A turbine servo valve three-redundancy control device, method and related products

Abstract

The application provides a steam turbine servo valve three-redundancy control device and method and related products, and relates to the field of steam turbine servo valve control. The device comprises three servo valve control modules with the same structure, and a full-connection redundancy communication network is constructed through 422 buses for bidirectional communication. The method collects and synchronizes LVDT feedback valve position signals and DPU valve control signals through each module, obtains effective feedback signals through voting logic, determines effective control signals through redundancy selection logic, combines PID operation to generate final control output, and converts the output into adaptive electrical signals through an output driving unit and outputs to the servo valve. The three modules are parallel and independent, and there is no primary and secondary distinction. The output is always consistent. When a single module has a non-fatal fault, the other two redundant modules can continuously control the data synchronously, which avoids large disturbance of the valve caused by a single module fault and ensures system availability, thereby significantly improving the reliability and stability of the steam turbine servo valve control.

Description

Technical Field

[0001] This application relates to the field of turbine servo valve control, and in particular to a triple-redundant control device, method and related products for turbine servo valves. Background Technology

[0002] In the field of steam turbine servo control, the pure electric adjustable valve servo device is the core component for building a pure electric adjustable DEH (Digital Electro-Hydraulic Control System) servo system for steam turbines. It works in conjunction with field control mechanisms such as servo valves, hydraulic actuator slide valves, and LVDT (Linear Variable Differential Transducer) displacement sensors. By comparing the control signal with the feedback signal from the LVDT, it performs PID (Proportional Integral Derivative) calculations and outputs an appropriate voltage / current signal to control the hydraulic actuator stroke, thereby adjusting the steam turbine's steam intake and output power.

[0003] Currently, the mainstream approach in the industry is to use a dual-redundant steam turbine pure electric control valve servo module to achieve redundant control. However, this existing technology has significant drawbacks: (1) There is a risk of no redundancy exposure during the switching process. When the dual-redundancy modules are running, only the main module actively calculates and outputs signals, while the backup modules are mostly in a cold standby state. After the main module fails, a switching action needs to be performed. During the switching period, the system is in a state of no redundancy for a short time. If the switching logic or execution mechanism is abnormal, it is easy to cause switching failure or disturbance. (2) Online maintenance is not secure enough. When maintaining faulty modules, the system loses redundancy protection, increasing operational risks. (3) The valve disturbance control effect is not good. During module failure and switching, the output fluctuation is prone to be too large, which leads to large valve disturbance and affects the operating stability of the steam turbine.

[0004] (4) In the turbine control architecture, the DPU (Distributed Processing Unit) is the core control unit of the DEH system, responsible for issuing valve control commands, processing field data, and achieving redundant cooperation. The reliability of its communication with the servo module directly affects the control accuracy. In the existing dual redundancy scheme, the communication redundancy design between the servo module and the DPU is insufficient, which further exacerbates the system risk under fault conditions.

[0005] Therefore, there is an urgent need for a technical solution that can address the risks of switching between dual redundant modules, the lack of redundancy during maintenance, and the large valve disturbances caused by single module failures. Summary of the Invention

[0006] In view of the above problems, this application is made to provide a triple-redundant control device, method, and related product for a steam turbine servo valve that overcomes or at least partially solves the above problems. The technical solution is as follows: In the first aspect, a triple-redundant control device for a steam turbine servo valve is provided. The device includes three servo valve control modules with identical structures. The three modules are connected to each other via a 422 bus to form a fully connected redundant communication network for bidirectional communication. The module connected to the left side of each module is the left partner card, and the module connected to the right side is the right partner card. Each servo valve control module includes an LVDT feedback signal acquisition interface, a DPU control signal receiving interface, a communication unit, a signal processing unit, a PID calculation unit, and an output drive unit; The LVDT feedback signal acquisition interface is used by the servo valve control module to receive valve signals fed back from the LVDT. The DPU control signal receiving interface is used by the servo valve control module to receive valve control signals sent by the DPU. The communication unit is used to achieve data synchronization with the left and right partner cards; The signal processing unit is used to perform voting logic on the LVDT feedback signals of the three modules to obtain valid feedback signals, and to perform redundancy selection logic on the DPU control signals to obtain valid control signals; The PID calculation unit is used to perform PID calculations by combining the effective control signal and the effective feedback signal to obtain the final control output. The output drive unit is used to convert the final control output into a control signal and output it to the turbine servo valve.

[0007] Secondly, a triple-redundant control method for a steam turbine servo valve is provided, applied to the aforementioned triple-redundant control device for a steam turbine servo valve, the method comprising: The LVDT feedback valve position signal is acquired through the LVDT feedback signal acquisition interface and synchronized to the left and right partner cards through the communication unit. The valve control signals sent by the DPU are received through the DPU control signal receiving interface and synchronized to the left and right partner cards through the communication unit. In response to the LVDT feedback valve position signals received by the communication unit from the left buddy card and the right buddy card, voting logic is performed on the LVDT feedback valve position signals of the three modules to obtain valid feedback signals; Determine whether a valve control command has been received; if not, determine a valid control signal through the signal processing unit according to preset selection logic. Based on the effective feedback signal and effective control command, PID calculation is performed to obtain the final control output; The final control output is converted into a control signal and output to the turbine servo valve through the output drive unit.

[0008] In one possible implementation, in response to the LVDT feedback valve position signals received by the communication unit from the left and right buddy cards, voting logic is performed on the LVDT feedback valve position signals of the three modules to obtain valid feedback signals, including: The LVDT feedback valve position signals of the three modules are sorted to obtain the maximum, median, and minimum values; Determine whether the LVDT feedback signal is configured to take the maximum value and whether the minimum value is equal to the preset abnormal value; if the LVDT feedback signal is configured to take the maximum value or the minimum value is equal to the preset abnormal value, then the maximum value is taken as the valid feedback signal. If the LVDT feedback signal is not configured to take the largest value and the minimum value is not equal to the preset abnormal value, the difference between the maximum value and the median value is calculated to obtain the first difference, and the difference between the median value and the minimum value is calculated to obtain the second difference. If the first difference is less than or equal to the preset threshold and the second difference is greater than the preset threshold, then the maximum value is taken as the valid feedback signal. If the first difference is greater than the preset threshold, or the second difference is less than or equal to the preset threshold, then the intermediate value is taken as a valid feedback signal.

[0009] In one possible implementation, it is determined whether a valve control command has been received; if not, a valid control signal is determined by the signal processing unit according to a preset selection logic, including: Determine if communication with the DPU is normal; If communication with the DPU is normal, the valve control commands issued by the DPU are directly used as valid control commands. If communication with the DPU is abnormal, check if the synchronization communication with the right-side partner card is normal. If the communication with the right partner card is normal, further determine whether the communication between the right partner card and the DPU is normal; if the communication between the right partner card and the DPU is normal, use the valve control command synchronized with the right partner card as the effective control command. If there is a problem with the synchronization communication with the right partner card, or if there is a problem with the communication between the right partner card and the DPU, determine whether the synchronization communication with the left partner card is normal. If the synchronization communication with the left partner card is normal, further determine whether the communication between the left partner card and the DPU is normal; if the communication between the left partner card and the DPU is normal, use the valve control command synchronized with the left partner card as the valid control command; if the synchronization communication with both left and right partner cards is abnormal, or the communication between both left and right partner cards and the DPU is abnormal, use the valve fully closed command as the valid control command.

[0010] In one possible implementation, during the case vectorization step, determining whether communication with the DPU is normal includes: If no communication response signal is received within the preset time, the communication is considered abnormal.

[0011] In one possible implementation, based on the effective feedback signal and the effective control command, PID calculations are performed to obtain the final control output, including: The effective feedback signal and effective control command are used as inputs to perform PID calculations; the cumulative deviation of the PID integral term generated during the PID calculation process is synchronized to the left and right partner cards through the communication unit. When valve adjustment is required, the cumulative deviation of the PID integral term generated by this module is summed and averaged with the cumulative deviation of the PID integral term obtained synchronously from the left and right partner cards to obtain the integral calibration value. Based on the integral calibration value, combined with the effective feedback signal and effective control command, PID calculation is performed to generate the final control output.

[0012] In one possible implementation, the LVDT feedback valve position signal is acquired through the LVDT feedback signal acquisition interface and synchronized to the left and right partner cards via a communication unit, and the implementation also includes: Hardware and software filtering are performed on the LVDT feedback valve position signal.

[0013] Thirdly, an electronic device is provided, comprising a processor and a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the triple-redundant control method for a turbine servo valve as described in any of the preceding claims.

[0014] Fourthly, a storage medium is provided that stores a computer program, wherein the computer program is configured to execute the triple-redundant control method for turbine servo valves described in any of the preceding claims during runtime.

[0015] Fifthly, a computer program product is provided, including a computer program configured to execute the triple-redundant control method for turbine servo valves described in any of the preceding claims when running.

[0016] By utilizing the above technical solutions, the turbine servo valve triple-redundant control device, method, and related products provided in this application embodiment, in which the turbine servo valve triple-redundant control method acquires and synchronizes LVDT feedback valve position signals and DPU valve control signals through each module, obtains valid feedback signals through voting logic, determines valid control signals through redundancy selection logic, generates the final control output quantity by combining PID calculation, and then converts it into an adaptive electrical signal output to the servo valve through the output drive unit. The three modules output in parallel and independently without any master or servant distinction, and the output remains consistent at all times; when a single module experiences a non-fatal failure, it can continuously control the valve by synchronizing data from the other two redundant modules, which not only avoids large valve disturbances caused by the failure of a single module, but also ensures that the system availability is not affected, significantly improving the reliability and stability of turbine servo valve control. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0018] Figure 1 A structural diagram of the triple-redundant control device for a steam turbine servo valve provided in an embodiment of this application is shown. Figure 2 This shows another structural diagram of the triple-redundant control device for a steam turbine servo valve provided in an embodiment of this application; Figure 3 A flowchart of the triple redundancy control method for a steam turbine servo valve provided in an embodiment of this application is shown; Figure 4 The following is a flowchart illustrating the voting logic of the triple redundancy control method for a steam turbine servo valve provided in an embodiment of this application; Figure 5 This paper shows a flowchart of the preset selection logic of the triple redundancy control method for turbine servo valves provided in an embodiment of this application. Figure 6 A structural diagram of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0019] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0020] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the term "comprising" and its variations should be interpreted as open-ended terms meaning "including but not limited to."

[0021] Through analysis, the inventors discovered that the switching risks, lack of maintenance redundancy, and valve disturbance issues of existing dual-redundant turbine servo modules stem from insufficient module fault tolerance under the primary-standby cold standby architecture. The primary module's exclusive output rights and the standby module's idleness lead to gaps and lack of redundancy in fault switching. The dual-module architecture loses redundancy during maintenance, and the lack of multi-module output calibration easily causes fluctuations. Furthermore, insufficient communication redundancy with the DPU further amplifies the risks. Combining the DEH's requirements for continuous redundancy protection and output stability, a three-module fully connected redundant architecture is adopted. This architecture enables modules to operate in parallel and outputs consistently. Even after a fault, dual-module redundancy is maintained, and output is calibrated through data synchronization, thus solving the existing defects at their root.

[0022] To address the aforementioned technical problems, embodiments of this application provide a triple-redundant control device for a steam turbine servo valve, such as... Figure 1 As shown, the device includes three identical servo valve control modules, denoted as Card A, Card B, and Card C. These three modules are interconnected via a UART (a serial communication interface) to form a redundant, bidirectional, pairwise communication network based on a 422 bus. Each module is configured with two interfaces: a left UART3 and a right UART0. These interfaces are interconnected to achieve pairwise communication: Card A's right UART0 is connected to Card B's left UART3, Card A's left UART3 is connected to Card C's right UART0, and Card B's right UART0 is connected to Card C's left UART3. The module connected to the left side of each module is its left-side partner card, and the module connected to the right side is its right-side partner card. like Figure 2 As shown, each servo valve control module includes an LVDT feedback signal acquisition interface 110, a DPU control signal receiving interface 120, a communication unit 130, a signal processing unit 140, a PID calculation unit 150, and an output drive unit 160. The LVDT feedback signal acquisition interface 110 is used by the servo valve control module to receive valve signals fed back from the LVDT. DPU control signal receiving interface 120 is used by the servo valve control module to receive valve control signals sent by the DPU; Communication unit 130 is used to realize data synchronization with the left partner card and the right partner card; The signal processing unit 140 is used to perform voting logic on the LVDT feedback signals of the three modules to obtain valid feedback signals, and to perform redundancy selection logic on the DPU control signals to obtain valid control signals. The PID calculation unit 150 is used to perform PID calculations by combining the effective control signal and the effective feedback signal to obtain the final control output. The output drive unit 160 is used to convert the final control output into a control signal and output it to the turbine servo valve.

[0023] This embodiment achieves high reliability and output stability of turbine servo valve control through a three-module fully connected redundant architecture and a multi-dimensional data synchronization mechanism. Firstly, the three modules synchronize LVDT feedback valve signals, valve control commands issued by the DPU, and accumulated deviations of the PID integral term via a 422 bus. The signal processing unit filters valid signals through voting logic and redundancy selection logic, ensuring the accuracy and redundancy backup of the control input. Secondly, the PID calculation unit incorporates synchronized and calibrated integral term data for calculation, ensuring that the outputs of the three modules remain consistent without any primary or secondary distinction. This design fundamentally avoids the switching risks of dual-redundancy schemes. Even after a single module fails and is isolated, the system maintains complete dual-module redundancy. Maintenance personnel can safely replace faulty modules online, and there are no significant output fluctuations during faults, effectively preventing valve disturbances. Furthermore, through multi-module data backup and calibration, the system's fault tolerance and operational stability are significantly improved.

[0024] Based on the triple-redundant control device for turbine servo valves provided in the above embodiments, and based on the same inventive concept, this application also provides a triple-redundant control method for turbine servo valves, such as... Figure 3 As shown, the method specifically includes the following steps S101 to S106.

[0025] Step S101: Collect LVDT feedback valve position signals through the LVDT feedback signal acquisition interface and synchronize them to the left and right partner cards through the communication unit.

[0026] Step S102: Receive the valve control signal sent by the DPU through the DPU control signal receiving interface, and synchronize it to the left partner card and the right partner card through the communication unit.

[0027] In step S103, in response to the LVDT feedback valve position signals received by the communication unit from the left buddy card and the right buddy card, voting logic is performed on the LVDT feedback valve position signals of the three modules to obtain a valid feedback signal.

[0028] Step S104: Determine whether a valve control command has been received; if not, determine a valid control signal through the signal processing unit according to the preset selection logic.

[0029] Step S105: Based on the valid feedback signal and valid control command, perform PID calculation to obtain the final control output.

[0030] Step S106: The final control output quantity is converted into a control signal and output to the turbine servo valve through the output drive unit.

[0031] This embodiment is based on a three-module fully connected redundant architecture. First, each module collects LVDT feedback valve position signals and receives DPU valve control signals through dedicated interfaces. Then, the communication unit synchronizes the above signals and the accumulated deviation of the PID integral term to the left and right partner cards. Next, voting logic is executed on the synchronized LVDT feedback valve position signals, and the valve control commands are selected into two types of valid signals through preset selection logic. Finally, PID calculation is performed on the valid signals to generate the final control output, which is converted by the output drive unit and output to the turbine servo valve. This method, through three-module data mutual backup, signal redundancy screening and calculation calibration, not only ensures the accuracy of the control process, but also avoids the switching risk of dual redundancy schemes from the root. Even if a single module fails, the system still maintains complete redundancy and can be safely maintained online. At the same time, it reduces valve disturbances and significantly improves the reliability and operational stability of the system.

[0032] This application embodiment provides a possible implementation method. Step S103 above responds to the LVDT feedback valve position signals received by the communication unit from the left and right partner cards, performing voting logic on the LVDT feedback valve position signals of the three modules to obtain a valid feedback signal, such as... Figure 4 As shown, the specific steps may include: The LVDT feedback valve position signals of the three modules are sorted to obtain the maximum, median, and minimum values; Determine whether the LVDT feedback signal is configured to take the maximum value and whether the minimum value is equal to the preset abnormal value; if the LVDT feedback signal is configured to take the maximum value or the minimum value is equal to the preset abnormal value, then the maximum value is taken as the valid feedback signal. If the LVDT feedback signal is not configured to take the largest value and the minimum value is not equal to the preset abnormal value, the difference between the maximum value and the median value is calculated to obtain the first difference, and the difference between the median value and the minimum value is calculated to obtain the second difference. If the first difference is less than or equal to the preset threshold and the second difference is greater than the preset threshold, then the maximum value is taken as the valid feedback signal. If the first difference is greater than the preset threshold, or the second difference is less than or equal to the preset threshold, then the intermediate value is taken as a valid feedback signal.

[0033] The preset abnormal value is -25. When the minimum value equals the preset abnormal value, it is determined that the LVDT has failed, and the maximum value is directly used as the valid feedback signal. The preset threshold can be flexibly set according to business needs, and the default value is 5%. This embodiment does not limit this.

[0034] This embodiment first sorts the LVDT feedback valve position signals of the three modules to obtain the maximum, median, and minimum values. Then, it combines the judgment of whether the LVDT feedback signal is configured to take the largest value, whether the minimum value is a preset abnormal value, and the comparison results of the difference between the maximum and median values, the difference between the median and minimum values, and the preset threshold values ​​to adaptively select the maximum or median value as the effective feedback signal. This voting logic can ensure that a stable and reliable feedback signal can still be output when the signal of a single module is abnormal or fluctuates. It provides high-precision input support for the closed-loop regulation of the three-redundant control scheme, significantly improves the fault tolerance capability and control stability of signal abnormalities, and is an important link to ensure the redundancy cooperation of the three modules and avoid valve disturbances.

[0035] This application embodiment provides a possible implementation method, in which step S104 above determines whether a valve control command has been received; if not, the signal processing unit determines a valid control signal according to a preset selection logic, such as... Figure 5 Specifically, the steps shown may include: Determine if communication with the DPU is normal; If communication with the DPU is normal, the valve control commands issued by the DPU are directly used as valid control commands. If communication with the DPU is abnormal, check if the synchronization communication with the right-side partner card is normal. If the communication with the right partner card is normal, further determine whether the communication between the right partner card and the DPU is normal; if the communication between the right partner card and the DPU is normal, use the valve control command synchronized with the right partner card as the effective control command. If there is a problem with the synchronization communication with the right partner card, or if there is a problem with the communication between the right partner card and the DPU, determine whether the synchronization communication with the left partner card is normal. If the synchronization communication with the left partner card is normal, further determine whether the communication between the left partner card and the DPU is normal; if the communication between the left partner card and the DPU is normal, use the valve control command synchronized with the left partner card as the valid control command; if the synchronization communication with both left and right partner cards is abnormal, or the communication between both left and right partner cards and the DPU is abnormal, use the valve fully closed command as the valid control command.

[0036] This embodiment determines the effective control signal through hierarchical redundancy selection logic, providing core instruction support for the reliable operation of the entire triple redundancy control scheme. It effectively solves the defect of communication failure leading to control interruption in the dual redundancy scheme, and further enhances the fault tolerance and security in complex fault scenarios.

[0037] This application embodiment provides a possible implementation method. The above step S104, which determines whether the communication with the DPU is normal, may specifically include the following steps: If no communication response signal is received within the preset time, the communication is considered abnormal.

[0038] This embodiment uses a preset time as the judgment benchmark. The preset time can be flexibly set to 100ms, 200ms, etc., according to the actual application scenario. If no communication response signal is received from the DPU within the preset time, it is determined that the communication with the DPU is abnormal. This judgment method avoids misjudgment caused by communication packet loss through preset time verification, ensuring the accuracy and flexibility of communication status identification, and providing a reliable status basis for the redundancy selection of subsequent effective control signals.

[0039] This embodiment of the present application provides a possible implementation method. Step S105 above, which involves performing PID calculation to obtain the final control output based on the effective feedback signal and the effective control command, may specifically include the following steps: The effective feedback signal and effective control command are used as inputs to perform PID calculations; the cumulative deviation of the PID integral term generated during the PID calculation process is synchronized to the left and right partner cards through the communication unit. When valve adjustment is required, the cumulative deviation of the PID integral term generated by this module is summed and averaged with the cumulative deviation of the PID integral term obtained synchronously from the left and right partner cards to obtain the integral calibration value. Based on the integral calibration value, combined with the effective feedback signal and effective control command, PID calculation is performed to generate the final control output.

[0040] This embodiment ensures the consistency of output from each module by synchronizing and calibrating the integral terms of the three modules, avoiding valve disturbances caused by single module failures or the accumulation of integral deviations. This provides technical support for the output stability of the triple redundancy control scheme and further enhances the redundancy cooperation capability and control accuracy.

[0041] This application embodiment provides a possible implementation method. In step S101 above, the LVDT feedback valve position signal is acquired through the LVDT feedback signal acquisition interface and synchronized to the left partner card and the right partner card through the communication unit. Specifically, it may also include the following steps: Hardware and software filtering are performed on the LVDT feedback valve position signal.

[0042] In this embodiment, by filtering the LVDT feedback valve position signal to suppress signal noise, the impact of noise interference on the servo valve adjustment accuracy is reduced, further improving the accuracy of turbine steam inlet regulation and the stability of system operation.

[0043] The above introduces Figures 3 to 5 The embodiments shown have various implementation methods for each stage. The following will further explain the triple redundancy control method for turbine servo valves in this application through specific embodiments.

[0044] This specific embodiment is based on a three-module fully connected redundant architecture (module A, module B, and module C, which communicate bidirectionally with each other via a 422 bus; the left partner card of module A is module C and the right partner card is module B; the left partner card of module B is module A and the right partner card is module C; the left partner card of module C is module B and the right partner card is module A). This specific embodiment mainly solves problems such as the risk of switching between dual redundant modules, lack of redundancy during maintenance, and large valve disturbances when a single module fails.

[0045] I. Data Acquisition and Synchronization Phase 1. Module A acquires an LVDT feedback valve position signal of 50% through the LVDT feedback signal acquisition interface, Module B acquires a signal of 52%, and Module C acquires a signal of -25%. Each module synchronizes its acquired LVDT feedback valve position signal to the left and right partner cards through the communication unit. Finally, all three modules obtain the complete signal set {50%, 52%, -25%}. 2. Module A receives the valve control command "60% opening" from the DPU via the DPU control signal receiving interface. Module B also receives the command "60% opening". Module C does not receive any DPU command. Each module synchronizes the DPU control command it receives to the left and right partner cards via the communication unit. Finally, all three modules obtain the command set {"60% opening", "60% opening", no command}. 3. The cumulative deviations of the integral term generated by each module in the initial stage of PID calculation are as follows: Module A 0.3, Module B 0.4, Module C 0.3. Each module synchronizes the cumulative deviation of the integral term to the left and right partner cards through the communication unit. Finally, all three modules obtain the set of cumulative deviations of the integral term {0.3, 0.4, 0.3}.

[0046] II. Valid Signal Determination Stage 1. LVDT feedback signal voting: (1) The three modules sort the synchronized LVDT feedback valve position signals to obtain the maximum value of 52%, the median value of 50%, and the minimum value of -25%; (2-1) Assuming the system is not configured to "take the maximum value of LVDT feedback signal", but the minimum value -25% is equal to the preset abnormal value (the preset abnormal value is -25), it is determined that the corresponding LVDT has failed, and the maximum value of 52% is directly used as the effective feedback signal; (2-2) In another scenario: the signal collected by module C is 48%, after sorting, the maximum value is 52%, the median value is 50%, and the minimum value is 48%. The "take the largest mode" is not configured and the minimum value is not an abnormal value. Calculate the first difference (52%-50%=2%) and the second difference (50%-48%=2%). The preset threshold is 5%. Since the first difference is ≤5% and the second difference is ≤5%, the median value of 50% is taken as the effective feedback signal.

[0047] 2. Control command redundancy selection: (1) Module C does not receive DPU instructions and executes the preset selection logic: First, it judges the communication status with DPU and sets two consecutive communication cycles as the judgment benchmark. If module C does not receive DPU response signals for two consecutive cycles, it is determined that the communication with DPU is abnormal. (2-1) Module C determines that the synchronous communication with the right partner card (Module A) is normal. Further confirmation shows that the communication between Module A and DPU is normal. Therefore, the “60% opening” of Module A is used as the effective control command. (2-2) In another scenario: if the communication between module C and the right partner card (module A) is abnormal, then it is determined that the synchronous communication with the left partner card (module B) is normal, and the communication between module B and DPU is normal. The “60% opening” of module B is used as the effective control command. If the communication between module C and both partner cards is abnormal, or the communication between both partner cards and DPU is abnormal, then “valve fully closed (0% opening)” is used as the effective control command.

[0048] III. PID Calculation and Signal Output Stage 1. PID calculation: (1) Each module performs PID calculation with effective feedback signals (e.g., 52%) and effective control commands (e.g., “60% opening”) as inputs, and simultaneously accumulates the deviation of the integral term. (2) When valve adjustment is required, module A sums its own integral term cumulative deviation of 0.3 with the synchronously acquired values ​​of 0.4 from module B and 0.3 from module C and averages them ((0.3+0.4+0.3) / 3≈0.33) to obtain the integral calibration value; combined with the effective feedback signal of 52% and the effective control command "60% opening", PID calculation is performed to generate the final control output; 2. Signal conversion and output: (1) Module A converts the final control output into a current signal that is compatible with the servo valve; (2) Output the current signal as a control signal to the turbine servo valve to realize dynamic adjustment of the valve position; (3) During the valve position adjustment process, the control output changes continuously and dynamically; when the valve position reaches the target opening degree and remains stable, the deviation of the control system approaches zero. At this time, the current signal value output by the output drive unit approaches 0, and its dynamic change amplitude is significantly reduced.

[0049] In this embodiment, the three modules output independently in parallel without any primary or secondary distinction, and the output remains consistent at all times. When a single module experiences a non-fatal failure, it can continuously control the system by synchronizing data from the other two redundant modules. This avoids significant valve disturbances caused by a single module failure and ensures that the system availability is not affected, thus significantly improving the reliability and stability of the turbine servo valve control.

[0050] It should be noted that the sequence numbers of the steps in the above embodiments do not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. In practical applications, all the above possible implementation methods can be arbitrarily combined in a combined manner to form possible embodiments of this application, which will not be described in detail here.

[0051] Based on the same inventive concept, this application also provides an electronic device, including a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the turbine servo valve triple redundancy control method of any of the above embodiments.

[0052] In an exemplary embodiment, an electronic device is provided, such as Figure 6 As shown, Figure 6 The illustrated electronic device 300 includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device 300 does not constitute a limitation on the embodiments of this application.

[0053] Processor 301 may be a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0054] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0055] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0056] The memory 303 stores computer program code that executes the scheme of this application, and its execution is controlled by the processor 301. The processor 301 executes the computer program code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0057] Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 6 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0058] Based on the same inventive concept, this application also provides a storage medium storing a computer program, wherein the computer program is configured to execute the turbine servo valve triple redundancy control method of any of the above embodiments when running.

[0059] Based on the same inventive concept, this application also provides a computer program product, including a computer program configured to execute the three-redundant control method for a steam turbine servo valve of any of the above embodiments when running.

[0060] Those skilled in the art will clearly understand that the specific working process of the systems, devices, and modules described above can be referred to the corresponding process in the foregoing method embodiments. For the sake of brevity, it will not be repeated here.

[0061] Those skilled in the art will understand that the technical solution of this application, or all or part of it, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several program instructions to cause an electronic device (e.g., a personal computer, server, or network device) to execute all or part of the steps of the methods described in the embodiments of this application when running the program instructions. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0062] Alternatively, all or part of the steps of the foregoing method embodiments can be implemented by hardware (such as electronic devices like personal computers, servers, or network devices) associated with program instructions. The program instructions can be stored in a computer-readable storage medium. When the program instructions are executed by the processor of the electronic device, the electronic device executes all or part of the steps of the methods described in the embodiments of this application.

[0063] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that within the spirit and principles of this application, modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the corresponding technical solutions to leave the protection scope of this application.

Claims

1. A triple-redundant control device for a steam turbine servo valve, characterized in that, The device includes three identical servo valve control modules. The three modules are connected to each other via a 422 bus to form a fully connected redundant communication network. The module connected to the left side of each module is the left partner card, and the module connected to the right side is the right partner card. Each servo valve control module includes an LVDT feedback signal acquisition interface, a DPU control signal receiving interface, a communication unit, a signal processing unit, a PID calculation unit, and an output drive unit; The LVDT feedback signal acquisition interface is used by the servo valve control module to receive valve signals fed back from the LVDT. The DPU control signal receiving interface is used by the servo valve control module to receive valve control signals sent by the DPU. The communication unit is used to achieve data synchronization with the left and right partner cards; The signal processing unit is used to perform voting logic on the LVDT feedback signals of the three modules to obtain valid feedback signals, and to perform redundancy selection logic on the DPU control signals to obtain valid control signals; The PID calculation unit is used to perform PID calculations by combining the effective control signal and the effective feedback signal to obtain the final control output. The output drive unit is used to convert the final control output into a control signal and output it to the turbine servo valve.

2. A triple-redundancy control method for a steam turbine servo valve, characterized in that, The method applied to the triple-redundant control device for the turbine servo valve as described in claim 1 includes: The LVDT feedback valve position signal is acquired through the LVDT feedback signal acquisition interface and synchronized to the left and right partner cards through the communication unit. The valve control signals sent by the DPU are received through the DPU control signal receiving interface and synchronized to the left and right partner cards through the communication unit. In response to the LVDT feedback valve position signals received by the communication unit from the left buddy card and the right buddy card, voting logic is performed on the LVDT feedback valve position signals of the three modules to obtain valid feedback signals; Determine whether a valve control command has been received; if not, determine a valid control signal through the signal processing unit according to preset selection logic. Based on the effective feedback signal and effective control command, PID calculation is performed to obtain the final control output; The final control output is converted into a control signal and output to the turbine servo valve through the output drive unit.

3. The method according to claim 2, characterized in that, In response to the LVDT feedback valve position signals received by the communication unit from the left and right buddy cards, voting logic is executed on the LVDT feedback valve position signals of the three modules to obtain valid feedback signals, including: The LVDT feedback valve position signals of the three modules are sorted to obtain the maximum, median, and minimum values; Determine whether the LVDT feedback signal is configured to take the maximum value and whether the minimum value is equal to the preset abnormal value; if the LVDT feedback signal is configured to take the maximum value or the minimum value is equal to the preset abnormal value, then the maximum value is taken as the valid feedback signal. If the LVDT feedback signal is not configured to take the largest value and the minimum value is not equal to the preset abnormal value, the difference between the maximum value and the median value is calculated to obtain the first difference, and the difference between the median value and the minimum value is calculated to obtain the second difference. If the first difference is less than or equal to the preset threshold and the second difference is greater than the preset threshold, then the maximum value is taken as the valid feedback signal. If the first difference is greater than the preset threshold, or the second difference is less than or equal to the preset threshold, then the intermediate value is taken as a valid feedback signal.

4. The method according to claim 2, characterized in that, Determine whether a valve control command has been received; if not, determine a valid control signal through the signal processing unit according to preset selection logic, including: Determine if communication with the DPU is normal; If communication with the DPU is normal, the valve control commands issued by the DPU are directly used as valid control commands. If communication with the DPU is abnormal, check if the synchronization communication with the right-side partner card is normal. If the communication with the right partner card is normal, further determine whether the communication between the right partner card and the DPU is normal; if the communication between the right partner card and the DPU is normal, use the valve control command synchronized with the right partner card as the effective control command. If there is a problem with the synchronization communication with the right partner card, or if there is a problem with the communication between the right partner card and the DPU, determine whether the synchronization communication with the left partner card is normal. If the synchronization communication with the left partner card is normal, further determine whether the communication between the left partner card and the DPU is normal; if the communication between the left partner card and the DPU is normal, use the valve control command synchronized with the left partner card as the valid control command; if the synchronization communication with both left and right partner cards is abnormal, or the communication between both left and right partner cards and the DPU is abnormal, use the valve fully closed command as the valid control command.

5. The method according to claim 4, characterized in that, Determine if communication with the DPU is normal, including: If no communication response signal is received within the preset time, the communication is considered abnormal.

6. The method according to any one of claims 2-5, characterized in that, Based on the valid feedback signal and valid control command, PID calculation is performed to obtain the final control output, including: The effective feedback signal and effective control command are used as inputs to perform PID calculations; the cumulative deviation of the PID integral term generated during the PID calculation process is synchronized to the left and right partner cards through the communication unit. When valve adjustment is required, the cumulative deviation of the PID integral term generated by this module is summed and averaged with the cumulative deviation of the PID integral term obtained synchronously from the left and right partner cards to obtain the integral calibration value. Based on the integral calibration value, combined with the effective feedback signal and effective control command, PID calculation is performed to generate the final control output.

7. The method according to claim 6, characterized in that, The LVDT feedback valve position signal is acquired through the LVDT feedback signal acquisition interface and synchronized to the left and right partner cards via the communication unit. It also includes: Hardware and software filtering are performed on the LVDT feedback valve position signal.

8. An electronic device, characterized in that, The device includes a processor and a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the three-redundant control method for a steam turbine servo valve as described in any one of claims 2 to 7.

9. A storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the triple-redundant control method for the turbine servo valve according to any one of claims 2 to 7 when it is run.

10. A computer program product, comprising a computer program, characterized in that, The computer program is configured to execute the triple-redundant control method for the turbine servo valve as described in any one of claims 2 to 7 when it is run.

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