration at the current time point, and Δt is the duration from the previous time point to the current time point;

[0092] According to the angular velocity at the current time point and the rotation angle at the previous time point, the rotation angle of the control loop at the current time point is calculated. The expression is:

[0093]

[0094] In the formula, θ t is the rotation angle at the current time point, θ t-1 is the rotation angle at the previous time point;

[0095] According to the rotation angle of the control ring at each time point, the servomotor running stroke corresponding to each time point is calculated, where the calculation expression is:

[0096] S t =D arm ×sin[θ t / 2]

[0097] In the formula, S t is the relay running distance at the current time point, D arm To control the diameter of the large ear distribution circle of the ring.

[0098] In practice, the angular acceleration of the control loop is not constant, but changes all the time. In order to calculate the stroke of the relay, the high sampling frequency of the demodulator is used to gradually accumulate the rotation angle of the control loop using discrete time steps, and then the rotation angle is converted into the stroke of the relay through the geometric relationship of the control loop; it is assumed that the control loop is in uniform acceleration motion in each sampling period, which means that the acceleration is constant in each period. In theory, the higher the sampling frequency, the closer the calculated value is to the actual value; the static state of the guide vane of the water guide mechanism is fully closed as the initial point, the angular velocity is 0, the angle is 0, and the relay running stroke is 0.

[0099] S4, obtaining the current operating condition of the water guiding mechanism according to the operating stroke of the relay, and establishing a curve relationship between the force transmission efficiency at each time point and the corresponding operating stroke of the relay based on the operating condition of the water guiding mechanism to obtain a real-time relationship curve.

[0100] The operating conditions of the water guide mechanism in step S4 of this embodiment include opening and closing the guide vanes in a waterless state and opening and closing the guide vanes in a water-containing state;

[0101] The working condition of the water guiding mechanism is determined according to the changing trend of the relay operation stroke, wherein, when the relay operation stroke gradually increases with time, the water guiding mechanism is in the guide vane open state, when the relay operation stroke gradually decreases with time, the water guiding mechanism is in the guide vane closed state, and when the relay operation stroke remains unchanged with time, the water guiding mechanism is in a certain guide vane opening unchanged state.

[0102] In step S4 of the present embodiment, a curve relationship between the force transmission efficiency at each time point and the corresponding relay operating stroke is established based on the operating condition of the water guiding mechanism to obtain a real-time relationship curve, and a preset force transmission efficiency threshold range is included. The force transmission efficiency at each time point is obtained and compared with the force transmission efficiency threshold range. If the force transmission efficiency at each time point is not within the force transmission efficiency threshold range, an abnormality is prompted or corresponding measures are taken. If the force transmission efficiency at each time point is within the force transmission efficiency threshold range, a curve relationship between the force transmission efficiency at each time point and the corresponding relay operating stroke is established based on the operating condition of the water guiding mechanism to obtain a real-time relationship curve.

[0103] S5, constructing an operation curve database, wherein the operation curve database stores a standard relationship curve between the force transmission efficiency of the water guiding mechanism at each time point in the normal operation state under different working conditions and the corresponding relay operation stroke.

[0104] Step S5 in this embodiment includes taking the stop state as the initial state, performing point-by-point tests at different opening degrees according to the guide vane opening and closing process, calculating the force transmission efficiency of the normal operating state of the water guide mechanism under each operating condition and the operating stroke of the corresponding relay, constructing the relationship curve between the two under different operating conditions, obtaining the corresponding standard relationship curve under different operating conditions, and storing them in the operating curve database.

[0105] S6, querying a corresponding standard relationship curve in an operation curve database according to the current operation condition of the water guiding mechanism, comparing the real-time relationship curve with the standard relationship curve obtained by querying, and judging and outputting the operation state of the water guiding mechanism.

[0106] Step S6 includes the following sub-steps:

[0107] A force transmission efficiency error threshold range and a slope error threshold are preset, and the real-time relationship curve is compared with the standard relationship curve obtained by query, and the force transmission efficiency difference at each time point is calculated respectively. If the force transmission efficiency difference at each time point is not within the force transmission efficiency threshold range, an abnormality is prompted and the time point is recorded. If the force transmission efficiency difference at each time point is within the force transmission efficiency threshold range, the slope of the real-time relationship curve and the standard relationship curve obtained by query is calculated using adjacent data points, and the slopes of the real-time relationship curve and the standard relationship curve at each data point are compared. If the slopes of the two curves have the same positive and negative properties at each point and the values ​​are within the slope error threshold, it is determined that the trends of the two curves are consistent, and the output water diversion mechanism is operating in a normal state, otherwise the output water diversion mechanism is operating in an abnormal state.

[0108] It should be noted that the operating status of the water guiding mechanism is determined by comparing the real-time relationship curve with the standard relationship curve retrieved from the operating curve database; the dual judgment criteria of force transmission efficiency error and slope error are combined to improve the accuracy and reliability of the judgment.

[0109] In this embodiment, based on the actually measured grating wavelength data, a curve relationship between the force transmission efficiency and the relay stroke during normal operation is constructed, and a calculation method for each parameter therein is given. There is no need to additionally install a displacement sensor to calculate the relay stroke. By comparing the curve of the actually measured force transmission efficiency and the relay stroke with that under normal conditions, it can effectively help to monitor the operating status of the water guiding mechanism in real time, optimize the unit operation mode, so as to capture abnormal information in time, thereby improving the accuracy and timeliness of the water guiding mechanism operating status monitoring.

[0110] The present invention also provides a water guide mechanism operation status monitoring system, the system comprising:

[0111] The acquisition module is used to install fiber grating sensors on the connecting rod and the relay of the water guide mechanism to obtain the corresponding real-time measurement point stress respectively;

[0112] The first calculation module is used to calculate the input torque and the output torque at each time point according to the real-time measurement point stress obtained on the relay and the real-time measurement point stress obtained on the connecting rod, and obtain the force transmission efficiency at each time point according to the input torque and the output torque;

[0113] A second calculation module is used to calculate the angular acceleration of the corresponding control loop according to the input torque at each time point, and obtain the relay operation stroke corresponding to each time point in the operation of the water guiding mechanism based on the angular acceleration of the control loop;

[0114] A relationship building module is used to obtain the current operating condition of the water-guiding mechanism according to the operating stroke of the relay, and to establish a curve relationship between the force transmission efficiency at each time point and the corresponding operating stroke of the relay based on the operating condition of the water-guiding mechanism to obtain a real-time relationship curve;

[0115] A database module, used to construct an operation curve database, in which the standard relationship curves between the force transmission efficiency of the water-guiding mechanism at each time point in the normal operation state under different working conditions and the operation stroke of the corresponding relay are stored;

[0116] The judgment module is used to query the corresponding standard relationship curve in the operation curve database according to the current operation condition of the water guide mechanism, compare the real-time relationship curve with the standard relationship curve obtained by the query, and judge and output the operation status of the water guide mechanism.

[0117] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for monitoring the operating status of a water guiding mechanism when executing the computer program.

[0118] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0119] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for monitoring the operating status of a water guiding mechanism, characterized in that: The method comprises the following steps: S1, fiber Bragg grating sensors are installed on the connecting rod and the servomotor of the water-guiding mechanism to obtain the corresponding real-time measurement point stress respectively; S2, according to the real-time measurement point stress obtained on the relay and the real-time measurement point stress obtained on the connecting rod, respectively calculate the input torque and the output torque at each time point, and calculate the force transmission efficiency at each time point according to the input torque and the output torque; S3, calculating the angular acceleration of the corresponding control loop according to the input torque at each time point, and obtaining the servomotor operation stroke corresponding to each time point in the operation of the water guiding mechanism based on the angular acceleration of the control loop; S4, obtaining the current operating condition of the water-guiding mechanism according to the operating stroke of the relay, and establishing a curve relationship between the force transmission efficiency at each time point and the corresponding operating stroke of the relay based on the operating condition of the water-guiding mechanism to obtain a real-time relationship curve; S5, constructing an operation curve database, wherein the operation curve database stores a standard relationship curve between the force transmission efficiency of the water guide mechanism at each time point in a normal operation state under different working conditions and the operation stroke of the corresponding relay; S6, querying a corresponding standard relationship curve in an operation curve database according to the current operation condition of the water guiding mechanism, comparing the real-time relationship curve with the standard relationship curve obtained by querying, and judging and outputting the operation state of the water guiding mechanism.

2. The method for monitoring the operating status of a water guide mechanism according to claim 1, characterized in that: In step S1, the water-guiding mechanism has two servomotors. A fiber grating sensor is installed on each servomotor and the connecting rod. The fiber grating sensor includes a strain grating and a temperature compensation grating. The corresponding wavelengths are measured respectively according to the strain grating and the temperature compensation grating, and the stress at the corresponding measurement point is calculated. The expression is: F=σK S [(P S1 -P S0 )-K t (P t1 -P t0 )] Where F is the stress at the measuring point, σ is the structural elastic modulus at the measuring point, and P S1 is the measurement wavelength of the strain grating at the measurement point, P S0 is the initial wavelength of the strain grating at the measuring point, P t1 is the measured wavelength of the temperature compensation grating at the measuring point, P t0 is the initial wavelength of the temperature compensation grating at the measurement point, K S K is the proportionality coefficient between strain and wavelength change, t is the temperature compensation coefficient.

3. The method for monitoring the operating status of a water guide mechanism according to claim 2, characterized in that: In step S2, the force transmission efficiency at each time point is calculated based on the real-time measurement point stress obtained on the servomotor and the real-time measurement point stress obtained on the connecting rod; It includes the following sub-steps: The real-time measurement point stress obtained on the relay is applied to the control loop, and the input torque corresponding to each time point is calculated. The expression is: M in =M1+M2=F1×L1+F2×L2 Where M in is the input torque, M1 is the input torque of the first servomotor, M2 is the input torque of the second servomotor, F1 is the stress of the measuring point corresponding to the first servomotor, L1 is the vertical distance from the point of action of the first servomotor on the control ring to the center of the control ring, F2 is the stress of the measuring point corresponding to the second servomotor, and L2 is the vertical distance from the point of action of the second servomotor on the control ring to the center of the control ring; The stress of the measuring point obtained on the connecting rod is applied to the guide vane shaft, and the output torque corresponding to each time point is calculated. The expression is: M out =F3×L3×D Where M out is the output torque, F3 is the stress at the measuring point on the connecting rod, L3 is the length of the guide vane arm, and D is the number of movable guide vanes; According to the input torque and output torque corresponding to each time point, the force transmission efficiency at each time point is calculated and the expression is: In the formula, η is the force transmission efficiency.

4. The method for monitoring the operating status of a water guiding mechanism according to claim 3, characterized in that: The step S3 of calculating the angular acceleration of the corresponding control ring according to the input torque at each time point, and obtaining the rotation angle of the control ring at each time point during the operation of the water guiding mechanism based on the angular acceleration of the control ring, includes the following sub-steps: According to the input torque at each time point, the corresponding angular acceleration of the control loop is calculated, and the expression is: Where a(t) is the angular acceleration at the current time point, M in (t) is the input torque at the current time point, and I is the moment of inertia of the control loop; According to the angular acceleration of the control loop at the current time point and the angular velocity at the previous time point, the angular velocity at the current time point is calculated and expressed as: oh t =ω t-1 +a(t)×Δt In the formula, ω t is the angular velocity at the current time point, ω t-1 is the angular velocity at the previous time point, a(t) is the angular acceleration at the current time point, and Δt is the duration from the previous time point to the current time point; According to the angular velocity at the current time point and the rotation angle at the previous time point, the rotation angle of the control loop at the current time point is calculated. The expression is: In the formula, θ t is the rotation angle at the current time point, θ t-1 is the rotation angle at the previous time point; According to the rotation angle of the control ring at each time point, the servomotor running stroke corresponding to each time point is calculated, where the calculation expression is: s t =D arm ×sin[θ t / 2] In the formula, S t is the running distance of the relay at the current time point, D arm To control the diameter of the large ear distribution circle of the ring.

5. The method for monitoring the operating status of a water guiding mechanism according to claim 4, characterized in that: In step S4, the current operating condition of the water guide mechanism is obtained according to the operating stroke of the relay, wherein the operating condition of the water guide mechanism includes the operating condition of opening and closing the guide vane in a waterless state, the operating condition of opening and closing the guide vane in a water-containing state, and the operating condition of a certain guide vane opening being unchanged in a water-containing state; The working condition of the water guiding mechanism is determined according to the changing trend of the relay operation stroke, wherein, when the relay operation stroke gradually increases with time, the water guiding mechanism is in the guide vane open state, when the relay operation stroke gradually decreases with time, the water guiding mechanism is in the guide vane closed state, and when the relay operation stroke remains unchanged with time, the water guiding mechanism is in a certain guide vane opening unchanged state.

6. The method for monitoring the operating status of a water guiding mechanism according to claim 5, characterized in that: In step S4, a curve relationship between the force transmission efficiency at each time point and the corresponding relay operating stroke is established based on the operating condition of the water guiding mechanism to obtain a real-time relationship curve, which also includes a preset force transmission efficiency threshold range. The force transmission efficiency at each time point is obtained and compared with the force transmission efficiency threshold range. If the force transmission efficiency at each time point is not within the force transmission efficiency threshold range, an abnormality is prompted or corresponding measures are taken. If the force transmission efficiency at each time point is within the force transmission efficiency threshold range, a curve relationship between the force transmission efficiency at each time point and the corresponding relay operating stroke is established based on the operating condition of the water guiding mechanism to obtain a real-time relationship curve.

7. The method for monitoring the operating status of a water guiding mechanism according to claim 6, characterized in that: Step S5 constructs an operation curve database, which stores standard relationship curves of the force transmission efficiency of the water guiding mechanism at each time point in the normal operation state under different working conditions and the operation stroke of the corresponding relay, wherein the stop state is taken as the initial state, and the guide vane is opened and closed during the process of different openings. The force transmission efficiency of the water guiding mechanism in the normal operation state under each operating condition and the operation stroke of the corresponding relay are calculated, and the relationship curves of the two under different working conditions are constructed to obtain the corresponding standard relationship curves under different working conditions, which are stored in the operation curve database.

8. The method for monitoring the operating status of a water guiding mechanism according to claim 7, characterized in that: Step S6 is to query the corresponding standard relationship curve in the operation curve database according to the current operation condition of the water guiding mechanism, compare the real-time relationship curve with the standard relationship curve obtained by the query, and judge and output the operation state of the water guiding mechanism, which includes the following sub-steps: A force transmission efficiency error threshold range and a slope error threshold are preset, and the real-time relationship curve is compared with the standard relationship curve obtained by query, and the force transmission efficiency difference at each time point is calculated respectively. If the force transmission efficiency difference at each time point is not within the force transmission efficiency threshold range, an abnormality is prompted and the time point is recorded. If the force transmission efficiency difference at each time point is within the force transmission efficiency threshold range, the slope of the real-time relationship curve and the standard relationship curve obtained by query is calculated using adjacent data points, and the slopes of the real-time relationship curve and the standard relationship curve at each data point are compared. If the slopes of the two curves have the same positive and negative properties at each point and the values ​​are within the slope error threshold, it is determined that the trends of the two curves are consistent, and the output water diversion mechanism is operating in a normal state, otherwise the output water diversion mechanism is operating in an abnormal state.

9. A water guide mechanism operation status monitoring system, characterized in that: The system comprises: The acquisition module is used to install fiber grating sensors on the connecting rod and the relay of the water guide mechanism to obtain the corresponding real-time measurement point stress respectively; The first calculation module is used to calculate the input torque and the output torque at each time point according to the real-time measurement point stress obtained on the relay and the real-time measurement point stress obtained on the connecting rod, and obtain the force transmission efficiency at each time point according to the input torque and the output torque; A second calculation module is used to calculate the angular acceleration of the corresponding control loop according to the input torque at each time point, and obtain the relay operation stroke corresponding to each time point in the operation of the water guiding mechanism based on the angular acceleration of the control loop; A relationship building module is used to obtain the current operating condition of the water-guiding mechanism according to the operating stroke of the relay, and to establish a curve relationship between the force transmission efficiency at each time point and the corresponding operating stroke of the relay based on the operating condition of the water-guiding mechanism to obtain a real-time relationship curve; A database module, used to construct an operation curve database, in which the standard relationship curves between the force transmission efficiency of the water-guiding mechanism at each time point in the normal operation state under different working conditions and the operation stroke of the corresponding relay are stored; The judgment module is used to query the corresponding standard relationship curve in the operation curve database according to the current operation condition of the water guide mechanism, compare the real-time relationship curve with the standard relationship curve obtained by the query, and judge and output the operation status of the water guide mechanism.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for monitoring the operating status of a water guiding mechanism according to any one of claims 1 to 8 when executing the computer program.

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