JPS6022216A - Constant water level control method - Google Patents

Abstract

PURPOSE:To secure the stability and control performance of a system and to perform the constant water level control by collating the detected value of opening amount with the value obtained by applying the prescribed proportional/integral operation to a control command of a water level major loop to obtain a deviation amount and using this deviation amount to a control command of an opening minor loop. CONSTITUTION:A prescribed proportional/integral operation is applied to the deviation output between the detected water level and the target water level given from a collation circuit 10 via a proportional/integral element 26. The output of the element 26 is supplied to a collation circuit 28 together with the detected value of opening given from an opening detecting circuit 22. Thus the output of the circuit 28 is obtained as a control command of an opening control system formed to a primary delay system by providing an opening minor loop lm. Then the output of a servo motor 16 is controlled in response to the own flow rate D(S). Thus the level of a water tank 20 is kept at a fixed amount.

Description

【発明の詳細な説明】 本発明は定水位制御方法に関し、特に自動制御系に比例
積分要素を設けて定水位制御を実現するようにした定水
位制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a constant water level control method, and more particularly to a constant water level control method in which a proportional-integral element is provided in an automatic control system to realize constant water level control.

例えば、水車発電機の出力を上位水槽の水位制御を行う
ことによ）、水槽への水の流れ込み蓋（自流ｆ）に応じ
て発電機出力を制御する制御システムにおいては、従来
は水位調定率運転が行われていた。この水位調定率運転
とは、第１図の特性図においてＨｒで示すように、水位
の変化に応じて出力を変化させる運転である。なお、第
１．図において、Ｈｈは高水位リミツ）、Ｈｌは低水位
リミットである。For example, in a control system that controls the generator output according to the flow of water into the tank (by controlling the water level of the upper water tank) or the flow of water into the water tank (direct flow f), conventionally, the water level adjustment rate is Driving was taking place. This water level adjustment rate operation is an operation in which the output is changed in accordance with changes in the water level, as indicated by Hr in the characteristic diagram of FIG. In addition, 1. In the figure, Hh is the high water level limit) and Hl is the low water level limit.

このような水位調定率運転によれば、水槽へ流れ込む自
流量が少ない場合は、発電機出力を下げると同時に水位
も低いところで運転することになる。この場合１発電機
の出力特性は。According to such water level adjustment rate operation, when the amount of free flow flowing into the water tank is small, the generator output is lowered and the generator is operated at a low water level at the same time. In this case, the output characteristics of one generator are:

Ｐ−η・Ｑ、　−ＨＸ　９．８（Ｗ）　・・・・・・・
・・・・・（１）で示されるので、水位Ｈが低下する分
出力Ｐも低下することになる。なお、（１）式において
ηは運転効率、Ｑは流量である。P-η・Q, -HX 9.8(W)...
As shown by (1), as the water level H decreases, the output P also decreases. Note that in equation (1), η is the operating efficiency and Q is the flow rate.

次に、第２図と共に従来の水位制御系の一例を説明する
。同図において、ｉｏは目標水位と水位メジャーループ
〜に設けられた水位検出手段２４Ａの検出水位およびサ
ーボ開度検出手段−の検出開度とを図の極性でつき合せ
る第１のつき合せ手段である。また、／Ｊはこの第１の
つき合せ手段ｉｏからの偏差出力を増幅するゲインを有
する増幅器、／弘はこの増幅器に所定の比例操作を施す
偏差比例サーボ手段、／Ａはこの偏差比例サーボ手段ｌ
りの出力に基づき動作するサーボモータ、／ｌはこのサ
ーボモータ１６の出力と自流量Ｄｓ　とをつき合せる第
２のつき合せ手段、Ｉはこの第２のつき合せ手段／８か
らの出力に応じて水位が制御される水槽である。Next, an example of a conventional water level control system will be explained with reference to FIG. In the figure, io is a first matching means that matches the target water level with the detected water level of the water level detecting means 24A provided in the water level measure loop and the detected opening of the servo opening detecting means with the polarity shown in the figure. be. Further, /J is an amplifier having a gain for amplifying the deviation output from the first matching means io, /Hiro is a deviation proportional servo means for performing a predetermined proportional operation on this amplifier, and /A is this deviation proportional servo means. l
/l is a second matching means that matches the output of this servo motor 16 and the self-flow rate Ds, and I is a servo motor that operates based on the output from this second matching means /8. This is an aquarium whose water level is controlled by

ここで、ｌダ、　／Ａ　、　／ｌによシサーボ開度調節
機構が構成される。なお第２図において各構成要素を示
すブロック内の表示は伝達関数を夫々示している。Here, the servo opening adjustment mechanism is configured by lda, /A, /l. Note that in FIG. 2, the representations in the blocks representing each component represent the transfer functions, respectively.

上述し友ように、従来の水位制御系の構成では、サーボ
モータの出力（もしくは発電機の出力）に相当するサー
ボ開度マイナループらからの剛性復元を示すＨ□のフィ
ードバックがないと、制御系の前向きゲイン伝達関数ａ
　（Ｓ）は、とな、Ｄ、２３！積分形で不安定制御系と
なる。従って、Ｈ□の剛性復元をかけることによって系
の安定化を計る必要があシ、このＨ□の量が水位の調定
率となる。しかしながら、従来装置のものは、水位の変
化に対して応答性、すなわち追従性が悪かった。As mentioned above, in the conventional water level control system configuration, if there is no feedback of H□ indicating stiffness restoration from the servo opening minor loop corresponding to the servo motor output (or generator output), the control system will not work properly. The forward gain transfer function a of
(S), Tona, D, 23! It is an integral type and becomes an unstable control system. Therefore, it is necessary to stabilize the system by restoring the rigidity of H□, and this amount of H□ becomes the water level adjustment rate. However, conventional devices had poor responsiveness, ie, followability, to changes in water level.

一方、第１図の特性図において、Ｈｏ　で示す定水位運
転による制御では、自流量の変化に関係なく、一定水位
の高水位で制御することが可能なので、サーボモータや
発電機等の出力も増加し、有効である。従って、一定水
位制御の方が同じ自流量変化に対しても効率が上シ、エ
ネルギーの有効利用となる。On the other hand, in the constant water level operation control shown by Ho in the characteristic diagram of Figure 1, it is possible to control at a constant high water level regardless of changes in the own flow rate, so the output of the servo motor or generator, etc. Increased and effective. Therefore, constant water level control is more efficient for the same change in flow rate and makes more effective use of energy.

本発明は上記の点に鑑みてなされたもので、開度マイナ
ーループを設けて開度制御系を１次遅れ系とすると共に
、比例−積分要素を開度制御系の前段に設けることによ
シ、系の安定性、制御性の向上を計って、定水位制御を
可能にした定水位１１１ｊ御方法を提供することを目的
とする。The present invention has been made in view of the above points, and includes an opening minor loop to make the opening control system a first-order lag system, and a proportional-integral element provided at the front stage of the opening control system. Another object of the present invention is to provide a method for controlling a constant water level 111j that enables constant water level control while improving the stability and controllability of the system.

本発明では、こあ目的を達成する丸めに、水位メジャー
ループの制御指令に所定の比例−積分操作を施した値と
開度検出値とをつき合せて偏差量をめ、この偏差量を開
度マイナールーズの制御指令として水位一定制御を行う
ように構成している。In order to achieve this purpose, the present invention compares the value obtained by performing a predetermined proportional-integral operation on the control command of the water level measure loop with the detected opening value to find the deviation amount, and calculates the deviation amount. It is configured to perform constant water level control as a control command for minor looseness.

以下、本発明の一実施例を添付された図面と共に説明す
る。Hereinafter, one embodiment of the present invention will be described with reference to the attached drawings.

第８図は本発明に係る定水位制御方法による制御系の一
実施例を示すブロック図で、同図において第２図と同一
符号は同一物を示しその説明を省略する。FIG. 8 is a block diagram showing an embodiment of a control system according to the constant water level control method according to the present invention. In the same figure, the same reference numerals as in FIG. 2 indicate the same parts, and the explanation thereof will be omitted.

第３図において、易は目標水位と検出水位とをつき合せ
るこのつき合せ手段ＩＯの出力に所定の比例積分操作を
施す比例積分要素である。２ｇは比例積分要素ノロの出
力と開度検出手段−からの開度検出手段をつき合せるつ
き合せ手段であシ、このつき合せ手段３の出力が開度マ
イナールーズの制御指令となる。なお、各構成要素を示
すブロック中の表示は伝達関数である。In FIG. 3, I is a proportional-integral element that performs a predetermined proportional-integral operation on the output of this matching means IO that matches the target water level and the detected water level. Reference numeral 2g is a matching means for matching the output of the proportional-integral element Noro with the opening detecting means from the opening detecting means, and the output of this matching means 3 becomes a control command for the opening minor looseness. Note that the display in the block indicating each component is a transfer function.

従って、つき合せ手段１０からの目標水位と検出水位と
の偏差出力に、比例積分要素Ｊにょシ所定の比例積分操
作が成される。このようにして得られた比例積分要素Ｊ
の出力と開度検出手段ｎからの開度検出値とがつき合せ
手段２ｇに入力される。Therefore, a predetermined proportional-integral operation is performed on the deviation output between the target water level and the detected water level from the matching means 10 by the proportional-integral element J. Proportional integral element J obtained in this way
The output of the opening detection means n and the opening detection value from the opening detection means n are input to the matching means 2g.

従って、開度マイナーループ−を設けることによｆｉ１
次遅れ系に形成された開度制御系の制御指令として前記
つき合せ手段］８の出力が与えられサーボモータ１６の
出力が自流量Ｄ　（８）に応じて制御され水槽Ｊの水位
が一定になるように制御される。Therefore, by providing an opening degree minor loop, fi1
The output of the matching means]8 is given as a control command for the opening control system formed in the next delay system, and the output of the servo motor 16 is controlled according to the own flow rate D (8), so that the water level in the water tank J is kept constant. controlled so that

なお、第３図の制御系の応答特性を第４図に示す。Incidentally, the response characteristics of the control system shown in FIG. 3 are shown in FIG. 4.

ここでＲ（〜）はメジャールーズの応答、Ｒ（Ｉｌ、Ｏ
）は開度マイナールーズの応答を示す。Here R(~) is the major loose response, R(Il, O
) indicates a response with minor opening.

本発明は以上述べてきたように、水位制御系において開
度マイナーループを設けて開度制御系を１次遅れ系とす
ると共に、比例−積分要素を開度制御系の前段に設ける
ようにしたので系の安定性。As described above, the present invention provides an opening minor loop in the water level control system to make the opening control system a first-order lag system, and also provides a proportional-integral element at the front stage of the opening control system. So the stability of the system.

制御性の向上を計り定水位制御が可能となる。Improved controllability and enables constant water level control.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は水位制御における水位調定率運転と定水位運転
の各特性を示す特性図、第２図は従来の水位制御系の一
例を示すブロック図、８８図は本発明に係る定水位制御
方法を適用し九制御系の一実施例を示すブロック図、第
４図は第８図の制御系の応答特性を示す特性図である。 ＸＯ・・・水槽、工・・・開度検出手段、　２１Ａ・・
・水位検出手段、１０，２ｇ・・・つき合せ手段、易・
・・比例積分要素、！・・・開度マイナーループ、ｐ（
ｓ）・・・自流量。Fig. 1 is a characteristic diagram showing the characteristics of water level adjustment rate operation and constant water level operation in water level control, Fig. 2 is a block diagram showing an example of a conventional water level control system, and Fig. 88 is a constant water level control method according to the present invention. FIG. 4 is a block diagram showing one embodiment of a control system to which the above control system is applied. FIG. 4 is a characteristic diagram showing the response characteristics of the control system of FIG. XO...water tank, work...opening detection means, 21A...
・Water level detection means, 10.2g... Matching means, easy ・
...proportional integral element! ...Opening degree minor loop, p(
s)... own flow rate.

Claims (1)

【特許請求の範囲】[Claims] （１）　目標水位と検出水位との偏差出力に対応したｆ
Ｋ　ｔ−水位メジャーループの制御指令とし、この制御
指令に基づく開旋調節機構の出力を水槽へ流れ込む自流
量に応じて制御する制御系において、前記水位メジャー
ループの制御指令に所定の比例−積分操作を施した値と
開度検出値とをつき合せて偏差量をめ、この偏差量を開
度マイナールーズの制御指令として、水位一定制御を行
うようにしたことを特徴とする定水位制御方法。(1) f corresponding to the deviation output between the target water level and the detected water level
K t - A control command for the water level measure loop, and in a control system that controls the output of the open rotation adjustment mechanism based on this control command in accordance with the flow rate flowing into the water tank, a predetermined proportional-integral is applied to the control command for the water level measure loop. A constant water level control method characterized in that the operated value and the detected opening value are compared to determine the amount of deviation, and this deviation amount is used as a control command for minor opening to perform constant water level control. .