JPH046011B2 - - Google Patents
Info
- Publication number
- JPH046011B2 JPH046011B2 JP56187749A JP18774981A JPH046011B2 JP H046011 B2 JPH046011 B2 JP H046011B2 JP 56187749 A JP56187749 A JP 56187749A JP 18774981 A JP18774981 A JP 18774981A JP H046011 B2 JPH046011 B2 JP H046011B2
- Authority
- JP
- Japan
- Prior art keywords
- opening
- output
- servo motor
- calculator
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 9
- 230000007423 decrease Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/16—Controlling the angular speed of one shaft
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Water Turbines (AREA)
- Feedback Control In General (AREA)
- Control Of Velocity Or Acceleration (AREA)
- Control Of Eletrric Generators (AREA)
Description
【発明の詳細な説明】
この発明は、水力発電所において水車の速度お
よび出力を調整する比例・積分・微分演算形電器
式調速機に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a proportional/integral/differential calculation type electrical speed governor that adjusts the speed and output of a water turbine in a hydroelectric power plant.
従来、この種の比例・積分・微分演算形電器式
調速機として、第１図に示す構成からなるものが
知られている。すなわち、第１図において参照符
号１０は速度設定器、１２は速度検出器、１４は
PID演算器を示す。速度検出器１２は、水車発電
機１６の回転数を電気信号に変換して検出するも
のであり、前記速度設定器１０の出力信号と速度
検出器１２との減算を行つて、速度偏差信号Δf
を得る。このようにして得られた速度偏差信号
Δfは、速度垂下率演算器１８の出力信号Δpとの
偏差信号をPID演算器１４に入力され、このPID
減算器１４においてPID演算を行い、適正なサー
ボモータ開度指令値を出力する。なお、このPID
演算器１４の出力信号は、開度調節器２０、アク
チユエータ２２およびサーボモータ２４を介して
水理系２６を制御し、水車発電機１６の出力を適
正に制御する。この場合、サーボモータ２４によ
り水理系の開閉調整を行う際のサーボモータ開度
は、開度検出器２８で検出し、この開度検出器２
８で得られたサーボモータ開度実際値と前記PID
演算器１４で得られるサーボモータ開度指令値と
の偏差信号ΔSを開度調節器２０に入力する。従
つて、開度調節器２０では、前記偏差信号ΔSに
比例した開度調節信号ΔS′を出力して、アクチユ
エータ２２を制御する。アクチユエータ２２は、
前記開度調節信号ΔS′を機械的偏位に変換してサ
ーボモータ２４の開閉操作を行う。そして、この
サーボモータ２４の開閉動作により、水理系２６
および水車発電機１６を介してその出力実周波数
が上昇または下降する。また、前記開度検出器２
８で得られるサーボモータ開度実際値は、負荷設
定器３０の設定信号との偏差信号を速度垂下率演
算器１８に入力し、この速度垂下率演算器１８で
速度垂下率信号Δpを演算により求める。 BACKGROUND ART Conventionally, as this type of proportional/integral/differential calculation type electrical speed governor, one having the configuration shown in FIG. 1 is known. That is, in FIG. 1, reference numeral 10 is a speed setter, 12 is a speed detector, and 14 is a speed setter.
The PID calculator is shown. The speed detector 12 converts the rotation speed of the water turbine generator 16 into an electric signal and detects it, and subtracts the output signal of the speed setting device 10 and the speed detector 12 to obtain a speed deviation signal Δf.
get. The speed deviation signal Δf obtained in this manner is input to the PID calculator 14 as a deviation signal from the output signal Δp of the speed droop rate calculator 18, and the PID
The subtracter 14 performs PID calculation and outputs an appropriate servo motor opening command value. Note that this PID
The output signal of the calculator 14 controls the hydraulic system 26 via the opening adjuster 20, actuator 22, and servo motor 24, and appropriately controls the output of the water turbine generator 16. In this case, the opening degree of the servo motor when adjusting the opening/closing of the hydraulic system by the servo motor 24 is detected by the opening degree detector 28;
Servo motor opening actual value obtained in step 8 and the above PID
A deviation signal ΔS from the servo motor opening command value obtained by the calculator 14 is input to the opening controller 20 . Therefore, the opening adjuster 20 controls the actuator 22 by outputting an opening adjustment signal ΔS' proportional to the deviation signal ΔS. The actuator 22 is
The opening adjustment signal ΔS' is converted into a mechanical deviation to open and close the servo motor 24. By opening and closing the servo motor 24, the hydraulic system 26
The actual output frequency increases or decreases via the water turbine generator 16. In addition, the opening degree detector 2
The actual value of the servo motor opening obtained in step 8 is obtained by inputting the deviation signal from the setting signal of the load setting device 30 to the speed droop rate calculator 18, and calculating the speed droop rate signal Δp with this speed droop rate calculator 18. demand.
しかるに、前記速度偏差信号Δfおよび速度垂
下率信号Δpは、サーボモータ２４の開閉操作に
より水理系２６および水車発電機１６を介してそ
の出力実周波数が上昇または下降することによつ
て、次第に減少するよう調整される。従つて、こ
のように構成された電気式調速機は、前記信号
Δf，Δpが所定値以内となるまで制御動作を行う。 However, the speed deviation signal Δf and the speed droop rate signal Δp gradually decrease as the actual output frequency increases or decreases through the hydraulic system 26 and the water turbine generator 16 due to the opening/closing operation of the servo motor 24. It will be adjusted accordingly. Therefore, the electric speed governor configured in this manner performs a control operation until the signals Δf and Δp fall within predetermined values.
なお、前記電気式調速機において、PID演算器
１４は、第２図ａ〜ｃに示すような回路構成から
なるものが好適に使用できる。すなわち、第２図
ａに示すものは、比例演算器３２と積分演算器３
４と微分演算器３６とを並列接続し、各演算器の
出力を加算するように構成したものである。ま
た、第２図ｂに示すものは、微分演算器３６と積
分演算器３４と復原用微分演算器３８とからな
り、入力信号を微分演算器３６により微分演算し
た出力と前記入力信号と加算し、これを積分演算
器３４へ入力する際に積分演算器３４の出力を復
原用微分演算器３８を介して得られた微分演算出
力との偏差を求めて積分演算するよう構成したも
のである。さらに、第２図ｃに示すものは、微分
演算器３６と比例・積分演算器４０とからなり、
入力信号を微分演算器３６により微分演算した出
力と前記入力信号とを加算し、これを比例・積分
演算器４０で比例・積分演算するよう構成したも
のである。 In the electric speed governor, the PID calculator 14 preferably has a circuit configuration as shown in FIGS. 2a to 2c. That is, what is shown in FIG. 2a is a proportional calculator 32 and an integral calculator 3.
4 and a differential calculator 36 are connected in parallel, and the outputs of each calculator are added. The one shown in FIG. 2b is composed of a differential calculator 36, an integral calculator 34, and a restoring differential calculator 38, and adds the output obtained by differentially calculating the input signal by the differential calculator 36 to the input signal. , when inputting this to the integral calculator 34, the deviation between the output of the integral calculator 34 and the differential calculation output obtained through the restoring differential calculator 38 is determined and an integral calculation is performed. Furthermore, the one shown in FIG. 2c consists of a differential calculator 36 and a proportional/integral calculator 40,
The output obtained by differentially calculating an input signal by a differential calculator 36 is added to the input signal, and the proportional/integral calculator 40 performs proportional/integral calculations on this.
前述した制御動作を行う電気式調速機におい
て、アクチユエータ２２は、実際上第３図に示す
ように、理想特性（特性線）に対し非線形特性
（特性線）があるため、等価的にPID演算器１
４の出力とサーボモータ２４の開度検出器２８に
より検出されたサーボモータ開度実際値との偏差
信号ΔSによりサーボモータ２４の積分時定数が
変化する。従つて、前記偏差信号ΔSの少い場合
（第３図のV3−０−V1の範囲）、例えば無負荷運
転中に僅かの周波数変動が発生した場合におい
て、速度偏差信号Δfを所定値にすべくPID演算器
１４が制御動作を行うが、サーボモータ２４の積
分時定数が等価的に長いため、PID演算器１４の
出力に追従しきれなくなる。このため、サーボモ
ータ２４が当初の開度に達した時点ではPID演算
器１４が必要以上の積分動作を行つているので、
サーボモータ２４はさらに開き（あるいは閉じ）
その結果周波数が上昇（あるいは低下）し過ぎる
ので、これを解消すべくPID演算器１４の出力
（特性曲線）およびサーボモータ２４の出力
（特性曲線）は、第４図に示すように数回のア
ンダーシユートおよびオーバーシユートを繰り返
す。 In the electric speed governor that performs the control operation described above, the actuator 22 actually has nonlinear characteristics (characteristic line) with respect to ideal characteristics (characteristic line), as shown in FIG. Vessel 1
The integral time constant of the servo motor 24 changes according to the deviation signal ΔS between the output of 4 and the actual value of the servo motor opening detected by the opening detector 28 of the servo motor 24. Therefore, when the deviation signal ΔS is small (in the range of V 3 −0 − V 1 in FIG. 3), for example, when a slight frequency fluctuation occurs during no-load operation, the speed deviation signal Δf is set to a predetermined value. However, since the integral time constant of the servo motor 24 is equivalently long, it becomes unable to follow the output of the PID calculator 14. For this reason, when the servo motor 24 reaches the initial opening degree, the PID calculator 14 is performing more integral operation than necessary.
Servo motor 24 further opens (or closes)
As a result, the frequency increases (or decreases) too much, so in order to eliminate this, the output (characteristic curve) of the PID calculator 14 and the output (characteristic curve) of the servo motor 24 are changed several times as shown in FIG. Repeat undershoot and overshoot.
従来、このようなPID演算器１４およびサーボ
モータ２４の出力特性を改善すべく、例えば開度
調節器２０のゲインを高めて等価的にサーボモー
タ２４の積分時定数を短くし、PID演算器１４の
出力に対する追従性を高めることが行われてい
た。しかしながら、この場合、開度調節器２０の
ゲインを高め過ぎると、定格出力の数十％程度の
負荷変動が発生した場合、偏差信号ΔSが僅かに
増すと、制御信号ΔS′は直ちに第３図に示すV2以
上（またはV4以下）の出力となり、サーボモー
タ２４は飽和速度で移動し、偏差信号ΔSが零に
近づいた段階で非常に緩やかな速度で移動するい
わゆるバングーバング制御系と等価になる。すな
わち、このようにして得られる制御特性は、第５
図に示すように、PID演算器１４の出力（特性曲
線）に対しサーボモータ２４の出力（特性曲線
）は、初期の遅れをカバーすべく当初飽和速度
となり、次いで偏差出力ΔSが小さくなると緩や
かになり、さらに偏差出力ΔSが大きくなつた時
点で飽和速度となり、これらの状態を繰り返えす
ことにより、サーボモータ２４は段階的にPID演
算器１４の出力に追従することになる。 Conventionally, in order to improve the output characteristics of the PID calculator 14 and the servo motor 24, for example, the gain of the opening adjuster 20 is increased to equivalently shorten the integral time constant of the servo motor 24, and the PID calculator 14 is Efforts have been made to improve the followability of the output. However, in this case, if the gain of the opening adjuster 20 is increased too much and a load fluctuation of several tens of percent of the rated output occurs, when the deviation signal ΔS increases slightly, the control signal ΔS' immediately changes as shown in FIG. The output is V 2 or more (or V 4 or less) as shown in , and the servo motor 24 moves at a saturation speed, and when the deviation signal ΔS approaches zero, it moves at a very slow speed, equivalent to a so-called bang-bang control system. Become. In other words, the control characteristics obtained in this way are
As shown in the figure, the output (characteristic curve) of the servo motor 24 with respect to the output (characteristic curve) of the PID calculator 14 initially reaches the saturated speed to cover the initial delay, and then gradually decreases as the deviation output ΔS becomes smaller. When the deviation output ΔS becomes larger, the speed reaches the saturation speed, and by repeating these conditions, the servo motor 24 follows the output of the PID calculator 14 step by step.
前述したように、従来の電気式調速機は、開度
調節器２０のゲインを高めると無負荷運転時等の
安定は良くなるが、中外乱に対する過渡制御状態
に不具合を生じ、一方開度調節器２０のゲインを
低めると過渡制御状態は問題ないが、最終安定に
不具合を生じるという難点がある。 As mentioned above, in conventional electric speed governors, increasing the gain of the opening regulator 20 improves stability during no-load operation, etc., but it causes problems in the transient control state in response to medium disturbances, and on the other hand, the opening If the gain of the regulator 20 is lowered, there is no problem in the transient control state, but there is a problem in that it causes a problem in the final stability.
そこで、本発明者等は、前述した従来の電気式
調速機の問題点を全て克服すべく種々の検討を重
ねた結果、PID演算器の出力信号に基づいてサー
ボモータの開度調節信号を得る開度調節ループに
おいて、非線形特性を有する制御対象のアクチユ
エータに対し、開度調節器のゲインを前記アクチ
ユエータの非線形特性を補償するような非線形特
性とすることにより、アクチユエータの速応性お
よび安定性を高めることができ、前記問題点を解
消し得ることを突き止めた。 Therefore, as a result of various studies in order to overcome all the problems of the conventional electric speed governor mentioned above, the present inventors have determined that the opening adjustment signal of the servo motor can be adjusted based on the output signal of the PID calculator. In the opening adjustment loop to be obtained, for an actuator to be controlled that has nonlinear characteristics, the gain of the opening adjustment device is set to a nonlinear characteristic that compensates for the nonlinear characteristics of the actuator, thereby improving the quick response and stability of the actuator. It has been found that the above-mentioned problems can be solved.
従つて、本発明の目的は、調節器の演算結果に
サーボモータを追従させるよう構成した開度調節
ループにおいて、制御対象の非線形特性を補償す
ることにより、速応性と安定性を高めることがで
きる電気式調速機を提供するにある。 Therefore, an object of the present invention is to improve responsiveness and stability by compensating for the nonlinear characteristics of a controlled object in an opening adjustment loop configured to cause a servo motor to follow the calculation results of a regulator. We provide electric speed governors.
前記の目的を達成するため、本発明において
は、速度設定器の設定出力と水車発電機の検出出
力との偏差信号を入力してPID演算を行い、得ら
れた演算出力に基づいて開度調節器およびアクチ
ユエータを介して水理系の開閉操作を行うサーボ
モータを追従制御する開度調節ループを有する電
気式調速機において、
前記開度調節器は、線形ゲイン特性を有する開
度調整器（）と、出力補正手段を具備し前記開
度調節器（）の出力を補正する信号を出力する
非線形ゲイン特性を有する開度調節器（）と、
を備えた増幅器であつて、この増幅器と前記アク
チユエータとの総合ゲイン特性に線形性を付与す
るべく、前記アクチユエータの非線形特性を補償
する非線形ゲイン特性を備えたものである、こと
を特徴とする。 In order to achieve the above object, the present invention performs PID calculation by inputting the deviation signal between the set output of the speed setting device and the detected output of the water turbine generator, and adjusts the opening based on the obtained calculation output. In an electric speed governor having an opening adjustment loop that follows and controls a servo motor that opens and closes a hydraulic system through an actuator and an actuator, the opening regulator is an opening regulator () having linear gain characteristics. and an opening adjuster () having a non-linear gain characteristic that includes an output correction means and outputs a signal for correcting the output of the opening adjuster ();
The amplifier is characterized in that it has a nonlinear gain characteristic that compensates for the nonlinear characteristic of the actuator in order to impart linearity to the overall gain characteristic of the amplifier and the actuator.
前記電気式調速機において、開度調節ループ
は、サーボモータの開度を検出する開度検出器を
備え、PID演算出力と前記開度検出器の出力との
偏差信号を開度調節器に入力するように構成すれ
ば好適である。 In the electric speed governor, the opening adjustment loop includes an opening detector that detects the opening of the servo motor, and sends a deviation signal between the PID calculation output and the output of the opening detector to the opening regulator. It is preferable to configure it so that it can be input.
次に、本発明に係る電気式調速機の実施例につ
き、添付図面を参照しながら以下詳細に説明す
る。 Next, embodiments of the electric speed governor according to the present invention will be described in detail below with reference to the accompanying drawings.
第６図は、本発明に係る電気式調速機の一実施
例を示す回路図である。なお、説明の便宜上、第
１図に示す従来の電気式調速機の回路と同一の構
成部分については、同一の参照符号を付して詳細
な説明は省略する。 FIG. 6 is a circuit diagram showing an embodiment of an electric speed governor according to the present invention. For convenience of explanation, the same reference numerals are given to the same components as in the circuit of the conventional electric speed governor shown in FIG. 1, and detailed explanation will be omitted.
すなわち、本実施例回路においては、従来の開
度調節器２０と並列に開度調節器４２を接続
し、これら開度調節器，の出力を加算するよ
うに構成したことを特徴とするものである。その
他の構成は、第１図に示す回路と全く同一であ
る。 That is, the circuit of this embodiment is characterized in that the opening regulator 42 is connected in parallel with the conventional opening regulator 20, and the outputs of these opening regulators are added. be. The rest of the configuration is exactly the same as the circuit shown in FIG.
このように構成配置した開度調節器２０と開
度調節器４２との入力ΔS−出力ΔS′特性は、
第７図に示す通りである。すなわち、開度調節器
２０は、PID演算器１４の出力と開度検出器２
８により検出されたサーボモータ開度実際値との
偏差信号ΔSからなる入力信号に略比例した出力
特性（特性線）を有する。また、開度調節器
４２は、出力補正手段としての出力リミツタ回路
を内蔵しており、前記偏差信号ΔSが少い範囲で
のみ比例出力特性（特性線）を有する。従つ
て、これら開度調節器，により得られる出力
信号ΔS′すなわちアクチユエータ２２に与える制
御信号は、偏差信号ΔSの少い範囲においては高
ゲインであり、また偏差信号ΔSの大きい範囲に
おいては低ゲインで偏差信号ΔSを増幅した信号
（第７図の特性線参照）となる。 The input ΔS-output ΔS' characteristics of the opening regulator 20 and the opening regulator 42 configured and arranged in this way are as follows:
As shown in FIG. That is, the opening regulator 20 uses the output of the PID calculator 14 and the opening detector 2.
It has an output characteristic (characteristic line) approximately proportional to an input signal consisting of a deviation signal ΔS from the actual value of the servo motor opening detected by 8. Further, the opening adjuster 42 has a built-in output limiter circuit as an output correction means, and has a proportional output characteristic (characteristic line) only in a range where the deviation signal ΔS is small. Therefore, the output signal ΔS' obtained by these opening adjusters, that is, the control signal given to the actuator 22, has a high gain in a range where the deviation signal ΔS is small, and a low gain in a range where the deviation signal ΔS is large. becomes a signal obtained by amplifying the deviation signal ΔS (see the characteristic line in FIG. 7).
前述した本実施例回路のアクチユエータ２２お
よびサーボモータ２４を含む開度調節ループを簡
略化して表示すれば、第８図ａに示すような回路
となる。この場合、アクチユエータ２２は、先に
説明したように非線形特性（第３図の特性線参
照）がある。従つて、前述したように開度調節器
，の総合特性を非線形ゲイン特性（第７図の
特性線参照）の増幅器としたことから、このゲ
インを適正に設定することにより、第８図ｂに示
すように、アクチユエータ２２の非線形特性は線
形特性に改善補償される。 If the opening adjustment loop including the actuator 22 and the servo motor 24 of the circuit of this embodiment described above is simplified and displayed, the circuit will be as shown in FIG. 8a. In this case, the actuator 22 has nonlinear characteristics (see the characteristic line in FIG. 3) as described above. Therefore, as mentioned above, since the overall characteristic of the opening adjuster is an amplifier with non-linear gain characteristics (see the characteristic line in Fig. 7), by setting this gain appropriately, the result shown in Fig. 8b is obtained. As shown, the nonlinear characteristics of the actuator 22 are improved and compensated for to linear characteristics.
前述したところから明らかなように、本発明に
よれば、アクチユエータ２２が飽和領域に入らな
いような偏差信号ΔSに対して、開度調節器，
（２０，４２）とアクチユエータ２２との総合
ゲインをK0とすれば、開度調節ループの総合特
性は、時定数がTM／K0の一次遅れとなり、第９
図に示すように、PID演算器１４の出力（特性線
）がインデイシヤルに変化したとしても、サー
ボモータ２４の出力（特性曲線XI）は円滑に追従
することができる。 As is clear from the above, according to the present invention, the opening adjuster,
(20, 42) and the actuator 22 , the overall characteristic of the opening adjustment loop is that the time constant is a first-order lag of T M /K 0 , and the 9th
As shown in the figure, even if the output (characteristic line) of the PID calculator 14 changes in an individual manner, the output (characteristic curve XI) of the servo motor 24 can follow smoothly.
以上、本発明の好適な実施例について説明した
が、本発明は前述した電気式調速機に限定される
ことなく、例えば非線形特性を有する制御対象に
対して、調節器の演算結果を追従させるループを
備える各種制御装置に広範に適用することがで
き、その他本発明の精神を逸脱しない範囲内にお
いて種々の設計変更をなし得ることは勿論であ
る。 Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above-mentioned electric speed governor, and the present invention is not limited to the above-mentioned electric speed governor. It goes without saying that the present invention can be widely applied to various control devices including a loop, and that various other design changes can be made without departing from the spirit of the present invention.
第１図は従来の電気式調速機のブロツク回路
図、第２図ａ〜ｃは第１図に示すPID演算器のそ
れぞれ異なる回路例を示すブロツク図、第３図は
第１図に示すアクチユエータの非線形特性線図、
第４図は第１図に示す開度調節ループの特性曲線
図、第５図は改善された開度調整ループの特性曲
線図、第６図は本発明に係る電気式調速機のブロ
ツク回路図、第７図は第６図に示す開度調節器の
入力−出力特性線図、第８図ａ，ｂは第６図に示
す回路の開度調節ループの特性をそれぞれ示す回
路図、第９図は第６図に示す回路の開度調節ルー
プの特性曲線図である。
１０……速度設定器、１２……速度検出器、１
４……PID演算器、１６……水車発電機、１８…
…速度垂下率演算器、２０……開度調節器（）、
２２……アクチユエータ、２４……サーボモー
タ、２６……水理系、２８……開度検出器、３０
……負荷設定器、３２……比例演算器、３４……
積分演算器、３６……微分演算器、３８……復原
用微分演算器、４０……比例・積分演算器、４２
……開度調節器（）、……PID演算器の出力
特性曲線、XI……サーボモータの出力特性曲線。
Figure 1 is a block circuit diagram of a conventional electric speed governor, Figures 2 a to c are block diagrams showing different circuit examples of the PID calculator shown in Figure 1, and Figure 3 is shown in Figure 1. Actuator nonlinear characteristic diagram,
4 is a characteristic curve diagram of the opening adjustment loop shown in FIG. 1, FIG. 5 is a characteristic curve diagram of the improved opening adjustment loop, and FIG. 6 is a block circuit of the electric governor according to the present invention. 7 is an input-output characteristic diagram of the opening adjuster shown in FIG. 6, and FIGS. 8a and 8b are circuit diagrams showing the characteristics of the opening adjustment loop of the circuit shown in FIG. FIG. 9 is a characteristic curve diagram of the opening adjustment loop of the circuit shown in FIG. 6. 10...Speed setter, 12...Speed detector, 1
4... PID calculator, 16... Water turbine generator, 18...
...Speed droop rate calculator, 20...Opening degree adjuster (),
22... Actuator, 24... Servo motor, 26... Hydraulic system, 28... Opening degree detector, 30
...Load setter, 32...Proportional calculator, 34...
Integral calculator, 36... Differential calculator, 38... Differential calculator for restoration, 40... Proportional/integral calculator, 42
...opening regulator (), ...output characteristic curve of PID calculator, XI...output characteristic curve of servo motor.
Claims (1)
力との偏差信号を入力してPID演算を行い、得ら
れた演算出力に基づいて開度調節器およびアクチ
ユエータを介して水理系の開閉操作を行うサーボ
モータを追従制御する開度調節ループを有する電
気式調速機において、 前記開度調節器は、線形ゲイン特性を有する開
度調整器（）と、出力補正手段を具備し前記開
度調節器（）の出力を補正する信号を出力する
非線形ゲイン特性を有する開度調節器（）と、
を備えた増幅器であつて、この増幅器と前記アク
チユエータとの総合ゲイン特性に線形性を付与す
るべく、前記アクチユエータの非線形特性を補償
する非線形ゲイン特性を備えたものである、 ことを特徴とする電気式調速機。 ２ 特許請求の範囲第１項記載の電気式調速機に
おいて、開度調節ループは、サーボモータの開度
を検出する開度検出器を備え、PID演算出力と前
記開度検出器の出力との偏差信号を開度調節器に
入力するように構成してなる電気式調速機。[Claims] 1. PID calculation is performed by inputting the deviation signal between the set output of the speed setting device and the detected output of the water turbine generator, and based on the obtained calculation output, the deviation signal is In an electric governor having an opening adjustment loop that follows and controls a servo motor that performs opening/closing operations of a hydraulic system, the opening regulator includes an opening regulator () having linear gain characteristics and an output correction means. an opening regulator () having a nonlinear gain characteristic that outputs a signal for correcting the output of the opening regulator ();
An amplifier comprising: a nonlinear gain characteristic that compensates for the nonlinear characteristic of the actuator in order to impart linearity to the overall gain characteristic of the amplifier and the actuator. type speed governor. 2. In the electric speed governor according to claim 1, the opening adjustment loop includes an opening detector that detects the opening of the servo motor, and the PID calculation output and the output of the opening detector An electric speed governor configured to input a deviation signal to an opening controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56187749A JPS5890217A (en) | 1981-11-25 | 1981-11-25 | Electric speed governor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56187749A JPS5890217A (en) | 1981-11-25 | 1981-11-25 | Electric speed governor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5890217A JPS5890217A (en) | 1983-05-28 |
| JPH046011B2 true JPH046011B2 (en) | 1992-02-04 |
Family
ID=16211523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56187749A Granted JPS5890217A (en) | 1981-11-25 | 1981-11-25 | Electric speed governor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5890217A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105065191B (en) * | 2015-07-16 | 2017-07-28 | 国家电网公司 | It is a kind of to accelerate the stable method of system after high water head Hydropower Unit load shedding |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49130599A (en) * | 1973-04-21 | 1974-12-13 | ||
| JPS54130772A (en) * | 1978-04-01 | 1979-10-11 | Toshiba Corp | Controller for valve having nonlinear opening characte ristic |
| JPS56129598A (en) * | 1980-03-14 | 1981-10-09 | Meidensha Electric Mfg Co Ltd | Nonlinear speed regulation control system for electric governor |
-
1981
- 1981-11-25 JP JP56187749A patent/JPS5890217A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49130599A (en) * | 1973-04-21 | 1974-12-13 | ||
| JPS54130772A (en) * | 1978-04-01 | 1979-10-11 | Toshiba Corp | Controller for valve having nonlinear opening characte ristic |
| JPS56129598A (en) * | 1980-03-14 | 1981-10-09 | Meidensha Electric Mfg Co Ltd | Nonlinear speed regulation control system for electric governor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5890217A (en) | 1983-05-28 |
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