CN104635491B - A kind of heavy electrical plant hydraulic lifting control method - Google Patents
A kind of heavy electrical plant hydraulic lifting control method Download PDFInfo
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- CN104635491B CN104635491B CN201410777231.3A CN201410777231A CN104635491B CN 104635491 B CN104635491 B CN 104635491B CN 201410777231 A CN201410777231 A CN 201410777231A CN 104635491 B CN104635491 B CN 104635491B
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Abstract
A kind of heavy electrical plant hydraulic lifting control method is using model-free fuzzy-adaptation PID control top lifting ascent stage; the iterative study control position adjusting stage; both are changed by handover module, and at the end of switching and jacking, guarded by location are carried out by lock modules；The hydraulic jacking device includes jack, hydraulic control valve, hydraulic accumulator group and two-position three way control valve；When two-position three way control valve is in home position, the output signal of controller is connected with low pressure inverter, controls the rotating speed of energy storage dynamoelectric machine, and is connected with High-voltage AC Network by step-up transformer.Position and power switching are carried out jacking control by the present invention, the rate of climb is ensure that in ascent stage, the accuracy and accuracy in place that ensure that jacking are controlled to top lift, the problem that the accumulation of error during jacking is brought is solved, jacking efficiency and jacking precision is improve.
Description
Technical field
It is specifically a kind of to be used for equipment installing area the present invention relates to a kind of heavy electrical plant hydraulic lifting control method
The control method of the construction hydraulic lifting in place of medium and heavy electrical equipment.
Background technology
Electrical energy demands amount is continuously increased, and power industry construction is continued to develop, and hydraulic jacking device is widely used in large-scale
In the construction of transformer station, especially in heavy electric equipment is installed in place, there is very important status.Newly-built large-scale change simultaneously
Power station warp-wise automation, intelligentized direction are developed, and this installation to electrical equipment proposes requirement higher in place.Due to
Hydraulic Power Transmission System has the advantages that stable drive, flexible arrangement, high degree of automation, is easily achieved overload protection, and electric power is built
If industry generally carries out the handling of electrical equipment using the hydraulic jacking device of the compositions such as ultrahigh voltage hydraulic pump station, hydraulic jack
It is in place with installing.
The installation of existing electrical equipment uses hydraulic jacking device and artificial alternately operating in place, mainly manually controls
The start and stop of hydraulic power unit processed, multiple jacking stage by stage, its construction procedure in place is as follows：
First, after transformer body is reached the spot, chock is first stacked and neatly put by lifting personnel by groined type intersection
Before being put into basis, its density should be determined according to weight of equipment, start construction in place；
Secondly whether the working properly of hydraulic jacking device, is checked, jacking preparation is ready；
3rd, equipment jack-up is set up into heavy rail on chock using hydraulic jacking device, transformer body is placed in rail
On；
4th, moved by pusher driving transformer, distance around adjusting at any time, until shifting transformer onto pad
Wooden top；
5th, transformer is landed using hydraulic jacking device, and lays chock thereunder；
6th, heavy rail is placed in transformer both sides, both sides translation is carried out again, make transformer corresponding with basis；
7th, by transformer jacking to height of foundation, transformer is pushed on basis using heavy rail, completion is applied in place
Work.
The operational control of hydraulic jacking device corresponding with this is as follows：
First, performance checking is carried out, 380V hydraulic power unit main power sources, power transmission and no-load running is connected, hydraulic pump is checked afterwards
Stand and whether hydraulic jack work is normal, by being in good use state after debugging；
Secondly jacking preparation, is carried out, hydraulic jack is placed under the top position that transformer is specified, place parallels,
And connect hydraulic oil pipe；
3rd, start hydraulic jacking device, by transformer side jack-up, then carry out opposite side jacking, the left and right sides replaces
Carry out；
When the 4th, highly reaching predetermined altitude to transformer bottom and ground space, insurance is accomplished fluently, complete jacking.
For example, in the construction of certain transformer station.Construction requirement installs 2 240MVA three-phase three winding self-cooled on-load voltage regulation
Transformer, carries out main body and installs in place.Its model SSZ- 240000/220, separate unit transport main body weighs 182 tons.Carry out transformation
The installation in place of device needs the people of technical staff 15 to 20 to participate in, and construction at least needs 2 day time, is influenceed to have extension by weather.
First, such transformer, because its weight is huge, huge difficulty is increased in installation process to construction；And crane etc. is often
Cannot normally be used with equipment, generally carry out jacking using hydraulic jacking device constructs in place.Secondly, from the economic viewpoint,
Participate in installation personnel many, expend a large amount of manpower and materials, increase the holistic cost of engineering；From from the point of view of construction speed, construction
Time is long, and can influence other construction progresses.Finally, transformer is used as transformer station's nucleus equipment, its installation requirement high precision, position
Put in grade, it is desirable to which jacking speed is in 100mm/60s.
Above-mentioned when being carried out the handling of electrical equipment and installed in place using hydraulic jacking device, top lifting height and speed are relied on
Human eye observation.The jacking efficiency of its jacking apparatus is low, and work consuming is time-consuming, and jacking process stability is poor, lacks safety guarantee.Through excessive
The actual tracking investigation of individual projects, it is found that the consistent hydraulic hoist unit for using has the space improved, and improves
Hydraulic lifting system can not only improve efficiency of construction, reduce installation cost, and can further reduce security risk system
Number.
Hydraulic jacking device is typical mechanical, electrical, liquid integrated complication system, wherein the modeling of controller, optimization with
Control is always for researcher is of interest.For its essence, it is a nonlinearity, the nonlinear time-varying of Parameter uncertainties
System.Its working environment gradually follows the time to change, so as to the parameter for causing system changes.Application control it is theoretical into
The correlative study that fruit improves hydraulic jacking device controller performance is also current research work field the most active.
In the prior art, improvement of the open source literature to installation flow, such as《Construction Technique of Hydraulic Pressure Propping-up Using Metal Cans》,
Come from modern mechanical, 3 phases in 2005, the hydraulic lifting technical examples of this paper combination concrete engineering, by increasing lifting body,
Construction process is improved, continuous, step-type jacking is realized.The jack lifting technique maintain that hydraulic lifting has it is steady, safe, can
By property, the accuracy of construction is improve, but its essence is still artificial operation, security and accuracy also have greatly improved sky
Between.
In the prior art, improvement of the open source literature to apparatus, such as Publication No. CN203754281U " one kind is used for
The utility model patent of the installation of large-sized object, jacking, the slip device carried ", this patent is laid particular emphasis on to device hardware system
Transformation.It is characterized in that：One single-stage or multi-stage oil cylinder and running motor and decelerator, four are installed on each leg
Supporting leg is connected on a set of independent pumping plant, has a centralized Control cabinet to control independent pumping plant.The advantage is that：Synchronization accuracy is high,
Jacking tonnage is big, integral slipping accurate positioning, rising or falling speed are adjustable, the features such as can stop at an arbitrary position, but still for artificial
Operation, automaticity is not high.
In the prior art, open source literature replaces manually operated improvement to microcomputer control, such as《Chimney hydraulic jacking control system
System transformation》, come from the electric power Civil Specialities committee of CSEE 2013 " new energy, new technology, innovation and development "
Seminar, it is proposed that the improvement of system is controlled using PLC, frequency converter and sensor monitoring technology, realizes microcomputer certainly
Dynamicization is controlled, and during production and construction, is reduced construction labour, is operated light, energy-conservation, achieves good society's effect
Benefit.Its improve after hydraulic system major advantage be：1）By 3 relatively independent frequency conversion pumping plants, by computer and PLC
Three hydraulic lifting oil cylinders of control synchronously rise, decline；2）Balanced valve is utilized on master cylinder, so as to control load steady；3）Adopt
Double pump double-circuit system is used, the reliability of hydraulic system is improved；4）Main system is controlled using 2 stage pressures, realizes energy-conservation purpose
And reduce system heat generation；5）Two kinds of pressure display systems are set, it is ensured that the correct monitoring to system pressure.This paper is mainly explained
The hardware modifications for hydraulic jacking system are stated, has been controlled using PLC microcomputers, instead of artificial operation；Using double pump double loop
Increased the stability of system.Its improvement only realizes simple closed-loop control, is not directed to Based Intelligent Control.
In the prior art, improvement of the open source literature to Automated condtrol, is mainly had and is controlled using simple control method,
Invention such as " one kind cutting bridge pier Integral synchronous jacking control system and the control method " of Publication No. CN102505642A is special
Profit, belongs to and simple control method is applied in hydraulic jacking system.Its system is improved to be included for providing jacking power
Two hydraulic jacking devices, two hydraulic circuits for connecting with two hydraulic jacking devices respectively, it is separately mounted to two hydraulic pressure
Real-time monitoring and root are carried out during two oil-feed amount adjusting apparatus and jacking on loop to the poised state for needing climbing structure
According to the jacking balance state monitoring device that monitoring result is controlled to two oil-feed amount adjusting apparatus；Its jacking method includes：
Jacking preparation and jacking, upward jacking is carried out during actual jacking by two hydraulic jacking devices to structure, until by structure top
Preset height is risen to, and timely dynamic correcting is carried out to structure.The jacking method that this invention is used is simple jacking upwards, top
Rise and acted on simultaneously with correction, its jacking process is constantly in the admixture for rising and adjusting, both have impact on jacking
Speed have impact on the correction of error again, and cause that the controlled quentity controlled variable of previous moment does not produce work to the controlled quentity controlled variable of subsequent time
With the information for controlled quentity controlled variable occur is lost.So that control speed slows down, cause the reduction of control errors precision.For another example Publication No.
" the jack fast adjustment method in 4 jack-up constructions of bridge " of CN103806376A, its control method is comprised the following steps：
One：Determine the position accuracy demand and top lift equalization request of bridge jacking；Two：The jacking distance for adjusting four jack makes bridge
Beam reaches object height；Three：Judge whether the top lift of jack meets power equalization request；Four：Adjust the top lift of jack
Meet power equalization request；Five：Judge whether the bridge after adjustment meets position accuracy demand.Jack of the invention is quickly adjusted
Method, it is to avoid workmen repeatedly adjusts repeatedly in bridge jacking construction, improves efficiency of construction；Improve with bridge position
Jack-up construction mode of the precision as single index is put, by taking into account bridge jacking positional precision and four jack top lifts
Equilibrium, improves the stress of bridge, reduces the risk that bridge pad is damaged due to discontinuity equalization, improves bridge
Service life.This jacking method as two kinds of control effect indexs, examines two kinds of Con trolling index power and position respectively
Amount.After meeting the equilibrium condition to power first, then locality condition is calibrated.Fail power and position as controlled output
There is certain control defect in amount, the control for making it have neither part nor lot in whole system.
In the prior art, improvement of the open source literature to utilization intelligent control method, such as《Fuzzy control in big load in high precision
Application in hydraulic control system》, University Of Tianjin's journal, 8 phases in 2004, it is indicated that to big load change in gamut
Hydraulic system needs to carry out high-precision control, and conventional control mode is easily caused very big control deviation or even transfinites.Wen Zhong
Using fuzzy theory, the FUZZY ALGORITHMS FOR CONTROL suitable for hydraulic control is have developed.Prove in actual applications, this algorithm is effective
Avoid vibration and the overshoot of the controlled quentity controlled variable easily caused using conventional algorithm, improve the precision of load applying.This paper
Control method is improved, is effectively avoided using FUZZY ALGORITHMS FOR CONTROL and is vibrated and increased precision, by Fuzzy Control
System theory is applied in the control method of hydraulic system.But fuzzy control itself existing defects, can only infinitely approach desired value,
Controlled quentity controlled variable is fluctuated near desired value, influence its steady-state behaviour.Therefore, although control accuracy makes moderate progress, but is unable to reach
Required precision.
Above-mentioned prior art, is restricted by existing construction and technology, and hydraulic jacking device and jacking method were being constructed
, there are some factors for promoting the use of of influence as follows in Cheng Zhong：
First, heavy electrical plant weighs more than 200 tons, is the difficult point of jack-up construction；
Secondly, financial resources and material resources needed for heavy electrical plant construction and installation are more, relatively costly；
3rd, the heavy electrical plant construction and installation time is long, influences its progress；
4th, main transformer as transformer station nucleus equipment, it is arranged on grade, and jacking rate limitation exists
100mm/60s, required precision is high, and particularly installation accuracy will carry out concussion verification.
Therefore, improving hydraulic jacking device and its control performance, the precision and efficiency of hydraulic jacking system are further lifted,
It is very necessary with the construction and installation demand for meeting heavy electric equipment.
The content of the invention
The precision and efficiency in place in order to further lift heavy electric equipment construction and installation, realize its install it is in place from
Dynamicization, the present invention provides a kind of heavy electrical plant hydraulic lifting control method.
Above-mentioned purpose of the invention is achieved through the following technical solutions.
A kind of heavy electrical plant hydraulic lifting control method, its methods described is to power by hydraulic lifting control device
Signal and position signalling are controlled simultaneously, are realized in place with accurate to the lifting adjustment of heavy electrical plant；Specific method is as follows：
Startup program, is input into top lifting height set in advance and jacking switching position, and the model-free mould for passing through controller
Paste PID module output control signals, using position signalling as controlled output and feedback detection signal, by energy storage motor band hydrodynamic
Press pump/motor control output oil mass, controls jack to act, into the jacking stage by hydraulic control valve；Then by very heavy
Position signalling and force signal are fed back to controller by top position sensor with force snesor, are detected by iterative learning control module
Position signalling convergence zero error is exported, and judges whether to reach setting switching position, then perform switching by stage control handover module
Program；Model-free fuzzy module stopping output signal in controller, iterative study control module output control signal,
Using force signal as controlled output and feedback detection signal, hydraulic pump/motor controlled output oil mass is driven by energy storage motor,
Control jack to act by hydraulic control valve, into the adjusting stage, reach setting height, controller output block signal is real
Existing jacking adjustment is in place with accurate；
Wherein：The hydraulic lifting control device is made up of hydraulic lifting controller control hydraulic jacking device；
The hydraulic lifting controller includes input panel and its control panel, is provided with the control panel
Model-free fuzzy-adaptation PID control module, iterative study ILC control modules, position detecting module and position lock modules, are carried out
It is in place with accurate to hydraulic lifting control；
The hydraulic lifting control device includes ultrahigh voltage hydraulic pump station and is communicated with hydraulic jack, and is entered by console
Row control；The jack oil inlet and outlet by pipeline respectively with the actuator port A of hydraulic control valve the Ith and hydraulic control valve the IIth
Actuator port B is connected, and safety valve and check valve are communicated with outlet line, and pressure oil port P enters fuel-displaced with hydraulic accumulator group
Mouth, safety valve oil inlet are connected with the two-position three way control oil-out C of valve the Ith, and the two-position three way control valve is in home position
When, two-position three way control valve the IIth oil-out D, the two-position three way control oil inlet E of valve the Ith are connected with fuel tank T, two-position three way control
Ith oil inlet E of valve is connected with hydraulic pump/motor oil-out, and the output signal of controller is connected with the control of low pressure inverter
Signal end, low pressure inverter input terminal is connected with low voltage frequency converter dc bus, and low pressure inverter output end is connected with energy storage electricity
Dynamic/generator end of incoming cables control energy storage dynamoelectric machine rotating speed, energy storage dynamoelectric machine output shaft drives with hydraulic pump/motor
Axle is coaxially disposed, and low voltage frequency converter input is connected and connects and composes feed list by step-up transformer and High-voltage AC Network
Unit.
Further, the hydraulic lifting control method is as follows：
（1）Start program；
（2）Initialization, when top lifting height is h, switching position is highly 0.8h；
（3）By data collecting module collected position signalling；
（4）By model-free fuzzy-adaptation PID control module outgoing position control signal, into the jacking stage；
（5）Exported by iterative learning control module test position convergence zero error, judge whether to reach setting switching position,
It is, execution position locking；It is no, continue executing with above-mentioned（4）Step；
（6）Start changeover program；
（7）By iterative study ILC control module output force control signals, into the adjusting stage；
（8）Judge whether to reach estimated top lifting height, be, execution position locking shuts down procedure；It is no, continue above-mentioned steps
（7）.
A kind of above-mentioned the provided heavy electrical plant hydraulic lifting control method of the present invention is realized, with prior art phase
Than this control method carries out jacking control using the switching of position and power, and whole jacking process is divided into two stages, first
Stage takes the ascent stage of position control, it is ensured that the rapidity of its rate of climb so that be rapidly reached by Lifting Equipment predetermined
Position；Second stage takes the adjusting stage that power is controlled, it is ensured that the accuracy of its jacking so that be accurate to up in advance by Lifting Equipment
Positioning is put.This method is divided into two stages by by jacking process, it is ensured that the speed and precision of jacking, improves construction effect
Rate, and overcome because of the problem that the accumulation of error is brought.
Method introduces power and the switching control strategy of position, power and position are participated in into quilt as the output quantity of controller
Control the actual control of object so that jacking control process is accelerated, and improves jacking control effect；And switching control strategy is used
Different controlled output amounts, jacking process is controlled with detection, it is more more obvious than single controlled output effect.In actual work
In Cheng Yingyong, as a example by 2 240MVA three-phase three winding self-cooled ULTCs to be installed, the hydraulic top after application enhancements
Device and control method are risen, the construction and installation duration was shorten within one day by present 15 days, and number is by existing 11
People is reduced to seven people, and reduce further security risk coefficient, and its installation accuracy is improved more than grade, while meeting
Vibration verification condition.
Brief description of the drawings
Fig. 1 is control method flow chart of the present invention.
Fig. 2 is heavy electrical plant hydraulic jacking device controller architecture schematic diagram of the present invention.
Fig. 3 is model-free fuzzy-adaptation PID control function structure chart of the present invention.
Fig. 4 is iterative study ILC control module structure charts of the present invention.
Fig. 5 is model-free fuzzy-adaptation PID control module execution flow chart of the present invention.
Fig. 6 is iterative study ILC control module execution flow charts of the present invention.
Fig. 7 is jacking control method application working condition chart of the present invention.
Fig. 8 is jacking apparatus control hydraulic structure schematic diagram of the present invention.
In figure：1：Hydraulic jack；2：Safety valve；3：Hydraulic control one-way valve；4：Hydraulicdirectional control valve；5：Accumulator group；6：Peace
Full valve；7：Two-position three way controls valve；8：Variable delivery hydraulic pump/motor；9：Energy storage dynamoelectric machine；10：Low pressure inverter；11：Rise
Pressure transformer；12：Low voltage frequency converter；13：Jacking controller；14：Supervisory control desk；15：Ultrahigh voltage hydraulic pump station；16 transport vehicles
；17：Main transformer；18：It is expected plot in place.
Ⅰ：Actuator port A；Ⅱ：Actuator port B；P：Pressure oil port；A：The actuator port of hydraulic control valve the Ith；B：Hydraulic pressure control
The actuator port of valve processed IIth；C：Two-position three way controls the oil-out of valve the Ith；D：Two-position three way controls the oil-out of valve the IIth；E：Two
The oil inlet of three-way control valve the Ith；T：Fuel tank.
Specific embodiment
Specific embodiment of the invention is further illustrated below.
A kind of above-mentioned the provided heavy electrical plant hydraulic lifting control method of the present invention, its described control method are provided
It is by hydraulic lifting control device to force signal and position signalling while being controlled, lifting of the realization to heavy electrical plant
Adjust and accurate in place.
The hydraulic jacking device includes ultrahigh voltage hydraulic pump station 15, hydraulic jack 1 and console 13, wherein console
14 include input panel, control panel, model-free fuzzy-adaptation PID control module, iterative study ILC control modules, position
Detection module, position lock modules and communications portion.Its constituent relation is the oil inlet and outlet of hydraulic jack 1 by pipeline point
Do not connected with the actuator port A of hydraulic control valve the Ith and the actuator port B of hydraulic control valve the IIth, safety is connected with outlet line
Valve 2 and check valve 3.The oil inlet and outlet of pressure oil port P and hydraulic accumulator group 5, the oil inlet of safety valve 6 and two-position three way control
The oil-out C of valve the Ith is connected, when two-position three way control valve 7 is in home position：Two-position three way control valve the IIth oil-out D, two
The oil inlet E of three-way control valve the Ith is connected with fuel tank T, two-position three way control the oil inlet E of valve the Ith and hydraulic pump/motor 8 it is fuel-displaced
Mouth connection, the output signal of controller 13 is connected to the control signal end of low pressure inverter 10, the input of low pressure inverter 10
It is connected on the dc bus of low voltage frequency converter 12, the output end of low pressure inverter 10 is connected to entering for energy storage dynamoelectric machine 9
Line end, the rotating speed of control energy storage dynamoelectric machine 9, output shaft and the drive shaft of hydraulic pump/motor 8 of energy storage dynamoelectric machine 9
It is coaxially connected, the input connection of low voltage frequency converter 12, and be connected with High-voltage AC Network by step-up transformer 11.
The control method step of the heavy electrical plant hydraulic jacking device is as follows：
Step one：Start program；
Step 2：Initialization, top lifting height is 25cm, wherein switching position for 20cm at；
Step 3：By data collecting module collected position signalling；
Step 4：By model-free fuzzy-adaptation PID control module output control signal, into the jacking stage；
Step 5：Judge whether to reach setting switching position, be, execution position locking；It is no, continue executing with step 4；
Step 6：Start changeover program；
Step 7：ILC control module output control signals are learnt by iterative, into the adjusting stage；
Step 8, judge whether to reach estimated top lifting height, be that execution position locking shuts down procedure；It is no, continue step
Seven；
In the specific embodiment of the invention described above, this method is based on hydraulic jacking device, and whole jacking process is drawn
It is divided into two division of labor different stages.During jacking, separately it is controlled with force signal by by position signalling, so that handle
The rate request of jacking is separately considered with required precision.So that two stages turn into separate two individually control circulations,
Avoid interfering for force control signal and position control signal, influencing each other between rate request and required precision.
In construction, it is first quickly performed ascent stage, enter back into the accurate adjusting stage of position.Jacking efficiency is which enhanced,
Improve jacking effect.Next to that taking position closed loop feedback controling mode in ascent stage, power closed loop is taken in the adjusting stage
Feedback controling mode.
This method for ascent stage, in order to reach the requirement of its rapidity, using position control signal as controller
Output quantity.The feedback of position signalling is obtained by position sensor such that it is able to the intensity of variation of rapid control jacking position.It is right
In the position adjustment stage, in order to ensure the accuracy of its installation site, using force control signal as controller output quantity.Pass through
Force snesor obtains the feedback of force signal, can accurately adjust the counterbalance effect of jacking stress.Then selected in ascent stage
Control strategy is model-free fuzzy-adaptation PID control, and the control strategy selected in the adjusting stage is iterative study control.
State in realization in specific embodiment, the control method feature that the first stage is used is：
One is the situation that model-free fuzzy-adaptation PID control is difficult to accurate foundation suitable for the Mathematical Modeling of controlled device, and electric
Fluid servo system is exactly difficult to set up accurate Mathematical Modeling.
Two be due to model-free fuzzy PID control strategy be introduced on the basis of traditional PID control model-free it is theoretical,
Fuzzy control theory, enhances its robustness, is more applicable for the system of nonlinear time-varying.
Three is that the control of model-free fuzzy is theoretical by model-free and control accuracy of fuzzy control is high, strong robustness, is fitted
The advantages of Ying Xingqiang, is combined the characteristics of the rapidity that PID is controlled is good, so can effectively complete ascent stage power control
Quickly, the requirement of stabilization.
The control method feature that second stage is used is：
One is that controlled device can reach expected trajectory with totally unknown by iterative learning in iterative learning control,
The method is also applied for being difficult in itself the electrohydraulic servo system of Accurate Model.
Two is during previous controlled quentity controlled variable will all participate in the computing of controlled quentity controlled variable next time in iterative learning control.Before being allowed to
Control signal can play help to control below, lose it rather than simple；With control information accumulation
Effect.
Three is that there is high accuracy, zero error to approach the effect of expectation curve for iterative learning control, can so reach position
Adjusting stage pinpoint requirement.
Switching control feature is while using position with power during being turned over for the stage：
One is, by the switching control to position signalling and force signal, to use different Optimal Control signals to reach difference
Construction requirement, had both met vulnerability to jamming, rapidity, and high-precision requirement is met again.
Two be the switching by different control strategies, it is to avoid model-free fuzzy-adaptation PID control exists in terms of steady-state behaviour
The shortcoming of fluctuation, while it also avoid iterative learning control in the slow shortcoming of beforehand control speed；
Three is, from iterative learning control strategy, to be accumulated using its control information in second stage, i.e. its previously control is believed
The characteristics of number effect helpful to subsequent control signal, the hydraulic pressure overshoot brought during switching can be reduced and buffeted.
Embodiment 1
A kind of heavy electrical plant hydraulic lifting control method, with actual top lifting height as 25cm, is cut at 20cm
Example is changed to, its control method is as follows：
Step one, top lifting height as 25cm is set, switching position is 20cm, perform step 2；
Step 2：By model-free fuzzy module output control signal, step 3 is performed；
Step 3：Judge whether to reach switching position, perform step 4；
Step 4：Switching position is reached, position locking is carried out and is started iterative study ILC modules, perform step 5；
Step 5：Detect whether to reach setting top lifting height, perform step 6；
Step 6：Position is reached, position locking, terminator is carried out.
Above method step of the present invention improves the performance and stability of hydraulic jacking device, improves the effect of jacking process
Rate and precision, and jacking apparatus simple structure, easy to operate, it is adaptable to jumbo, the especially peace of heavy electrical plant
Dress construction in place.
Claims (2)
1. a kind of heavy electrical plant hydraulic lifting control method, its methods described is that power is believed by hydraulic lifting control device
Number and position signalling control simultaneously, realize to the lifting of heavy electrical plant adjustment and accurate in place；Specific method is as follows：
Startup program, is input into top lifting height set in advance and jacking switching position, and by controller（13）Model-free mould
Paste pid control module output control signal, using position signalling as controlled output and feedback detection signal, by energy storage it is electronic/hair
Motor（9）Drive hydraulic pump/motor（8）Controlled output oil mass, by hydraulic control valve（4）Control jack（1）Action, enters
The jacking stage；Then jack is passed through（1）Position signalling and force signal are fed back to controller by position sensor with force snesor
（13）, by iterative learning control module test position signal errors export whether convergence zero,
Judge whether to reach setting switching position, then changeover program is performed by stage control handover module；Controller（13）Without mould
Pattern paste pid control module stops output signal, and iterative learning control module output control signal is defeated as controlling using force signal
Go out and feed back detection signal, by energy storage dynamoelectric machine（9）Drive hydraulic pump/motor（8）Controlled output oil mass, by liquid
Pressure control valve（4）Control jack（1）Action, into the adjusting stage, reaches setting height, controller（13）Output locking letter
Number, realize that jacking adjustment is in place with accurate；
Wherein：The hydraulic lifting control device is made up of hydraulic lifting controller control hydraulic jacking device；
The hydraulic lifting controller includes input panel and its control panel, is provided with without mould on the control panel
Pattern paste pid control module, iterative learning control module, position detecting module and position lock modules are controlled to hydraulic lifting
System is in place with accurate；
The hydraulic lifting control device, includes ultrahigh voltage hydraulic pump station（15）It is communicated with hydraulic jack（1）, and by controlling
Platform（14）It is controlled；The jack（1）Oil inlet and outlet by pipeline respectively with the actuator port A of hydraulic control valve the Ith and liquid
The actuator port B of pressure control valve the IIth is connected, and safety valve is communicated with outlet line（2）And check valve（3）, pressure oil port P with
Hydraulic accumulator group（5）Oil inlet and outlet, safety valve（6）Oil inlet is connected with the two-position three way control oil-out C of valve the Ith, and described two
Position three-way control valve（7）During in home position：Two-position three way control valve the IIth oil-out D, the two-position three way control oil-feed of valve the Ith
Mouth E is connected with fuel tank T, two-position three way control the oil inlet E of valve the Ith and hydraulic pump/motor（8）Oil-out is connected, controller（13）
Output signal is connected with low pressure inverter（10）Control signal end, the low pressure inverter（10）Input is connected with low-voltage variable frequency
Device（12）Dc bus, low pressure inverter（10）Output end is connected with energy storage dynamoelectric machine（9）, end of incoming cables control energy storage electricity
Dynamic/generator（9）Rotating speed, energy storage dynamoelectric machine（9）Output shaft and hydraulic pump/motor（8）Drive shaft is coaxially disposed, low pressure
Frequency converter（12）Input is connected and by step-up transformer（11）Feed element is connected and composed with High-voltage AC Network.
2. heavy electrical plant hydraulic lifting control method as claimed in claim 1, its described hydraulic lifting control method is such as
Under：
（1）Start program；
（2）Initialization, when top lifting height is h, switching position is highly 0.8h；
（3）By data collecting module collected position signalling；
（4）By model-free fuzzy-adaptation PID control module outgoing position control signal, into the jacking stage；
（5）By the output of iterative learning control module test position signal errors whether convergence zero, judge whether to reach setting switching
Position, be, execution position locking；It is no, continue executing with above-mentioned steps（4）；
（6）Start changeover program；
（7）Force control signal is exported by iterative learning control module, into the adjusting stage；
（8）Judge whether to reach estimated top lifting height, be, execution position locking shuts down procedure；It is no, continue above-mentioned steps（7）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN110217715A (en) * | 2019-06-12 | 2019-09-10 | 石家庄华燕交通科技有限公司 | Electric-control method, motor-driven jack and the terminal device of motor-driven jack |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1699137A (en) * | 2005-05-25 | 2005-11-23 | 中国人民解放军***空军工程建设局 | Global automatically controlled hydraulic jacking device and jacking method thereof |
| CN103241606A (en) * | 2013-05-22 | 2013-08-14 | 太原理工大学 | Electro-hydraulic hybrid driving mine lifting device and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3987351B2 (en) * | 2002-01-31 | 2007-10-10 | 株式会社荏原製作所 | Hydraulic elevator equipment |
| JP4920354B2 (en) * | 2006-09-06 | 2012-04-18 | 日本輸送機株式会社 | lift device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1699137A (en) * | 2005-05-25 | 2005-11-23 | 中国人民解放军***空军工程建设局 | Global automatically controlled hydraulic jacking device and jacking method thereof |
| CN103241606A (en) * | 2013-05-22 | 2013-08-14 | 太原理工大学 | Electro-hydraulic hybrid driving mine lifting device and control method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 基于复合控制策略的逆变器研究;兖文宇等;《工矿自动化》;20140531;第40卷(第5期);全文 * |
| 电液伺服位置、压力复合控制原理的仿真及试验;权龙等;《机械工程学报》;20080930;第44卷(第9期);全文 * |
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