Water turbine step-by-step speed regulation method and system based on double-PLC control

Abstract

The invention provides a water turbine stepping speed regulation method and system based on double-PLC control. The method comprises the steps that operation parameters of a water turbine are collected through a sensor; the operation parameters are processed through the double-PLC control system and compared with a preset set value to generate a deviation signal, proportion, integration and differential operation is conducted on the deviation signal, and a control signal is generated; the control signal is transmitted to a stepping motor linear displacement converter to be converted into mechanical displacement; the guide vane opening adjusting mechanism is driven by mechanical displacement, the guide vane opening is adjusted, and the flow entering the water turbine is changed; through a closed-loop feedback mechanism, changes of the rotating speed and the power of the water turbine caused by flow changes are continuously monitored, control signals are dynamically adjusted according to the changes of the rotating speed and the power of the water turbine, and stable control over the rotating speed and the output of the water turbine is achieved. And the other set of PLC can seamlessly replace the control task, so that the reliability of the control system is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of speed regulation control, in particular to a water turbine step-type speed regulation method and system based on double PLC control. BACKGROUND

[0002] The water turbine speed regulation system is the core control system of a hydropower station, and its reliability and control precision are directly related to the stability of the power grid and the safety of the unit. The traditional speed regulation system often uses a single PLC (Programmable Logic Controller) or an analog circuit for control. However, due to the single control system, when the core controller fails, it is easy to cause the entire speed regulation system to malfunction, and the system reliability is insufficient, which becomes a potential weak link for the safe and stable operation of the hydro-generator unit.

[0003] Therefore, how to provide a water turbine speed regulation method for improving the reliability of the control system has become a technical problem that technicians in the field need to solve. SUMMARY

[0004] The present application provides a water turbine step-type speed regulation method and system based on double PLC control to solve the defect of poor control system reliability in the prior art water turbine speed regulation method.

[0005] In a first aspect, the present application provides a water turbine step-type speed regulation method based on double PLC control, comprising: Collecting the operating parameters of the water turbine through a sensor, the operating parameters including a speed signal, a power signal and a guide vane position signal; Processing the operating parameters through a double PLC control system and comparing them with preset set values to generate a deviation signal; Performing proportional, integral and differential operations on the deviation signal by a microcomputer regulator to generate a control signal; Transmitting the control signal to a step motor linear displacement converter, and converting the control signal to mechanical displacement by the step motor linear displacement converter; Driving a guide vane opening adjustment mechanism with the mechanical displacement to adjust the guide vane opening and change the flow into the water turbine; Continuously monitoring the changes in the speed and power of the water turbine caused by the changes in the flow through a closed-loop feedback mechanism, and dynamically adjusting the control signal according to the changes in the speed and power of the water turbine to achieve stable control of the speed and output of the water turbine.

[0006] According to the water turbine step-type speed regulation method based on double PLC control provided by the present application, the processing of the operating parameters by the double PLC control system and the comparison with the preset set values to generate a deviation signal comprises: The first PLC in the double-PLC control system receives and processes the rotation speed signal, compares the processed rotation speed signal with a rotation speed set value, and generates a rotation speed deviation signal; The second PLC in the double-PLC control system receives and processes the power signal, compares the processed power signal with a power set value, and generates a power deviation signal.

[0007] The water turbine step-by-step speed regulation method based on double-PLC control provided by the application further comprises: The first PLC and the second PLC exchange real-time data through a high-speed communication bus, and share the rotation speed deviation signal and the power deviation signal; Based on the shared rotation speed deviation signal and power deviation signal, the first PLC and the second PLC respectively generate corresponding local coordination signals through weighted fusion calculation according to preset weight coefficients; The local coordination signals are processed through a preset arbitration logic to determine a unified coordination deviation signal; The coordination deviation signal is sent to a microcomputer regulator.

[0008] The water turbine step-by-step speed regulation method based on double-PLC control provided by the application, the processing of the local coordination signals through the preset arbitration logic comprises: In a normal system operation state, the arbitration logic adopts the local coordination signal generated by the first PLC as the coordination deviation signal by default; The second PLC continuously monitors the operation state of the first PLC, and triggers the arbitration logic to switch when a communication interruption or a calculation timeout fault of the first PLC is monitored; The arbitration logic performs automatic switching, and instead adopts the local coordination signal generated by the second PLC as the coordination deviation signal, thereby maintaining uninterrupted control of the system.

[0009] The water turbine step-by-step speed regulation method based on double-PLC control provided by the application, the conversion of the control signal into mechanical displacement by the step motor linear displacement converter comprises: The step motor in the step motor linear displacement converter is driven by the pulse signal output by the microcomputer regulator; The rotation angle of the step motor is controlled by controlling the pulse number of the pulse signal, thereby controlling the linear stroke of the mechanical displacement, the rotation speed of the step motor is controlled by controlling the pulse frequency of the pulse signal, thereby controlling the guide vane opening adjustment speed, and the guide vane opening is locked at a specified position by the inherent self-locking characteristic of the step motor when there is no pulse signal, thereby keeping the mechanical displacement fixed.

[0010] The water turbine step-type speed regulation method based on double PLC control provided by the application utilizes the mechanical displacement to drive the guide vane opening adjusting mechanism, adjusts the guide vane opening, changes the flow entering the water turbine, and comprises the following steps. The mechanical displacement is transmitted to the mechanical linkage mechanism through the output rod of the step motor linear displacement converter; The linear motion of the output rod is converted into the rotation of the toggle lever connected with the water turbine control ring through the mechanical linkage mechanism; The rotation of the toggle lever drives the synchronous motion of the multiple guide vane linkages uniformly distributed on the control ring, drives the water turbine movable guide vanes to rotate around the axis, changes the opening of all the movable guide vanes, and realizes the regulation of the flow entering the water turbine.

[0011] The water turbine step-type speed regulation method based on double PLC control provided by the application dynamically adjusts the control signal according to the water turbine speed and power changes, and comprises the following steps. After the microcomputer regulator completes one PID operation and outputs the control signal, the real-time speed and power of the water turbine are collected again through the sensor; The collected real-time values are compared with the preset set values through the double PLC control system to generate new deviation signals; The microcomputer regulator performs recursive operation based on the new deviation signals and the preset PID control parameters to calculate updated control signals; The updated control signals are output to the step motor linear displacement converter to start a new regulation cycle and form a continuously running closed-loop negative feedback control system.

[0012] The water turbine step-type speed regulation method based on double PLC control provided by the application further comprises the following steps. The microcomputer regulator or double PLC control system receives an external mode switching instruction, and the switching instruction is used to select between the speed control mode and the power control mode; The double PLC system takes the guide vane opening value in the current running state as the tracking target of mode switching; The step motor linear displacement converter maintains the guide vane opening value in the current state until the control signal in the new control mode is established; The double PLC system executes switching logic to smoothly hand over the control right to the deviation signal corresponding to the selected control mode.

[0013] The water turbine step-type speed regulation method based on double PLC control provided by the application further comprises the following steps. The double PLC system continuously cross-diagnoses the running state, the communication link state and the feedback state of the linear displacement converter of the stepper motor of each other; When any PLC in the double PLC system diagnoses an abnormal state, corresponding hierarchical early warning information is immediately generated and displayed on the control cabinet man-machine interface; The double PLC system uploads the key hierarchical early warning information to the power station level monitoring system at the same time, and when a serious fault is diagnosed, the double PLC system cooperates with the logic to drive the guide vane opening adjusting mechanism to perform the preset safe shutdown action.

[0014] In a second aspect, the application provides a water turbine step-type speed regulation system based on double PLC control, comprising: A collection module is configured to collect running parameters of the water turbine through sensors, wherein the running parameters include a speed signal, a power signal and a guide vane position signal; A comparison module is configured to process the running parameters through the double PLC control system and compare them with preset set values to generate a deviation signal; An operation module is configured to perform proportional, integral and differential operations on the deviation signal by a microcomputer regulator to generate a control signal; A conversion module is configured to transmit the control signal to a linear displacement converter of a stepper motor, and convert the control signal into mechanical displacement by the linear displacement converter of the stepper motor; An adjustment module is configured to drive a guide vane opening adjusting mechanism by the mechanical displacement to adjust the guide vane opening and change the flow rate into the water turbine; A feedback module is configured to continuously monitor the changes in the speed and power of the water turbine caused by the changes in the flow rate through a closed-loop feedback mechanism, and dynamically adjust the control signal according to the changes in the speed and power of the water turbine to achieve stable control of the speed and output of the water turbine.

[0015] In a third aspect, the application 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 executes the program to implement the water turbine step-type speed regulation method based on double PLC control as described above.

[0016] In a fourth aspect, the application further provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executable by a processor to implement the water turbine step-type speed regulation method based on double PLC control as described above.

[0017] In a fifth aspect, the application further provides a computer program product comprising a computer program, wherein the computer program is executable by a processor to implement the water turbine step-type speed regulation method based on double PLC control as described above.

[0018] Advantages The water turbine step-type speed regulation method based on double PLC control provided by the application greatly improves the overall reliability and fault tolerance of the water turbine speed regulation system through the cooperative work of the double PLC control system and the step-type electric-displacement servo system. When one of the PLCs fails, the other PLC can seamlessly take over the control task, effectively avoiding the unplanned shutdown of the unit caused by a single point failure, ensuring the continuous safe and stable operation of the hydro-generator unit. The processing advantages of the double PLC system and the precise displacement control of the step motor are combined, further bringing a series of cooperative advantages such as high control precision, fast response speed, and smooth regulation process, effectively improving the reliability of the control system. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a flowchart of the water turbine step-type speed regulation method based on double PLC control provided by the embodiment; Figure 2 is a structural schematic diagram of the water turbine step-type speed regulation system based on double PLC control provided by the embodiment; Figure 3 is a structural schematic diagram of the electronic device provided by the embodiment. DETAILED DESCRIPTION

[0021] In order to make the objects, technical solutions and advantages of the application clearer, the technical solutions in the application will be described clearly and completely in the following with reference to the drawings in the application. Obviously, the described embodiments are some of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

[0022] Figure 1 is a flowchart of the water turbine step-type speed regulation method based on double PLC control provided by the embodiment.

[0023] As Figure 1As shown, in order to solve the technical problem that the traditional water turbine speed regulation system is prone to failure due to the single controller, the water turbine step speed regulation method based on double PLC control provided by the embodiment of the application completely integrates the core components, signal conversion and control logic of the speed regulation system, and mainly includes the following steps: 101, collecting the operating parameters of the water turbine through a sensor, the operating parameters including a speed signal, a power signal and a guide vane position signal.

[0024] Specifically, in order to obtain real-time operating state data of the water turbine to support subsequent control decisions, sensors adapted to the operating characteristics of the water turbine are used to collect the speed signal of the water turbine generator set, the power signal reflecting the output of the unit, and the guide vane position signal for monitoring the state of the regulating mechanism. All sensors are electrically connected to the signal acquisition module of the double PLC control system in the control cabinet, and the raw signals collected are transmitted to the double PLC control system after standardized processing. This way can guarantee the stability and reliability of data transmission, and provide a real and effective data source for subsequent parameter processing and control signal generation.

[0025] 102, processing the operating parameters through the double PLC control system and comparing them with the preset set value to generate a deviation signal.

[0026] Specifically, the first PLC in the double PLC control system is responsible for receiving and processing the speed signal. The speed signal is first subjected to anti-interference processing to filter out signal noise caused by external factors such as power grid fluctuations and mechanical vibrations, and then the actual speed value after processing is compared with the preset speed target value to calculate the speed deviation data. The second PLC is responsible for receiving and processing the power signal. After the same anti-interference and scale adaptation processing, the actual power value is compared with the preset power target value to calculate the power deviation data. The division of labor not only improves the data processing efficiency, but also ensures the focus of single parameter processing.

[0027] The high-speed communication bus meets the real-time data transmission requirements of the system, and a real-time data exchange channel is established between the first PLC and the second PLC. Both sides continuously exchange the speed deviation data and power deviation data calculated by each other, ensuring that both PLCs can obtain complete deviation information, avoiding one-sided control decisions due to data loss, and ensuring the completeness of the control basis.

[0028] The two PLCs respectively preset a weight coefficient according to the actual operating requirements of the power station, and perform weighted fusion calculation on the shared speed deviation data and power deviation data to generate local collaborative data respectively, ensuring that the control basis can take into account the speed and power regulation requirements, and avoiding the limitations of single parameter control.

[0029] The system is built-in arbitration logic to determine the final collaborative control basis, normal operation, the arbitration logic defaults to the first PLC generated local collaborative data. At the same time, the second PLC continuously monitors the running state of the first PLC, including whether the communication link is smooth, the deviation calculation is timed out, etc. Once the first PLC is monitored to have communication interruption, calculation timeout and other failures, the arbitration logic immediately triggers the switching mechanism automatically, and the local collaborative data generated by the second PLC is used instead. Through the switching mode, it can ensure that the entire control process does not interrupt, completely solve the problem of speed regulation system failure caused by traditional single PLC failure, and greatly improve the fault tolerance and operation reliability of the system.

[0030] 103. The microcomputer regulator performs proportional, integral, and differential operations on the deviation signal to generate a control signal.

[0031] Specifically, after the microcomputer regulator connected with the double-PLC signal output end receives the collaborative control basis transmitted by the double-PLC, it performs operations according to the preset PID (proportional, integral, and differential) regulation rule. During the operation process, the proportional element quickly responds to the deviation, the integral element eliminates the static deviation, and the differential element suppresses the deviation trend, and finally converts the collaborative control basis into a pulse form control signal. This regulation method not only considers the rapidity and stability of the regulation, avoids the problems of overshoot or regulation lag, but also provides accurate electrical signal instructions for subsequent mechanical displacement control.

[0032] 104. The control signal is transmitted to the step motor linear displacement converter, and the step motor linear displacement converter converts the control signal into mechanical displacement.

[0033] Specifically, the pulse signal output by the microcomputer regulator directly drives the built-in step motor of the converter to rotate, and the number of pulses has a fixed corresponding relationship with the rotation angle of the step motor, thereby accurately controlling the linear travel of the output shaft of the step motor, i.e. mechanical displacement. The more the number of pulses, the greater the mechanical displacement, which can ensure the accuracy of displacement control and meet the fine adjustment requirements of the guide vane opening of the water turbine.

[0034] The frequency of the pulse signal determines the rotation speed of the step motor. The higher the frequency, the faster the motor speed, and finally the control of the guide vane opening adjustment speed is realized. According to the adjustment requirements under different working conditions, such as starting, grid connection, and load adjustment, different adjustment speeds can be adapted to improve the flexibility of adjustment.

[0035] The step motor has inherent self-locking characteristics. When there is no pulse signal input, the motor rotor remains in a fixed state, and the mechanical displacement will not be shifted due to external factors such as water flow impact and vibration. This method can ensure that the guide vane opening can be stably locked at the specified position, avoid the interference of non-instructional opening changes on the operation of the water turbine, and ensure the operation stability.

[0036] 105. The mechanical displacement drives the guide vane opening adjustment mechanism to adjust the guide vane opening and change the flow into the water turbine.

[0037] Specifically, the displacement of the stepper motor is converted into a change in the guide vane opening by mechanical transmission, and then the water inflow of the water turbine is controlled. The mechanical displacement output by the stepper motor linear displacement converter is transmitted through a hinged mechanical linkage mechanism as follows: The output rod of the converter is directly connected to the mechanical linkage mechanism to transmit the linear mechanical displacement to the linkage mechanism; the mechanical linkage mechanism converts the linear motion into the rotational motion of the bell crank connected to the control ring of the water turbine; when the bell crank rotates, it drives the multiple guide vane linkages evenly distributed on the circumference of the control ring to move synchronously, thereby driving the movable guide vanes of the water turbine to rotate around their own axes. The synchronous motion design ensures that all movable guide vanes have the same opening, achieving smooth and uniform adjustment of the guide vane opening. The change in the guide vane opening directly changes the flow area of the water turbine, ultimately enabling the water flow into the water turbine to be accurately matched to the control requirements, laying a foundation for stable control of the water turbine speed and power.

[0038] 106. Through a closed-loop feedback mechanism, the changes in the water turbine speed and power caused by changes in flow are continuously monitored, and the control signal is dynamically adjusted based on the changes in the water turbine speed and power, achieving stable control of the water turbine speed and output.

[0039] Specifically, to ensure that the water turbine speed and power are always stable within the target range, after the microcomputer regulator completes a PID operation and outputs a control signal, the sensor immediately collects real-time speed and power data of the water turbine again. This can timely capture the impact of flow changes on the unit operation and avoid lagging adjustment.

[0040] The double-PLC control system processes the newly collected real-time speed and power data 102, compares them with the preset target values to generate new deviation data, and the microcomputer regulator executes PID operation again based on the new deviation data and the preset PID control parameters to calculate the updated control signal. The updated control signal is transmitted to the stepper motor linear displacement converter to start a new round of adjustment cycle.

[0041] For example, if the actual speed of the water turbine is higher than the target value, the newly generated deviation data will drive the PID operation to output a control signal with a reduced number of pulses, and the stepper motor will rotate in reverse to reduce the guide vane opening, thereby reducing the water inflow of the water turbine and lowering the speed to the target value. Conversely, if the actual speed is lower than the target value, the guide vane opening will be increased to increase the water inflow, and the speed will rise to the target value. Through this continuous closed-loop control, real-time correction of the control signal can be achieved, ensuring that the water turbine speed and power are always stable around the preset target value, greatly improving the control accuracy and operational stability of the system, and avoiding large fluctuations in the unit operating parameters caused by external disturbances.

[0042] The step-by-step electric-displacement servo system of the governor body relied on by the embodiment, in addition to the core control components described above, also includes auxiliary components such as a power module, a signal acquisition module, and a human-machine interface. The power module provides stable working power for the core components such as the double PLC and the microcomputer regulator. The signal acquisition module realizes the access, conversion, and preprocessing of sensor signals. The human-machine interface is used to display system operating parameters (such as speed, power, and guide vane opening) and fault warning information, and also supports the input of control instructions by operating personnel, such as mode switching and parameter setting.

[0043] In summary, the water turbine step-by-step speed regulation method based on double-PLC control disclosed in the embodiment solves the technical pain points of single-point failure of traditional speed regulation systems, improves control accuracy and response speed, and effectively guarantees the continuous, safe, and stable operation of the hydro-generator unit.

[0044] Further, on the basis of the above-mentioned embodiments, the embodiment also includes: receiving an external mode switching instruction through the microcomputer regulator or the double-PLC control system, the switching instruction being used to select between the speed control mode and the power control mode; through the double-PLC system, taking the guide vane opening value in the current operating state as the tracking target for mode switching; through the step motor linear displacement converter, maintaining the guide vane opening value at the current state until the control signal in the new control mode is established; through the double-PLC system, executing switching logic to smoothly hand over control to the deviation signal corresponding to the selected control mode.

[0045] Specifically, to adapt to different operating conditions of the power station, such as speed stabilization control before grid connection and power output control after grid connection, the system supports smooth switching between the speed control mode and the power control mode. The microcomputer regulator or the double-PLC control system receives an external mode switching instruction, the double-PLC system immediately reads the guide vane opening value in the current operating state, and sets the opening value as the tracking target during mode switching. The step motor linear displacement converter maintains the guide vane opening at the current value according to the instruction. This can avoid sudden changes in opening during the switching process and prevent sudden changes in speed or power. After the control signal in the new control mode is calculated and generated and stabilized, the double-PLC system executes switching logic to smoothly hand over control to the control logic corresponding to the new mode. This method can realize non-impact switching between the two control modes, ensures stable operation of the water turbine under different operating conditions, and improves the operating condition adaptation capability of the system.

[0046] Further, the embodiment further includes: continuously diagnosing the running state, the communication link state and the feedback state of the step motor linear displacement converter of each other through the double PLC system; when any PLC in the double PLC system diagnoses an abnormal state, generating and displaying corresponding hierarchical warning information on the human-computer interface of the control cabinet; and uploading the key hierarchical warning information to the power station level monitoring system through the double PLC system, and driving the guide vane opening adjusting mechanism to perform a preset safe shutdown action through the cooperative logic of the double PLC system when a serious fault is diagnosed.

[0047] Specifically, to ensure system operation safety and avoid fault expansion, the system is additionally provided with a fault diagnosis and emergency handling mechanism. The double PLC system continuously diagnoses the running state, the communication link state and the feedback state of the step motor linear displacement converter of each other, and comprehensively monitors to find potential fault hidden dangers in time.

[0048] If any PLC diagnoses an abnormal state, such as communication link data transmission abnormality or step motor feedback signal interruption, the hierarchical warning information is immediately generated and displayed on the human-computer interface of the control cabinet, such as a slight abnormality prompt for checking, a moderate abnormality prompt for attention, and a serious fault prompt for shutdown, so as to facilitate the operation and maintenance personnel to find and troubleshoot problems in time and avoid fault escalation.

[0049] Meanwhile, the double PLC system uploads the key hierarchical warning information to the power station level monitoring system to realize remote fault monitoring and facilitate the power station management personnel to master the system state. If a serious fault is diagnosed, such as double PLC communication interruption and step motor jamming, the double PLC system drives the guide vane opening adjusting mechanism to perform a preset safe shutdown action through the cooperative logic, which can minimize the risk of equipment damage and ensure the safety of the unit and personnel.

[0050] Based on the same overall inventive concept, the application also protects a water turbine step-type speed regulation system based on double PLC control. The water turbine step-type speed regulation system based on double PLC control described below can be mutually referred to the water turbine step-type speed regulation method based on double PLC control described above.

[0051] Figure 2 FIG. 1 is a structural schematic diagram of a water turbine step-type speed regulation system based on double PLC control provided by the embodiment.

[0052] As shown in FIG. 1, the water turbine step-type speed regulation system based on double PLC control provided by the embodiment includes: Figure 2 a collection module 201, a first PLC 202, a second PLC 203, a step motor linear displacement converter 204, a guide vane opening adjusting mechanism 205 and a power station level monitoring system 206. The collection module 201 is used for collecting the running parameters of the water turbine through a sensor, and the running parameters include a speed signal, a power signal and a guide vane position signal. The comparison module 202 is used to process the operating parameters through the dual PLC control system and compare them with the preset set values ​​to generate a deviation signal; The arithmetic module 203 is used by the microcomputer controller to perform proportional, integral, and derivative operations on the deviation signal to generate a control signal; The conversion module 204 is used to transmit control signals to the stepper motor linear displacement converter, which converts the control signals into mechanical displacement. The adjustment module 205 is used to drive the guide vane opening adjustment mechanism by mechanical displacement, adjust the guide vane opening, and change the flow rate entering the turbine. Feedback module 206 is used to continuously monitor the changes in turbine speed and power caused by changes in flow rate through a closed-loop feedback mechanism, and dynamically adjust the control signal according to the changes in turbine speed and power to achieve stable control of turbine speed and output.

[0053] Figure 3 This is a schematic diagram of the structure of the electronic device provided in this embodiment.

[0054] like Figure 3 As shown, the electronic device may include a processor 301, a communication interface 302, a memory 303, and a communication bus 304. The processor 301, communication interface 302, and memory 303 communicate with each other via the communication bus 304. The processor 301 can call logic instructions from the memory 303 to execute a step-by-step speed regulation method for a water turbine based on dual PLC control.

[0055] Furthermore, the logical instructions in the aforementioned memory 303 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0056] In another aspect, the present application also provides a computer program product comprising a computer program, the computer program being stored in a non-transitory computer readable storage medium, and the computer program being executable by a processor to enable a computer to perform the water turbine step-type speed regulation method based on double PLC control provided by the above methods.

[0057] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, the computer program being executable by a processor to implement the water turbine step-type speed regulation method based on double PLC control provided by the above methods.

[0058] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e., they may be located in one place, or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0059] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus necessary universal hardware platforms, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0060] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A water turbine step-type speed regulation method based on double-PLC control, characterized in that, The utility model relates to a kind of water turbine control system, comprising: Collecting the operating parameters of the water turbine through sensors, the operating parameters include speed signal, power signal and guide vane position signal; Processing the operating parameters through a dual-PLC control system and comparing them with preset set values to generate deviation signals; Performing proportional, integral and differential operations on the deviation signals by a microcomputer regulator to generate control signals; Transmitting the control signals to a step motor linear displacement converter, which converts the control signals into mechanical displacement; Using the mechanical displacement to drive guide vane opening adjusting mechanism to adjust the guide vane opening and change the flow rate into the water turbine; Through closed-loop feedback mechanism, continuously monitoring the changes of water turbine speed and power caused by the changes of flow rate, and dynamically adjusting the control signals according to the changes of water turbine speed and power to realize stable control of water turbine speed and output.

2. The water turbine step-type speed regulation method based on dual-PLC control according to claim 1, characterized in that, The processing of the operating parameters through a dual-PLC control system and comparing them with preset set values to generate deviation signals includes: Receiving and processing the speed signal through the first PLC in the dual-PLC control system, comparing the processed speed signal with speed set value to generate speed deviation signal; Receiving and processing the power signal through the second PLC in the dual-PLC control system, comparing the processed power signal with power set value to generate power deviation signal.

3. The water turbine step-type speed regulation method based on dual-PLC control according to claim 2, characterized in that, Further comprising: Exchanging real-time data between the first PLC and the second PLC through high-speed communication bus to share the speed deviation signal and the power deviation signal; Based on the shared speed deviation signal and power deviation signal, performing weighted fusion calculation according to preset weight coefficients through the first PLC and the second PLC respectively to generate corresponding local collaborative signals respectively; Processing the local collaborative signals through preset arbitration logic to determine unified collaborative deviation signal; Sending the collaborative deviation signal to the microcomputer regulator.

4. The water turbine step-type speed regulation method based on dual-PLC control according to claim 3, characterized in that, The processing of the local collaborative signals through preset arbitration logic includes: In the normal operation state of the system, the arbitration logic defaults to adopt the local collaborative signal generated by the first PLC as the collaborative deviation signal; The second PLC continuously monitors the operation state of the first PLC, and triggers arbitration logic switching when it detects communication interruption or calculation timeout fault of the first PLC; Through the arbitration logic, perform automatic switching, and instead adopt the local collaborative signal generated by the second PLC as the collaborative deviation signal to maintain uninterrupted control of the system.

5. The method of claim 1, wherein the method is a method of step-wise governing of a hydraulic turbine based on dual-PLC control, characterized in that, The conversion of the control signals into mechanical displacement by the step motor linear displacement converter includes: Driving the step motor in the step motor linear displacement converter through the pulse signal output by the microcomputer regulator. By controlling the number of pulses of the pulse signal, the rotation angle of the stepper motor is controlled, and then the linear stroke of the mechanical displacement is controlled. By controlling the pulse frequency of the pulse signal, the rotation speed of the stepper motor is controlled, and then the control of the guide vane opening adjustment speed is controlled. By the inherent self-locking characteristic of the stepper motor, the mechanical displacement is kept fixed when there is no pulse signal, and the guide vane opening is locked at the specified position.

6. The water turbine step-type speed regulation method based on dual-PLC control according to claim 1, characterized in that, The guide vane opening adjustment mechanism is driven by the mechanical displacement to adjust the guide vane opening and change the flow into the hydraulic turbine. The mechanical displacement is transmitted to the mechanical linkage mechanism through the output rod of the stepper motor linear displacement converter; The linear motion of the output rod is converted into the rotation of the toggle lever connected to the control ring through the mechanical linkage mechanism; Through the rotation of the toggle lever, the synchronous motion of the multiple guide vane linkages uniformly distributed on the control ring is driven, the rotation of the hydraulic turbine movable guide vanes around the axis is driven, the opening of all movable guide vanes is changed, and the adjustment of the flow into the hydraulic turbine is realized.

7. The water turbine step-type speed regulation method based on dual-PLC control according to claim 1, characterized in that, The control signal is dynamically adjusted according to the change of the hydraulic turbine speed and power, which includes: After the microcomputer regulator completes a PID operation and outputs the control signal, the real-time speed and power of the hydraulic turbine are collected again through the sensor; The collected real-time values are compared with the preset set values through the double-PLC control system to generate a new deviation signal; The microcomputer regulator performs recursive operation based on the new deviation signal and the preset PID control parameters to calculate the updated control signal; The updated control signal is output to the stepper motor linear displacement converter to start a new adjustment cycle and form a continuously running closed-loop negative feedback control system.

8. The water turbine step-type speed regulation method based on double-PLC control according to any one of claims 1-7, characterized in that, It also includes: The microcomputer regulator or double-PLC control system receives external mode switching instructions, and the switching instructions are used to select between speed control mode and power control mode; The double-PLC system takes the guide vane opening value in the current running state as the tracking target of mode switching; The stepper motor linear displacement converter maintains the guide vane opening value at the current state until the control signal in the new control mode is established; The double-PLC system executes switching logic to smoothly hand over the control to the deviation signal corresponding to the selected control mode.

9. The water turbine step-type speed regulation method based on double-PLC control according to any one of claims 1-7, characterized in that, It also includes: The double-PLC system continuously cross-diagnoses the running state, communication link state and feedback state of the stepper motor linear displacement converter of each other; When any PLC in the double-PLC system diagnoses an abnormal state, corresponding hierarchical warning information is generated and displayed on the control cabinet human-machine interface; The double-PLC system uploads the key hierarchical warning information to the power station level monitoring system at the same time, and when a serious fault is diagnosed, the double-PLC system cooperates with the logic to drive the guide vane opening adjustment mechanism to perform the preset safe shutdown action.

10. A water turbine step-type speed regulating system based on double-PLC control, characterized in that, It includes: The acquisition module is used to collect the operating parameters of the hydraulic turbine through the sensor, and the operating parameters include speed signal, power signal and guide vane position signal; A comparison module is configured to process the operation parameters by the double PLC control system, and compare the operation parameters with preset set values to generate deviation signals; An operation module is configured to perform proportional, integral, and differential operations on the deviation signals by a microcomputer regulator to generate control signals; A conversion module is configured to transmit the control signals to a step motor linear displacement converter, and convert the control signals into mechanical displacements by the step motor linear displacement converter; An adjustment module is configured to drive a guide vane opening adjusting mechanism by the mechanical displacements to adjust the guide vane opening and change the flow rate into the hydraulic turbine; A feedback module is configured to continuously monitor the changes in the rotation speed and power of the hydraulic turbine caused by the changes in the flow rate by a closed-loop feedback mechanism, and dynamically adjust the control signals according to the changes in the rotation speed and power of the hydraulic turbine to achieve stable control of the rotation speed and output of the hydraulic turbine.

Images