Hydropower station equipment dual-power-supply switching control system and method based on dual-CPU redundancy

Abstract

The invention discloses a hydropower station equipment dual-power-supply switching control system and method based on dual CPU redundancy, and relates to the technical field of water-turbine generator set auxiliary control system.The system comprises a first circuit breaker, a second circuit breaker and a third circuit breaker which are provided with remote operation mechanisms and can store energy in an electromagnetic mode and in a mechanical mode; one end of the first circuit breaker and one end of the second circuit breaker are respectively connected with the dual power supply, current and voltage detection devices are arranged on connecting lines, the other end of the first circuit breaker and the other end of the second circuit breaker are respectively connected with the first integrated deconcentrator and the second integrated deconcentrator, and the other end of the first circuit breaker and the other end of the second circuit breaker are also connected to the third circuit breaker. And the third circuit breaker is respectively connected to the first integrated deconcentrator and the second integrated deconcentrator. The circuit breaker with the remote operation mechanism has an electromagnetic energy storage mode and a mechanical energy storage mode. The mechanical energy storage can be manually operated in situ, so that the operation is more convenient; and the remote operation response time is short, and zero delay can be realized theoretically.

Description

Technical Field

[0001] This invention relates to the field of auxiliary control system technology for hydro-generator sets, and more specifically to a dual-power switching control system and method for hydropower station equipment based on dual-CPU redundancy. Background Technology

[0002] The stable operation of critical auxiliary control equipment in hydropower stations is highly dependent on a reliable power supply system. For such loads, a "dual power supply switching" power supply structure is commonly adopted in engineering to ensure zero interruption of auxiliary control equipment in the event of a power failure in either power source, thereby achieving continuous and safe operation of the generating units.

[0003] In existing technologies, a single ATS (Automatic Power Supply) device is typically installed in the power control panel. Its interlocking mechanism usually employs mechanical linkages to prevent parallel connection and facilitate switching between primary and backup power supplies. Copper busbars are used at the outgoing terminals for secondary power distribution.

[0004] With the increasing demands for power supply continuity, traditional industrial-grade dual-power switching technology suffers from the following problems: mechanical contact wear and excessively long switching delays (hundreds of milliseconds to 2 seconds). Furthermore, due to space constraints within the cabinet, the copper busbars significantly impact the internal layout. Summary of the Invention

[0005] In order to overcome the defects in the prior art, the present invention discloses a dual power supply switching control system and method for hydropower station equipment based on dual CPU redundancy. The purpose of the present invention is to solve the problems existing in the prior art, such as mechanical contact wear, excessive switching delay, and the great impact of copper busbar on the internal layout of the cabinet.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a dual-power switching control system for hydropower station equipment based on dual-CPU redundancy, comprising: First external power source and second external power source; The monitoring mechanism includes a first circuit breaker, a second circuit breaker, and a third circuit breaker with remote operation capabilities and capable of electromagnetic and mechanical energy storage. One end of the first circuit breaker and the second circuit breaker are respectively connected to the first external power source and the second external power source, and current and voltage detection devices are installed on the connection lines. The other ends of the first circuit breaker and the second circuit breaker are respectively connected to the first integrated junction box and the second integrated junction box. The other ends of the first circuit breaker and the second circuit breaker are also connected to the third circuit breaker, and the third circuit breaker is then connected to the first integrated junction box and the second integrated junction box. The control mechanism includes a first CPU controller and a second CPU controller that are redundant, programmable, and connected via Ethernet to form an I / O ring network. Both the first CPU controller and the second CPU controller are connected to the execution monitoring mechanism.

[0007] Preferably, it also includes intermediate relays and a power supply for the execution monitoring mechanism. The intermediate relays are respectively connected to the internal signal points of the first circuit breaker, the second circuit breaker, and the third circuit breaker. The power supply for the execution monitoring mechanism supplies power to each device of the execution monitoring mechanism.

[0008] Preferably, the current and voltage detection device includes a current transformer, an ammeter, a voltmeter, and a relay, wherein the relay has overvoltage, undervoltage, overload, overcurrent, phase loss, and phase sequence detection functions.

[0009] Preferably, both the first CPU controller and the second CPU controller include a CPU module, a remote communication module, a DI module, and a DO module, and have data collection functions.

[0010] Secondly, based on the above-mentioned dual-power switching control system for hydropower station equipment, this invention also provides a dual-power switching control method for hydropower station equipment based on dual-CPU redundancy, including: The dual power supply parameters are collected by the current and voltage detection equipment. The CPU controller uses the collected parameters to calculate the power supply status discrimination factor, and then uses the power supply status discrimination factor and the circuit breaker to switch the dual power supply. The switching time of the dual power supply can be flexibly controlled. During the dual-power supply switching control process, the circuit breaker is subjected to multi-mode coordinated control based on electromagnetic energy storage and mechanical energy storage. The dual CPU controllers automatically switch and adopt ring network dynamic planning communication path.

[0011] I. Precise Control Methods and Algorithms for Intelligent Switching Between Dual Power Supplies Preferably, the control method for switching between the two power supplies includes: The parameters of the first and second external power supplies are collected in real time by the current and voltage detection equipment, and the collected parameters are transmitted to the CPU controller. The CPU controller analyzes the parameters and calculates the power status discrimination factor to determine whether the power supply is normal. When it detects that both power supplies are normal and all devices are fault-free, it sends a closing command to the circuit breaker connected to the external power supply. When it detects that any power supply is faulty, it sends a closing command to the third circuit breaker and simultaneously disconnects the circuit breaker connected to the faulty power supply.

[0012] Preferably, the control algorithm for switching between the two power supplies includes: A multi-parameter fusion power supply state discrimination algorithm is adopted: Normal threshold ranges for voltage and current are set; for three-phase power supplies, the three-phase voltage imbalance index is considered; the collected voltage U and current I parameters are substituted into the algorithm to calculate the power supply state discrimination factor S, as shown in the following formula:

[0013] in, Power supply status discrimination factor; , , The weighting coefficients for each parameter are adjusted based on the actual power supply characteristics and load requirements; The voltage collected; Rated voltage; The current collected; Rated current; For three-phase voltage imbalance; when Exceeding the set fault threshold When this happens, it is determined that the power supply has failed; The algorithm incorporates timing judgment and filtering: it detects parameters for multiple consecutive sampling periods, and only when the power state discrimination factor for multiple periods exceeds the fault threshold is it determined to be a power fault. At the same time, it performs low-pass filtering on the collected parameters.

[0014] Preferably, the switching between the two power supplies includes the following steps: A1. The parameters of the first and second external power sources are collected in real time through current and voltage detection equipment; A2. Perform low-pass filtering on the collected parameters and use the processed parameters to calculate the power state discrimination factor. A3. Determine if the power status discrimination factor is greater than the fault threshold. If yes, proceed to step A4; otherwise, proceed to step A5. A4. Determine whether the power state discrimination factor for multiple consecutive sampling periods is greater than the fault threshold. If so, proceed to step A6; otherwise, proceed to step A5. A5. Determine that the power supply is normal, maintain the current circuit breaker status, and then return to step A1; A6. Determine if there is a power supply failure, and identify which power supply is faulty: If the first external power source fails, disconnect the first circuit breaker and close the third circuit breaker. If the second external power source fails, disconnect the second circuit breaker and close the third circuit breaker. A7. End.

[0015] II. Flexible control methods and algorithms for setting switching time Preferably, the control method for flexibly controlling the dual power supply switching time includes: The CPU controller and circuit breaker are connected to the PLC controller. The operator can input or modify the power switching time t through the PLC controller's human-machine interface or through the communication interface with the CPU controller. When the CPU controller determines that a power switch is required, the PLC controller starts a timer. When the timer reaches the set switching time t, the circuit breaker switching operation is then executed.

[0016] Preferably, the control algorithm for flexibly controlling the dual power supply switching time includes: A precise timing algorithm based on a timer is adopted: A high-precision timer is set up inside the PLC controller. When a switching trigger signal is received from the CPU controller, the timer starts timing. The timing formula is as follows:

[0017] in, This is the time when the timer ends; This is the start time of the timer; The set switching time; When the system clock reaches T, the timer outputs a trigger signal to control the circuit breaker to perform a switching action. At the same time, the algorithm has the function of verifying and feeding back time parameters. After setting the switching time t, it performs a reasonableness check. If the set switching time t is unreasonable, it will give a prompt and use the default reasonable value. During the timing process, it will provide real-time feedback on the remaining time. The rationality check includes: determining whether the switching time t is within the allowed time range. Inside, The minimum switching time is determined by the circuit breaker operating time factor; The maximum switching time is determined based on the allowable power outage time of the load; if the switching time t is found to be within the allowable time range, it is considered reasonable; otherwise, it is considered unreasonable.

[0018] Preferably, the dual power supply switching time can be flexibly controlled by including the following steps: B1. Set the switching time t and perform a reasonableness check on the switching time t. If the check is reasonable, proceed to step B2; if the check is unreasonable, proceed to step B3. B2. The switching time parameter has been set successfully, and you will proceed to step B4. B3. Error message: Switch time parameters to default value and proceed to step B4; B4. Monitor the power supply status; B5. Determine if a power failure is detected. If yes, proceed to step B6; otherwise, return to step B4. B6. Start the timer and display the remaining time in real time; B7. Determine if the switching time t has been reached. If so, execute the circuit breaker switching operation.

[0019] III. Cooperative Methods and Algorithms for Multi-Mode Control of Circuit Breakers Preferably, the control method for multi-mode coordinated control of the circuit breaker includes: For circuit breakers with remote operating mechanisms, the CPU controller selects either remote electromagnetic energy storage or local mechanical energy storage mode according to the control requirements of remote automatic control or local manual control. During remote automatic control, the CPU controller sends instructions to trigger the electromagnetic energy storage circuit to complete the circuit breaker's on / off operation. During local manual control, the operator manually operates the circuit breaker through the mechanical energy storage mechanism. At the same time, the current and voltage detection equipment monitors the electrical parameters during the operation in real time and feeds them back to the CPU controller.

[0020] Preferably, the control algorithm for multi-mode coordinated control of the circuit breaker includes: The algorithm for mode selection and priority determination is as follows: remote control is set as a high priority. When the CPU controller is in normal working condition and receives a valid remote control command, the electromagnetic energy storage mode is selected first to execute the remote control. When the remote control fails or local maintenance is required, the mechanical energy storage mode is switched to allow local manual operation. In electromagnetic energy storage control, a predictive and fast-trigger algorithm is adopted: based on historical operating data and the current power supply status, the timing when the circuit breaker needs to operate is predicted, and the electromagnetic energy storage circuit is pre-charged in advance. When operation is required, the stored energy is immediately released, driving the circuit breaker to operate. The formula is as follows:

[0021] in, This is the start time of pre-charging; For the expected timing of the action; The time required for electromagnetic energy storage; Meanwhile, the algorithm monitors the current and voltage parameters in real time during the operation of electromagnetic and mechanical energy storage. When abnormal parameters are detected, the current operation mode is immediately stopped, and another mode is switched or an alarm signal is issued.

[0022] Preferably, the multi-mode coordinated control of the circuit breaker includes the following steps: C1. Detect control requirements and determine whether remote automatic control is required. If yes, proceed to step C2; otherwise, proceed to step C4. C2. Select the electromagnetic energy storage mode, predict the action time, and calculate the pre-charging start time; C3. Perform pre-charging at the start of pre-charging, trigger energy storage release immediately at the expected action time, execute circuit breaker operation, and then proceed to step C5. C4. Select the mechanical energy storage mode. The operator performs the operation manually, and then proceeds to step C5. C5. Perform parameter anomaly monitoring and determine whether the parameters are abnormal. If so, stop the current operation, switch modes or trigger an alarm, and then proceed to step C6; otherwise, proceed directly to step C6. C6. Operation complete, end.

[0023] IV. High-Reliability Control Methods and Algorithms for Dual-CPU Redundant Controllers Preferably, the control method for automatic switching of the dual-CPU controller and the use of ring network dynamic planning communication paths includes: The first CPU controller and the second CPU controller form an I / O ring network through Ethernet. During normal operation, the dual CPUs operate in hot standby redundancy. The main CPU is responsible for generating and sending real-time control instructions, while the standby CPU synchronously receives data and is in hot standby mode. When the main CPU fails, the backup CPU immediately and automatically switches to become the main CPU and continues to execute control tasks; at the same time, when any communication failure occurs in any part of the I / O ring network, the ring network re-plans the communication path.

[0024] Preferably, the control algorithm for automatic switching between the dual CPU controllers and the use of dynamic planning of communication paths in a ring network includes: A dual-CPU status monitoring and automatic failover algorithm is adopted: the primary and backup CPUs exchange heartbeat signals and status data in real time via Ethernet, with the heartbeat signal transmission period being [missing information]. The backup CPU continuously monitors the main CPU's heartbeat signal, and when a set timeout period occurs... If the backup CPU does not receive a heartbeat signal from the main CPU or receives fault status data from the main CPU, it is determined that the main CPU is faulty, and the backup CPU immediately switches to become the main CPU. For I / O ring networks, a dynamic planning algorithm for ring network communication paths is adopted: when the ring network is normal, data is transmitted according to the preset optimal path; when a communication link failure is detected, the algorithm calculates the topology of the remaining available links in real time and replans the data transmission path, as shown in the following formula:

[0025] in, The selected communication path; Let be the transmission delay of the i-th link in the path; This represents the number of link segments in the path. Meanwhile, the operating status of the dual CPUs and the ring network is recorded and analyzed in real time.

[0026] Preferably, the automatic switching of the dual-CPU controller and the use of ring network dynamic planning for communication paths includes the following steps: D1. Dual CPU hot standby redundant operation; D2. The main CPU executes control tasks, while the backup CPU synchronizes data monitoring. D3: The primary and backup CPUs exchange heartbeat signals and status data in real time via Ethernet, and then proceed to steps D4 and D5. D4. Determine whether the backup CPU received a heartbeat within the timeout period: If so, the main CPU is functioning normally and returns to step D2; Otherwise, if the main CPU is determined to be faulty, the backup CPU will be switched to the main CPU to continue executing control tasks, and a status log will be generated for troubleshooting and system maintenance. D5. Perform I / O ring network communication monitoring and determine whether a communication link fault is detected: If so, replan the communication path, calculate the minimum delay path, update the data transmission path, and then return to step D3. Otherwise, transmit along the optimal path and return to step D3.

[0027] The beneficial effects of this invention are: 1. In this invention, the circuit breaker with a remote operation mechanism has two energy storage methods: electromagnetic energy storage and mechanical energy storage. Mechanical energy storage allows for on-site manual operation, making it more convenient. Remote operation has a fast response time, theoretically achieving "zero" delay.

[0028] 2. The first CPU controller and the second CPU controller are connected via Ethernet, meaning the dual-CPU hot-standby redundant programmable controllers are connected via Ethernet to form an I / O ring network. The advantage of the I / O ring network is that the control system can still operate normally even if a communication failure occurs at any point, thus improving system stability.

[0029] 3. The integrated splitter has a compact structure and occupies little space, solving the problem of large space requirements of copper busbars in the past. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the dual-power switching control system for hydropower station equipment of the present invention; Figure 2 This is a flowchart illustrating the switching process between dual power supplies according to the present invention. Figure 3 This is a flowchart illustrating the flexible control of dual power supply switching time in this invention. Figure 4 This is a flowchart illustrating the multi-mode coordinated control process for circuit breakers according to the present invention. Figure 5This is a flowchart illustrating the automatic switching between dual CPU controllers and the use of dynamic planning of communication paths via a ring network, as described in this invention. Figure label: 1. First external power supply; 2. Second external power supply; 3. First circuit breaker; 4. Second circuit breaker; 5. Third circuit breaker; 6. Current and voltage detection equipment; 7. First integrated splitter; 8. Second integrated splitter; 9. First CPU controller; 10. Second CPU controller; 11. Intermediate relay; 12. Power supply for the execution monitoring mechanism. Detailed Implementation

[0031] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention.

[0032] Example 1 A dual-power switching control system for hydropower station equipment based on dual-CPU redundancy, such as Figure 1 As shown, it includes: First external power source 1 and second external power source 2; The monitoring mechanism includes a first circuit breaker 3, a second circuit breaker 4, and a third circuit breaker 5, all equipped with remote operation mechanisms and capable of electromagnetic and mechanical energy storage. One end of the first circuit breaker 3 and the second circuit breaker 4 are respectively connected to the first external power supply 1 and the second external power supply 2, and current and voltage detection devices 6 are installed on the connection lines. The other ends of the first circuit breaker 3 and the second circuit breaker 4 are respectively connected to the first integrated splitter 7 and the second integrated splitter 8. The other ends of the first circuit breaker 3 and the second circuit breaker 4 are also connected to the third circuit breaker 5, which in turn is connected to the first integrated splitter 7 and the second integrated splitter 8. The control mechanism includes a first CPU controller 9 and a second CPU controller 10 that are redundant, programmable, and connected via Ethernet to form an I / O ring network. Both the first CPU controller 9 and the second CPU controller 10 are connected to the execution monitoring mechanism.

[0033] In a preferred embodiment of this invention, an intermediate relay 11 and a power supply 12 for the execution monitoring mechanism are also included. The intermediate relay 11 is connected to the internal signal points of the first circuit breaker 3, the second circuit breaker 4, and the third circuit breaker 5, respectively. The power supply 12 for the execution monitoring mechanism supplies power to each device of the execution monitoring mechanism.

[0034] In a preferred embodiment of this invention, the current and voltage detection device 6 includes a current transformer, an ammeter, a voltmeter, and a relay. The relay has overvoltage, undervoltage, overload, overcurrent, phase loss, and phase sequence detection functions.

[0035] In a preferred embodiment of this invention, both the first CPU controller 9 and the second CPU controller 10 include a CPU module, a remote communication module, a DI module, and a DO module, and have data collection functions.

[0036] In this embodiment, the system includes a set of dual-CPU redundant programmable first CPU controller 9 and second CPU controller 10, two sets of first circuit breakers 3 and second circuit breakers 4 with remote operation mechanisms, a set of third circuit breakers 5 with remote operation mechanisms, two sets of intelligent current and voltage detection devices 6, eight sets of intermediate relays 11, eight sets of integrated distributors, and a 24VDC safety execution monitoring mechanism power supply 12.

[0037] Two sets of first circuit breakers 3 and second circuit breakers 4 with remote operating mechanisms are connected to both ends of a third circuit breaker 5 with a remote operating mechanism via copper busbars or busbars. The copper busbars / busbars can be selected according to the actual cabinet space requirements. Intelligent current and voltage detection devices 6 are connected to the front or rear ends of the two sets of first circuit breakers 3 and second circuit breakers 4 with remote operating mechanisms. Eight intermediate relays 11 are connected to the internal signal points of the two sets of first circuit breakers 3 and second circuit breakers 4 with remote operating mechanisms, as well as the third circuit breaker 5 with a remote operating mechanism. Eight integrated splitters are connected to the two sets of first circuit breakers 3 and second circuit breakers 4 with remote operating mechanisms via copper busbars or busbars. The first CPU controller 9 and the second CPU controller 10 are connected via network cables and simultaneously receive signals from all devices. A 24VDC safety execution monitoring mechanism power supply 12 supplies power to each device of the execution monitoring mechanism.

[0038] Example 2 A dual-power supply switching control method for hydropower station equipment based on dual-CPU redundancy includes: The dual power supply parameters are collected by the current and voltage detection equipment. The CPU controller uses the collected parameters to calculate the power supply status discrimination factor, and then uses the power supply status discrimination factor and the circuit breaker to switch the dual power supply. The switching time of the dual power supply can be flexibly controlled. During the dual-power supply switching control process, the circuit breaker is subjected to multi-mode coordinated control based on electromagnetic energy storage and mechanical energy storage. The dual CPU controllers automatically switch and adopt ring network dynamic planning communication path.

[0039] Specifically, the control methods mainly include the following: 1. Precise control methods and algorithms for intelligent switching between dual power supplies Control methods: The voltage, current and other parameters of external power sources 1 and 2 are collected in real time (achieved through intelligent current and voltage detection equipment), and the collected parameters are transmitted to the CPU controller.

[0040] The CPU controller's built-in control algorithm analyzes these parameters to determine if the power supply is normal. When both power supplies are detected to be normal and all devices are fault-free, a closing command is sent to the circuit breaker with a remote operating mechanism (either the first or second circuit breaker). When a fault is detected in any power supply, a closing command is immediately sent to the third circuit breaker with a remote operating mechanism, and the circuit breaker on the faulty power supply side (either the first or second circuit breaker) is simultaneously disconnected.

[0041] Control Algorithm: A multi-parameter fusion-based power supply state discrimination algorithm is adopted. Normal threshold ranges for voltage and current are set, and for three-phase power supplies, indices such as three-phase voltage imbalance are considered. The collected voltage U, current I, and other parameters are substituted into the algorithm to calculate the power supply state discrimination factor S, as shown in the following formula:

[0042] in, Power supply status discrimination factor; , , The weighting coefficients for each parameter are adjusted based on the actual power supply characteristics and load requirements; The voltage collected; Rated voltage; The current collected; Rated current; For three-phase voltage imbalance; when Exceeding the set fault threshold If this occurs, it is determined that the power supply is faulty.

[0043] The algorithm incorporates timing judgment and filtering. Parameters are detected over multiple consecutive sampling periods (e.g., 3 periods). A power supply fault is only identified when the discrimination factor exceeds a threshold across multiple periods. Simultaneously, the collected parameters are low-pass filtered to remove high-frequency interference, improving detection accuracy.

[0044] like Figure 2 As shown, it includes the following steps: A1. The parameters of the first and second external power sources are collected in real time through current and voltage detection equipment; A2. Perform low-pass filtering on the collected parameters and use the processed parameters to calculate the power state discrimination factor. A3. Determine if the power status discrimination factor is greater than the fault threshold. If yes, proceed to step A4; otherwise, proceed to step A5. A4. Determine whether the power state discrimination factor for multiple consecutive sampling periods is greater than the fault threshold. If so, proceed to step A6; otherwise, proceed to step A5. A5. Determine that the power supply is normal, maintain the current circuit breaker status, and then return to step A1; A6. Determine if there is a power supply failure, and identify which power supply is faulty: If the first external power source fails, disconnect the first circuit breaker and close the third circuit breaker. If the second external power source fails, disconnect the second circuit breaker and close the third circuit breaker. A7. End.

[0045] 2. Flexible control methods and algorithms for setting switching time. Control methods: On the PLC controller's human-machine interface (or through the communication interface with the CPU controller), the operator can input or modify the power switching time t.

[0046] When the CPU controller determines that a power switch is required (such as a power failure), it starts a timer. When the timer reaches the set switching time t, it then performs the circuit breaker switching operation (disconnects the first or second circuit breaker on the fault side and closes the third circuit breaker).

[0047] Control Algorithm: A precise timing algorithm based on a timer is employed. A high-precision timer is internally configured in the PLC controller. When a switching trigger signal is received (sent by the CPU controller based on the power supply status), the timer begins timing. The timing formula is:

[0048] in, This is the time when the timer ends; This is the start time of the timer; The set switching time is t. When the system clock reaches T, the timer outputs a trigger signal to control the circuit breaker to perform the switching action. Simultaneously, the algorithm has a time parameter verification and feedback function; after setting the switching time t, it performs a reasonableness check (e.g., determining whether t is within the allowable time range). Inside, The minimum switching time is determined by factors such as the circuit breaker's operating time. The maximum switching time is determined based on factors such as the allowable power outage time of the load. If the set t is unreasonable, a prompt will be given and a default reasonable value will be used. During the timing process, the remaining time will be fed back in real time for easy monitoring by operators.

[0049] like Figure 3 As shown, it includes the following steps: B1. Set the switching time t and perform a reasonableness check on the switching time t. If the check is reasonable, proceed to step B2; if the check is unreasonable, proceed to step B3. B2. The switching time parameter has been set successfully, and you will proceed to step B4. B3. Error message: Switch time parameters to default value and proceed to step B4; B4. Monitor the power supply status; B5. Determine if a power failure is detected. If yes, proceed to step B6; otherwise, return to step B4. B6. Start the timer and display the remaining time in real time; B7. Determine if the switching time t has been reached. If so, execute the circuit breaker switching operation.

[0050] 3. Cooperative methods and algorithms for multi-mode control of circuit breakers Control methods: For circuit breakers with remote operating mechanisms, the CPU controller selects either electromagnetic energy storage (remote) or mechanical energy storage (local) mode according to control requirements (remote automatic control or local manual control).

[0051] During remote control, the CPU controller sends commands to trigger the electromagnetic energy storage circuit, quickly completing the circuit breaker's on / off operation. During local manual control, the operator manually operates the circuit breaker through the mechanical energy storage mechanism. At the same time, the intelligent current and voltage detection device monitors the electrical parameters during the operation in real time and feeds them back to the CPU controller to ensure operational safety.

[0052] Control Algorithm: A mode selection and priority determination algorithm is adopted. Remote control is set as a high priority. When the CPU controller is in normal working condition and receives a valid remote control command, the electromagnetic energy storage mode is selected first to execute remote control. When the remote control fails (such as communication interruption) or local maintenance is required, it switches to the mechanical energy storage mode, allowing local manual operation.

[0053] To achieve the theoretical effect of "zero" delay in remote operation, a predictive and fast-trigger algorithm is employed in the electromagnetic energy storage control. Based on historical operating data and the current power supply state, the timing of the circuit breaker's required operation is predicted, and the electromagnetic energy storage circuit is pre-charged in advance (without affecting the current state of the circuit breaker). When operation is required, the stored energy is immediately released, driving the circuit breaker to operate. The formula is as follows:

[0054] in, This is the start time of pre-charging; For the expected timing of the action; The time required for electromagnetic energy storage is measured experimentally and stored in the controller. Simultaneously, the algorithm monitors parameters such as current and voltage in real time during both electromagnetic and mechanical energy storage operations. If any abnormal parameters are detected (e.g., the electromagnetic energy storage current exceeds a safety threshold), the current operating mode is immediately stopped, switching to another mode or issuing an alarm signal to ensure safe and reliable operation.

[0055] like Figure 4 As shown, it includes the following steps: C1. Detect control requirements and determine whether remote automatic control is required. If yes, proceed to step C2; otherwise, proceed to step C4. C2. Select the electromagnetic energy storage mode, predict the action time, and calculate the pre-charging start time; C3. Perform pre-charging at the start of pre-charging, trigger energy storage release immediately at the expected action time, execute circuit breaker operation, and then proceed to step C5. C4. Select the mechanical energy storage mode. The operator performs the operation manually, and then proceeds to step C5. C5. Perform parameter anomaly monitoring and determine whether the parameters are abnormal. If so, stop the current operation, switch modes or trigger an alarm, and then proceed to step C6; otherwise, proceed directly to step C6. C6. Operation complete, end.

[0056] 4. High-reliability control methods and algorithms for dual-CPU redundant controllers Control methods: CPU controllers 1 and 2 form an I / O ring network via Ethernet. During normal operation, the dual CPUs operate in hot standby redundancy, meaning that one CPU (the main CPU) is responsible for generating and sending real-time control commands, while the other CPU (the backup CPU) synchronously receives data and is in hot standby mode.

[0057] When the main CPU fails (such as detecting a hardware failure or communication timeout), the backup CPU immediately and automatically switches to become the main CPU and continues to execute control tasks. At the same time, when any communication failure occurs in the I / O ring network, the ring network will automatically replan the communication path to ensure normal data transmission and ensure the continuous operation of the control system.

[0058] Control Algorithm: A dual-CPU status monitoring and automatic failover algorithm is employed. The primary and backup CPUs exchange heartbeat signals and status data in real time via Ethernet. The heartbeat signal transmission period is [missing information]. The backup CPU continuously monitors the main CPU's heartbeat signal, and when a set timeout period occurs... If no heartbeat signal is received from the main CPU, or if fault status data of the main CPU is received, the main CPU is determined to be faulty, and the standby CPU immediately switches to become the main CPU.

[0059] For I / O ring networks, a dynamic planning algorithm for ring network communication paths is employed. When the ring network is functioning normally, data is transmitted along a pre-defined optimal path. When a communication link failure is detected, the algorithm calculates the topology of the remaining available links in real time and replans the data transmission path, as shown in the following formula:

[0060] in, The selected communication path; Let be the transmission delay of the i-th link in the path; The algorithm determines the number of link segments in the path and ensures real-time and reliable data transmission by minimizing the total transmission delay. Simultaneously, the algorithm records and analyzes the operational status of the dual-CPU and ring network in real time.

[0061] like Figure 5 As shown, it includes the following steps: D1. Dual CPU hot standby redundant operation; D2. The main CPU executes control tasks, while the backup CPU synchronizes data monitoring. D3: The primary and backup CPUs exchange heartbeat signals and status data in real time via Ethernet, and then proceed to steps D4 and D5. D4. Determine whether the backup CPU received a heartbeat within the timeout period: If so, the main CPU is functioning normally and returns to step D2; Otherwise, if the main CPU is determined to be faulty, the backup CPU will be switched to the main CPU to continue executing control tasks, and a status log will be generated for troubleshooting and system maintenance. D5. Perform I / O ring network communication monitoring and determine whether a communication link fault is detected: If so, replan the communication path, calculate the minimum delay path, update the data transmission path, and then return to step D3. Otherwise, transmit along the optimal path and return to step D3.

[0062] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalents or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. A dual-power switching control system for hydropower station equipment based on dual-CPU redundancy, characterized in that, include: First external power source and second external power source; The monitoring mechanism includes a first circuit breaker, a second circuit breaker, and a third circuit breaker with remote operation capabilities and capable of electromagnetic and mechanical energy storage. One end of the first circuit breaker and the second circuit breaker are respectively connected to the first external power source and the second external power source, and current and voltage detection devices are installed on the connection lines. The other ends of the first circuit breaker and the second circuit breaker are respectively connected to the first integrated junction box and the second integrated junction box. The other ends of the first circuit breaker and the second circuit breaker are also connected to the third circuit breaker, and the third circuit breaker is then connected to the first integrated junction box and the second integrated junction box. The control mechanism includes a first CPU controller and a second CPU controller that are redundant, programmable, and connected via Ethernet to form an I / O ring network. Both the first CPU controller and the second CPU controller are connected to the execution monitoring mechanism.

2. The dual-power supply switching control method for hydropower station equipment based on dual-CPU redundancy using the control system described in claim 1, characterized in that, include: The dual power supply parameters are collected by the current and voltage detection equipment. The CPU controller uses the collected parameters to calculate the power supply status discrimination factor, and then uses the power supply status discrimination factor and the circuit breaker to switch the dual power supply. The switching time of the dual power supply can be flexibly controlled. During the dual-power supply switching control process, the circuit breaker is subjected to multi-mode coordinated control based on electromagnetic energy storage and mechanical energy storage. The dual CPU controllers automatically switch and adopt ring network dynamic planning communication path.

3. The dual-power supply switching control method for hydropower station equipment based on dual-CPU redundancy as described in claim 2, characterized in that, The control method for switching between the two power supplies includes: The parameters of the first and second external power supplies are collected in real time by the current and voltage detection equipment, and the collected parameters are transmitted to the CPU controller. The CPU controller analyzes the parameters and calculates the power status discrimination factor to determine whether the power supply is normal. When it detects that both power supplies are normal and all devices are fault-free, it sends a closing command to the circuit breaker connected to the external power supply. When it detects that any power supply is faulty, it sends a closing command to the third circuit breaker and simultaneously disconnects the circuit breaker connected to the faulty power supply.

4. The dual-power supply switching control method for hydropower station equipment based on dual-CPU redundancy as described in claim 3, characterized in that, The control algorithm for switching between the two power supplies includes: A multi-parameter fusion power supply state discrimination algorithm is adopted: Normal threshold ranges for voltage and current are set; for three-phase power supplies, the three-phase voltage imbalance index is considered; the collected voltage U and current I parameters are substituted into the algorithm to calculate the power supply state discrimination factor S, as shown in the following formula: in, Power supply status discrimination factor; , , The weighting coefficients for each parameter are adjusted based on the actual power supply characteristics and load requirements; The voltage collected; Rated voltage; The current collected; Rated current; For three-phase voltage imbalance; when Exceeding the set fault threshold When this happens, it is determined that the power supply has failed; The algorithm incorporates timing judgment and filtering: it detects parameters for multiple consecutive sampling periods, and only when the power state discrimination factor for multiple periods exceeds the fault threshold is it determined to be a power fault. At the same time, it performs low-pass filtering on the collected parameters.

5. The dual-power supply switching control method for hydropower station equipment based on dual-CPU redundancy as described in claim 2, characterized in that, The control method that allows for flexible control of the dual power supply switching time includes: The CPU controller and circuit breaker are connected to the PLC controller. The operator can input or modify the power switching time t through the PLC controller's human-machine interface or through the communication interface with the CPU controller. When the CPU controller determines that a power switch is required, the PLC controller starts a timer. When the timer reaches the set switching time t, the circuit breaker switching operation is then executed.

6. The dual-power supply switching control method for hydropower station equipment based on dual-CPU redundancy as described in claim 5, characterized in that, The control algorithm that allows for flexible control of the dual power supply switching time includes: A precise timing algorithm based on a timer is adopted: A high-precision timer is set up inside the PLC controller. When a switching trigger signal is received from the CPU controller, the timer starts timing. The timing formula is as follows: in, This is the end time of the countdown; This is the start time of the timer; The set switching time; When the system clock reaches T, the timer outputs a trigger signal to control the circuit breaker to perform a switching action. At the same time, the algorithm has the function of verifying and feeding back time parameters. After setting the switching time t, it performs a reasonableness check. If the set switching time t is unreasonable, it will give a prompt and use the default reasonable value. During the timing process, it will provide real-time feedback on the remaining time. The rationality check includes: determining whether the switching time t is within the allowed time range. Inside, The minimum switching time is determined by the circuit breaker operating time factor; The maximum switching time is determined based on the allowable power outage time of the load; if the switching time t is found to be within the allowable time range, it is considered reasonable; otherwise, it is considered unreasonable.

7. The dual-power supply switching control method for hydropower station equipment based on dual-CPU redundancy as described in claim 2, characterized in that, The control method for multi-mode coordinated control of the circuit breaker includes: For circuit breakers with remote operating mechanisms, the CPU controller selects either remote electromagnetic energy storage or local mechanical energy storage mode according to the control requirements of remote automatic control or local manual control. During remote automatic control, the CPU controller sends instructions to trigger the electromagnetic energy storage circuit to complete the circuit breaker's on / off operation. During local manual control, the operator manually operates the circuit breaker through the mechanical energy storage mechanism. At the same time, the current and voltage detection equipment monitors the electrical parameters during the operation in real time and feeds them back to the CPU controller.

8. The dual-power supply switching control method for hydropower station equipment based on dual-CPU redundancy as described in claim 7, characterized in that, The control algorithm for multi-mode coordinated control of the circuit breaker includes: The algorithm for mode selection and priority determination is as follows: remote control is set as a high priority. When the CPU controller is in normal working condition and receives a valid remote control command, the electromagnetic energy storage mode is selected first to execute the remote control. When the remote control fails or local maintenance is required, the mechanical energy storage mode is switched to allow local manual operation. In electromagnetic energy storage control, a predictive and fast-trigger algorithm is adopted: based on historical operating data and the current power supply status, the timing when the circuit breaker needs to operate is predicted, and the electromagnetic energy storage circuit is pre-charged in advance. When operation is required, the stored energy is immediately released, driving the circuit breaker to operate. The formula is as follows: in, This is the start time of pre-charging; For the expected timing of the action; The time required for electromagnetic energy storage; Meanwhile, the algorithm monitors the current and voltage parameters in real time during the operation of electromagnetic and mechanical energy storage. When abnormal parameters are detected, the current operation mode is immediately stopped, and another mode is switched or an alarm signal is issued.

9. The dual-power supply switching control method for hydropower station equipment based on dual-CPU redundancy as described in claim 2, characterized in that, The control method for automatic switching of the dual-CPU controller and the use of dynamic planning of communication paths via a ring network includes: The first CPU controller and the second CPU controller form an I / O ring network through Ethernet. During normal operation, the dual CPUs operate in hot standby redundancy. The main CPU is responsible for generating and sending real-time control instructions, while the standby CPU synchronously receives data and is in hot standby mode. When the main CPU fails, the backup CPU immediately and automatically switches to become the main CPU and continues to execute control tasks; at the same time, when any communication failure occurs in any part of the I / O ring network, the ring network re-plans the communication path.

10. The dual-power supply switching control method for hydropower station equipment based on dual-CPU redundancy as described in claim 9, characterized in that, The control algorithm for automatic switching between the dual-CPU controllers and the use of dynamic planning of communication paths via a ring network includes: A dual-CPU status monitoring and automatic failover algorithm is adopted: the primary and backup CPUs exchange heartbeat signals and status data in real time via Ethernet, with the heartbeat signal transmission period being [missing information]. The backup CPU continuously monitors the main CPU's heartbeat signal, and when a set timeout period occurs... If the backup CPU does not receive a heartbeat signal from the main CPU or receives fault status data from the main CPU, it is determined that the main CPU is faulty, and the backup CPU immediately switches to become the main CPU. For I / O ring networks, a dynamic planning algorithm for ring network communication paths is adopted: when the ring network is normal, data is transmitted according to the preset optimal path; when a communication link failure is detected, the algorithm calculates the topology of the remaining available links in real time and replans the data transmission path, as shown in the following formula: in, The selected communication path; Let be the transmission delay of the i-th link in the path; This represents the number of link segments in the path. Meanwhile, the operating status of the dual CPUs and the ring network is recorded and analyzed in real time.

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