A method and system for monitoring the operating status of a water guide mechanism

Abstract

The present invention proposes a method and system for monitoring the operating status of a water guide mechanism. The method includes the following steps: installing fiber grating sensors on both a connecting rod and a servomotor of the water guide mechanism to obtain corresponding real-time measurement point stresses; calculating the input torque and output torque at each time point based on the real-time measurement point stresses obtained on the servomotor and the real-time measurement point stresses obtained on the connecting rod, and obtaining the force transmission efficiency at each time point based on the input torque and the output torque; the method constructs a curve relationship between the force transmission efficiency and the servomotor stroke during normal operation using actually measured grating wavelength data, and by comparing the curve of the actually measured force transmission efficiency and the servomotor stroke with that under normal conditions, the method can effectively help monitor the operating status of the water guide mechanism in real time, optimize the unit operation mode, and promptly capture abnormal information, thereby improving the accuracy and timeliness of the water guide mechanism operating status monitoring.

Description

Technical Field

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

[0002] The water guide mechanism is a core component of a hydro turbine. The water guide mechanism rotates the control ring through the movement of the servo's piston rod under oil pressure. The motion is transmitted to the guide vanes via the guide vane arms. The servo converts linear motion into guide vane rotation. It primarily controls the direction and flow of water entering the turbine unit. Long-term, high-frequency regulation tasks subject the water guide mechanism to a complex stress environment, making it prone to wear and cracks. This can lead to large dead zones in the tightly fitted transmission connections, resulting in longer response times and lower regulation rates, directly impacting the unit's safe operation.

[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 include a rotating shaft and a guide blade connected to the front end of the rotating shaft. It also includes sliders evenly distributed on the control ring and a guide vane arm connected to the rear end of the rotating shaft. A sliding hole is opened on the guide vane arm, and the slider is 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 meter reading to perform routine tests on the water-guiding mechanism. However, this method is based on the assumption that each relay maintains symmetry and the water-guiding mechanism is a statically determinate system. Therefore, there are errors between the test results and the actual results, thereby reducing the accuracy and timeliness of the water-guiding mechanism's 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 utilizes fiber Bragg gratings to achieve quasi-distributed detection and, combined with the operating conditions of the water-guiding mechanism, provides real-time judgment of the operating status of the water-guiding mechanism combined with measured data, 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 servomotor of the water guide mechanism to obtain the corresponding real-time measurement point stress;

[0008] S2, based on 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 output torque at each time point, and calculate the force transmission efficiency at each time point based on the input torque and output torque;

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

[0010] S4, obtaining the current operating condition of the water guide 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 guide 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 and the corresponding relay operation stroke at each time point in the normal operation state under different working conditions;

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

[0013] Based on the above technical solution, preferably, the water-guiding mechanism in step S1 has two servomotors, and a fiber Bragg grating sensor is installed on each servomotor and the connecting rod. The fiber Bragg grating sensor includes a strain grating and a temperature compensation grating. The corresponding wavelengths are measured by the strain grating and the temperature compensation grating respectively, and the stress at the corresponding measurement point is calculated. 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 measurement point, P t1 is the measurement wavelength of the temperature compensation grating at the measurement point, P t0 is the initial wavelength of the temperature compensation grating at the measurement point, K S K is the proportional coefficient of strain and wavelength change, t is the temperature compensation coefficient.

[0016] On the basis of the above technical solution, preferably, the step S2 of calculating the force transmission efficiency at each time point based on the real-time measurement point stress obtained on the servomotor and the real-time measurement point stress obtained on the connecting rod 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 at the measuring point corresponding to the first servomotor, L1 is the vertical distance from the point where the first servomotor acts on the control ring to the center of the control ring, F2 is the stress at the measuring point corresponding to the second servomotor, and L2 is the vertical distance from the point where the second servomotor acts on the control ring to the center of the control ring;

[0020] The stress at the measuring point 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] Based on the above technical solution, preferably, the step S3 of calculating the corresponding angular acceleration of the 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 diversion 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 as follows:

[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, 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] Where, 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] Where 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 relay running stroke corresponding to each time point is calculated, where the calculation expression is:

[0037] S t =D arm ×sin[θ t / 2]

[0038] Where 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] Based on the above technical solution, preferably, 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 an operating condition of opening and closing the guide vanes in a waterless state, an operating condition of opening and closing the guide vanes in a water-containing state, and an operating condition in which a certain guide vane opening is unchanged in a water-containing state;

[0040] The working condition of the water guide mechanism is determined according to the changing trend of the servomotor's operating stroke. When the servomotor's operating stroke gradually increases over time, the water guide mechanism is in a guide vane-open state. When the servomotor's operating stroke gradually decreases over time, the water guide mechanism is in a guide vane-closed state. When the servomotor's operating stroke remains unchanged over time, the water guide mechanism is in a state where a certain guide vane opening remains unchanged.

[0041] On the basis of the above technical solution, 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 conditions 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 obtained at each time point is 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 conditions 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, which stores standard relationship curves of the force transmission efficiency of the water guide mechanism at each time point in the normal operating state under different operating conditions and the operating stroke of the corresponding relay. Taking the stopped state as the initial state, point-by-point tests are performed at different opening degrees during the guide vane opening and closing process. The force transmission efficiency of the water guide mechanism in the normal operating state under each operating condition and the operating stroke of the corresponding relay are calculated, and relationship curves between the two under different operating conditions are constructed to obtain corresponding standard relationship curves under different operating conditions. These curves are stored in the operation curve database.

[0043] Based on the above technical solution, preferably, step S6 includes querying a corresponding standard relationship curve in an operation curve database according to the current operating condition of the water guide mechanism, comparing the real-time relationship curve with the standard relationship curve obtained by query, and determining and outputting the operating status of the water guide mechanism, which includes the following sub-steps:

[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 sign 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 normally. Otherwise, the output water diversion mechanism is operating abnormally.

[0045] In a second aspect, the present invention further provides a water guide 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;

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

[0048] a second calculation module, configured to calculate the angular acceleration of the corresponding control loop according to the input torque at each time point, and obtain the servomotor operation stroke corresponding to each time point in the operation of the water guide 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 guide mechanism according to the relay operating stroke, and to establish a curve relationship between the force transmission efficiency at each time point and the corresponding relay operating stroke based on the water guide mechanism operating condition, thereby obtaining a real-time relationship curve;

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

[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 the operation status of the output 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 method for monitoring the operating status of a water guiding mechanism 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) By using the actual measured grating wavelength data, a curve relationship between the force transmission efficiency and the relay stroke during normal operation is constructed. By comparing the curve of the actual 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 guide 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0058] Figure 1 Flow chart of the method for monitoring the operating status of a water guide mechanism according to the present invention;

[0059] Figure 2 A top view of a water guide mechanism in a method for monitoring the operating status of a water guide mechanism according to the present invention;

[0060] Figure 3 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 embodiments described 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 making creative efforts 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 guide mechanism of the present invention comprises the following steps:

[0063] S1, fiber Bragg grating sensors are installed on the connecting rod and relay of the water guide 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 Bragg grating sensor is installed on each servomotor and the connecting rod. The fiber Bragg grating sensor includes a strain grating and a temperature compensation grating. The strain grating and the temperature compensation grating respectively measure the corresponding wavelengths and calculate the stress at the corresponding measurement point. 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 measurement point, P t1 is the measurement wavelength of the temperature compensation grating at the measurement point, P t0 is the initial wavelength of the temperature compensation grating at the measurement point, K S K is the proportional coefficient of 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 and lower bases by welding, which improves the stability of the measurement data.

[0068] It can be understood that the optical signal detected by the fiber Bragg grating sensor in this embodiment is transmitted to the fiber Bragg grating signal demodulator at the data processing end through the transmission optical cable. 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. The movement is transmitted to the guide vane through the guide vane arm. The relay completes the process of converting linear motion into guide vane rotation. Therefore, the operating status of the water-guiding mechanism can be determined by calculating the transmission efficiency from input torque to output torque and combining it with the working condition of the water-guiding mechanism. The working condition of the water-guiding mechanism can be obtained by the stroke of the relay.

[0070] S2, based on 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 output torque at each time point, and obtain the force transmission efficiency at each time point based on the input torque and 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 servomotor 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 at the measuring point corresponding to the first servomotor, L1 is the vertical distance from the point where the first servomotor acts on the control ring to the center of the control ring, F2 is the stress at the measuring point corresponding to the second servomotor, and L2 is the vertical distance from the point where the second servomotor acts 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 turbine water guide mechanism to measure the acting force, and then the rotational torque applied to the control ring, that is, the input torque, is calculated using these measurement data.

[0076] The stress at the measuring point 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 acting on the guide vane shaft is measured by using a fiber Bragg grating sensor on the connecting rod of the turbine's water guide mechanism. The direction of the force is the direction in which the connecting rod acts on the axis of the guide vane arm. These measurement data are then used to calculate the rotational torque applied to the guide vane shaft, i.e., 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 used as a reference for judging the operating status of the water-guiding mechanism. If the force transmission efficiency changes suddenly, it may indicate that the state of the water-guiding mechanism is abnormal. However, it is inaccurate to judge the operating status of the water-guiding mechanism solely by the force transmission efficiency. The force transmission efficiency changes continuously during the movement of the transmission mechanism, and 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 relay stroke can, to a certain extent, reflect the different openings of the guide vanes, that is, the different operating conditions of the water-guiding mechanism. Therefore, the relay stroke is introduced for combined analysis, and a calculation method from the fiber grating wavelength to the relay stroke is provided, without the need to install an additional displacement sensor.

[0084] S3, calculating the corresponding angular acceleration of the 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 guide 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 during the operation of the water diversion mechanism is obtained based on the angular acceleration of the control ring. The steps include the following sub-steps:

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

[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 expressed as:

[0090] ω t =ω t-1 +α(t)×Δt

[0091] Where, 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] Where 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 relay running stroke corresponding to each time point is calculated, where the calculation expression is:

[0096] S t =D arm ×sin[θ t / 2]

[0097] Where 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. 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. The rotation angle is then 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 within each sampling period, which means that the acceleration is constant within each period. In theory, the higher the sampling frequency, the closer the calculated value is to the actual value. The static state of the water guide vane is fully closed as the initial point, with an angular velocity of 0, an angle of 0, and a servomotor operating stroke of 0.

[0099] S4, obtaining the current operating condition of the water guide 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 guide 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 guide mechanism is determined according to the changing trend of the servomotor's operating stroke. When the servomotor's operating stroke gradually increases over time, the water guide mechanism is in a guide vane-open state. When the servomotor's operating stroke gradually decreases over time, the water guide mechanism is in a guide vane-closed state. When the servomotor's operating stroke remains unchanged over time, the water guide mechanism is in a state where a certain guide vane opening remains unchanged.

[0102] In step S4 of this 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 conditions of the water-guiding mechanism to obtain a real-time relationship curve. The curve relationship also includes a preset force transmission efficiency threshold range. The force transmission efficiency obtained at each time point is 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 indicated 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 conditions 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 guide mechanism and the corresponding relay operation stroke at each time point in the normal operation state under different working conditions.

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

[0105] S6, querying the corresponding standard relationship curve in the operation curve database according to the current operation condition of the water guide mechanism, comparing the real-time relationship curve with the standard relationship curve obtained by querying, and judging and outputting the operation status of the water guide 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 sign 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 normally. Otherwise, the output water diversion mechanism is operating abnormally.

[0108] It should be noted that the operating status of the water guide 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 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 is provided. This eliminates the need to install an additional displacement sensor to calculate the relay stroke. By comparing the curves of the actually measured force transmission efficiency and relay stroke with those under normal conditions, it can effectively help monitor the operating status of the water guide mechanism in real time, optimize the unit operation mode, and promptly capture abnormal information, thereby improving the accuracy and timeliness of the water guide 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;

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

[0113] a second calculation module, configured to calculate the angular acceleration of the corresponding control loop according to the input torque at each time point, and obtain the servomotor operation stroke corresponding to each time point in the operation of the water guide 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 guide mechanism according to the relay operating stroke, and to establish a curve relationship between the force transmission efficiency at each time point and the corresponding relay operating stroke based on the water guide mechanism operating condition, thereby obtaining a real-time relationship curve;

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

[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 the operation status of the output 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 guide 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 flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, 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 flowcharts and / or block diagrams. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified 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 and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the 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 by the scope of protection of the claims of the present invention.

Claims

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

2. The method for monitoring the operating status of a water guide mechanism according to claim 1, wherein: In step S1, the water-guiding mechanism has two servomotors. A fiber Bragg grating sensor is installed on each servomotor and the connecting rod. The fiber Bragg grating sensor includes a strain grating and a temperature compensation grating. The strain grating and the temperature compensation grating respectively measure the corresponding wavelengths and calculate the stress at the corresponding measurement point. 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 measurement point, P t1 is the measurement wavelength of the temperature compensation grating at the measurement point, P t0 is the initial wavelength of the temperature compensation grating at the measurement point, K S K is the proportional coefficient of 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, wherein: 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; The following sub-steps are included: 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 at the measuring point corresponding to the first servomotor, L1 is the vertical distance from the point where the first servomotor acts on the control ring to the center of the control ring, F2 is the stress at the measuring point corresponding to the second servomotor, and L2 is the vertical distance from the point where the second servomotor acts on the control ring to the center of the control ring; The stress at the measuring point 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: Where η is the force transmission efficiency.

4. The method for monitoring the operating status of a water guide mechanism according to claim 3, wherein: Step S3, calculating the corresponding angular acceleration of the 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 diversion 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 as follows: 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; 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 Where, 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: Where 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 relay running stroke corresponding to each time point is calculated, where the calculation expression is: s t =D arm ×sin[θ t / 2] Where 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 guide mechanism according to claim 4, wherein: 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 an operating condition of opening and closing the guide vanes in a waterless state, an operating condition of opening and closing the guide vanes in a water-containing state, and an operating condition of a constant guide vane opening in a water-containing state; The working condition of the water guide mechanism is determined according to the changing trend of the servomotor's operating stroke. When the servomotor's operating stroke gradually increases over time, the water guide mechanism is in a guide vane-open state. When the servomotor's operating stroke gradually decreases over time, the water guide mechanism is in a guide vane-closed state. When the servomotor's operating stroke remains unchanged over time, the water guide mechanism is in a state where a certain guide vane opening remains unchanged.

6. The method for monitoring the operating status of a water guide mechanism according to claim 5, wherein: 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 conditions of the water-guiding mechanism to obtain a real-time relationship curve. The curve relationship also includes a preset force transmission efficiency threshold range. The force transmission efficiency obtained at each time point is 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 conditions of the water-guiding mechanism to obtain a real-time relationship curve.

7. The method for monitoring the operating status of a water guide mechanism according to claim 6, wherein: In step S5, an operation curve database is constructed. The operation curve database stores standard relationship curves of the force transmission efficiency of the water guide mechanism and the corresponding relay operating stroke at each time point in the normal operation state under different operating conditions. The operation curve database uses the stopped state as the initial state, and tests are performed point by point at different opening degrees during the guide vane opening and closing process. The force transmission efficiency of the water guide mechanism in the normal operation state and the corresponding relay operating stroke under each operating condition are calculated, and relationship curves between the two under different operating conditions are constructed to obtain the corresponding standard relationship curves under different operating conditions. The curves are stored in the operation curve database.

8. The method for monitoring the operating status of a water guide mechanism according to claim 7, wherein: Step S6, according to the current operating condition of the water guide mechanism, searches the operating curve database for a corresponding standard relationship curve, compares the real-time relationship curve with the standard relationship curve obtained by the search, and determines and outputs the operating status of the water guide 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 sign 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 normally. Otherwise, the output water diversion mechanism is operating abnormally.

9. A water guide mechanism operation status monitoring system, characterized by: 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; A first calculation module is used to calculate the input torque and output torque at each time point based on the real-time measurement point stress obtained on the relay and the real-time measurement point stress obtained on the connecting rod, and to obtain the force transmission efficiency at each time point based on the input torque and the output torque; a second calculation module, configured to calculate the angular acceleration of the corresponding control loop according to the input torque at each time point, and obtain the servomotor operation stroke corresponding to each time point in the operation of the water guide 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 guide mechanism according to the relay operating stroke, and to establish a curve relationship between the force transmission efficiency at each time point and the corresponding relay operating stroke based on the water guide mechanism operating condition, thereby obtaining a real-time relationship curve; A database module is used to construct an operation curve database, which stores a standard relationship curve between the force transmission efficiency of the water guide mechanism and the corresponding relay operation stroke at each time point in the normal operation state under different working conditions; 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 the operation status of the output 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 guide mechanism according to any one of claims 1 to 8 when executing the computer program.

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