JPS6134360A - Governor for water turbine or pump water wheel - Google Patents
Governor for water turbine or pump water wheelInfo
- Publication number
- JPS6134360A JPS6134360A JP15467484A JP15467484A JPS6134360A JP S6134360 A JPS6134360 A JP S6134360A JP 15467484 A JP15467484 A JP 15467484A JP 15467484 A JP15467484 A JP 15467484A JP S6134360 A JPS6134360 A JP S6134360A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- integrator
- water turbine
- control circuit
- servo motor
- 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.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Water Turbines (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、水車またはポンプ水車の案内羽根の開度の位
置決めを、！なり液圧または電動サーボモータを制御す
る木めの調速機に関するものである。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to positioning of the opening degree of guide vanes of a water turbine or a pump water turbine. This relates to a wooden speed governor that controls a hydraulic or electric servo motor.
従来、この種の調速機は、第４図に示す如く水車または
ポンプ水、車に流入する水量を調整するための案内羽根
を操作すやサーボモータ４と、水車５と、発電機６と、
咳発、電機６の速度を検出する速度検出装置１と、検出
した速度信号から制御目標速度との偏差を求め、、該偏
差に相当する制御量を電気信号として出力する計算機に
よ多構成された速度制御回路と、該速度制御回路２の出
力信号を該サーボモータ４の制御信号に変換する出力切
換装置３とよ多構成されている。Conventionally, this type of speed governor has been equipped with a servo motor 4, a water wheel 5, a generator 6, a water wheel or a pump, and a guide vane for adjusting the amount of water flowing into the wheel, as shown in FIG. ,
The speed detection device 1 detects the speed of the electric machine 6, and a computer calculates the deviation from the control target speed from the detected speed signal and outputs the control amount corresponding to the deviation as an electric signal. The servo motor 4 includes a speed control circuit, and an output switching device 3 that converts the output signal of the speed control circuit 2 into a control signal for the servo motor 4.
従来の制御方式は次の如くである。すなわち、まず速度
検出装置１に亭シ発電機６の速度を検出し速度制御回路
２に入力する。該速度制御回路２では制御目標速度との
速度偏差量を監視し、該速区側差量を相殺するに必要な
制御信号を出力切換装置３へ出力する。該出力切換装置
３は該制御信号を掌けて制御回路を動作させサーボモー
タ４を駆動し該発電機６の負荷変化による周波数変動を
相殺することによシ水車を所定の回転速度に保り制御を
行なっている。ここで、該速度制御回路２、該出力切換
装置３、該サーボモータ４は閉ループを構成している。The conventional control method is as follows. That is, first, the speed of the bow generator 6 is detected by the speed detection device 1 and input to the speed control circuit 2. The speed control circuit 2 monitors the amount of speed deviation from the control target speed, and outputs a control signal necessary to offset the speed difference amount to the output switching device 3. The output switching device 3 receives the control signal, operates a control circuit, drives the servo motor 4, and maintains the water turbine at a predetermined rotational speed by canceling frequency fluctuations due to changes in the load of the generator 6. is in control. Here, the speed control circuit 2, the output switching device 3, and the servo motor 4 constitute a closed loop.
また該サーボモータ４の開度は速度に対応しており、こ
の開度変化量が該速度偏差と一致したとき該閉ループは
安定する。Further, the opening degree of the servo motor 4 corresponds to the speed, and when the amount of change in the opening degree matches the speed deviation, the closed loop becomes stable.
さらに、該速度制御回路２では尊速度検出装置１から入
力された速度信号を例えば特開昭５７−１１９６９８号
に示す如く計算機を用いて水車またはポンプ水車の制御
上必要な調速機の性能（感度。Furthermore, the speed control circuit 2 calculates the speed governor performance required for controlling the water turbine or pump water turbine by using a computer as shown in, for example, JP-A-57-119698, based on the speed signal input from the speed detection device 1. sensitivity.
応答性等）を考慮した演算周期で所定の速度との速度偏
差を演算し制御出力を出力している。The speed deviation from a predetermined speed is calculated at a calculation cycle that takes into account factors such as responsiveness, etc., and a control output is output.
ここで、従来の調速機において、出力負荷に合わせた負
荷調整、水車の速度調整、ダムの水の水位調整等の制御
が運転状況によって必要である場合には、該速度検出装
置ｌにて検出した速度から演算処理によって求めた制御
量に対し、該負荷調整、該速度調整、該水位調整に関す
る演算処理が付加され最終的な制御信号を出力する方式
であるため、演算回数の増加によシ演算周期が遅延して
くるが、該演算周期は水車またはポンプ水車の制御上必
要でかつ充臀でなければならないものであるから、演算
時間を高速化し、該演算周期を保つことのできる高速演
算が可能な計算機を採用しなければならない。In a conventional speed governor, if control such as load adjustment according to the output load, water wheel speed adjustment, dam water level adjustment, etc. is required depending on the operating situation, the speed detection device l This method adds calculation processing related to the load adjustment, speed adjustment, and water level adjustment to the control amount obtained through calculation processing from the detected speed, and outputs the final control signal. However, since this calculation period is necessary for controlling the water turbine or pump-turbine and must be sufficient, it is possible to speed up the calculation time and maintain the calculation period at a high speed. A computer that can perform calculations must be used.
以上の点から従来の調速機では、速度制御回路に制御方
法に合致した計算を使用する必要がアシ、計算機すなわ
ち速度制御回路の標準化が不可能であるため高価格とな
る問題点があった。From the above points, with conventional speed governors, it is necessary to use calculations that match the control method in the speed control circuit, and because it is impossible to standardize the speed control circuit, the cost is high. .
さらに１該速度制御回路２、該出力切換装置３、該サー
ボモータ４で構成される閉ループにおいて該サーボモー
タ４から該速度制御回路２への帰遷信号は、第５図に示
すように外部から取シ込まれあえ、＞Ｋ、□よい７７、
ヤニよヵ８．い。 ゛この場合、該速度制御回路
２は計算機で構成されていることから微小レベルの電気
信号で扱われているので該外乱の影響を受は制御系全体
が動揺してしまう危険性が犬であるとい゛う問題があっ
た。Furthermore, in a closed loop composed of the speed control circuit 2, the output switching device 3, and the servo motor 4, a return signal from the servo motor 4 to the speed control circuit 2 is transmitted from the outside as shown in FIG. ＞K, □Good 77,
Yani Yoka 8. stomach.゛In this case, since the speed control circuit 2 is made up of a computer, it is handled by minute level electrical signals, so there is a risk that the entire control system will oscillate due to the influence of the disturbance. There was a problem.
本発明“の目的は、外乱の影響を少なでし、安門度の高
い水車またはポンプ水車の調整機を提供することにある
。An object of the present invention is to provide a regulator for a water turbine or a pump water turbine that is less susceptible to disturbances and has a high degree of stability.
本発明は、水車の速度゛と制御目標速度との偏差値を制
御量とする速度制御回路と、該速度制御回路の出力をサ
ーボ毛−夕の制御信号に変換する出力切換装置との間に
積分器を設け、該積分器の積分量を速度偏差信号に加算
することによ如、外乱の影響を少なくシ、安定度を高く
しようというものである。The present invention provides a system between a speed control circuit that uses a deviation value between the speed of a water turbine and a control target speed as a control amount, and an output switching device that converts the output of the speed control circuit into a control signal for a servo motor. By providing an integrator and adding the integral amount of the integrator to the speed deviation signal, the influence of disturbances can be reduced and stability can be increased.
以下、本発明の実施例について説明する。Examples of the present invention will be described below.
第１図には、本発明の一実施例が示されている。FIG. 1 shows an embodiment of the invention.
図において、水車またはポンプ水車め調速機り水車また
はポンプ水車に流入する水量を調整するための案内羽根
を操作するサーボモータ４と、発出装置１と、この速度
検出装置１によって検出した速度信号から制御目標速度
と０偏差を求め該速度偏差に和尚する制御量を電気信号
として出力し１ｒ１−ｓ機によ多構成された速度制御回
路２と、前記サーボモータ４の一度と対応する積分量（
該サーボモータ４の開度ｉ靜−に対応する）を前記速度
制御回路２から出力される電気信号によって蓄えられる
積分器７と、前記積分器７からの出力信号を前記サーボ
モータ４０制御信号に変換する出力ち、まず発電機６の
速度が速度検出装置６によシ検出されると、この検出値
は、速度制御回路２に送？れ、ここで積分器７に蓄えら
れた積分量に対応した速度との比較によシ制御目標速度
との速度ヵ扛、えらゎ、や。ム８，８、□差よ−よ。In the figure, a servo motor 4 that operates a guide vane for adjusting the amount of water flowing into a water turbine or a pump water wheel, a generator 1, and a speed signal detected by the speed detection device 1 are shown. The control target speed and 0 deviation are determined from the control target speed, and the control amount corresponding to the speed deviation is outputted as an electric signal, and the speed control circuit 2 configured in the 1r1-s machine and the integral amount corresponding to the servo motor 4 are connected. (
An integrator 7 stores an electric signal output from the speed control circuit 2 (corresponding to the opening degree i of the servo motor 4), and an output signal from the integrator 7 is used as a control signal for the servo motor 40. First, when the speed of the generator 6 is detected by the speed detection device 6, this detected value is sent to the speed control circuit 2. Then, by comparing the speed with the speed corresponding to the integral quantity stored in the integrator 7, it is possible to determine the speed difference between the control target speed and the control target speed. M8, 8, □ Difference.
たところで速度制御回路２と積分器７とによって構成さ
れた閉ループは安定する。At this point, the closed loop constituted by the speed control circuit 2 and the integrator 7 becomes stable.
さらに、積分器７から出力された信号（速度偏差を相殺
するために必要なサーボモータ４の開度（以下制御目標
開度と称する））とサーボモータ４の開度信号比較によ
シ制御目標開度との開度偏差が求められ出力切換装置３
は開度偏差によ多動作しサーボモータ４を駆動する。Furthermore, the control target is determined by comparing the signal output from the integrator 7 (the opening degree of the servo motor 4 necessary to offset the speed deviation (hereinafter referred to as the control target opening degree)) and the opening degree signal of the servo motor 4. The opening deviation from the opening is determined and the output switching device 3
operates depending on the opening deviation and drives the servo motor 4.
ここで、ヵサーボモータ４の開度と制御目標開度が一致
したところで出力切換装置３とサーボモータ４で構成さ
れた閉ループは安定する。Here, when the opening degree of the servo motor 4 and the control target opening degree match, the closed loop composed of the output switching device 3 and the servo motor 4 becomes stable.
このように本実施例によれば、負荷調整、水位調整等の
ような案内羽根の開度（サーボモータの開度）を制御す
る必要がある場合は積分器７の積分上限値を制限するこ
とによシ、また、速度調整等の制御目標速度の調整が必
要な場合は、積分器７に蓄えられた積分量に対応した速
度との特性を調整することによシ可能となシ、従来の調
速機によって行なっていた速度制御回路２による演算処
理が不要となる。従ってどのような制御が付加されても
積分器７を調゛整することによシ対応することができ、
速度制御回路２に用いる計算機は制御目標速度との速度
偏差に対する速度制御演算処理だけを実行すれば良いの
で、標準化が可能と゛なり価格の低減が計れる。As described above, according to this embodiment, when it is necessary to control the opening degree of the guide vane (opening degree of the servo motor) such as for load adjustment, water level adjustment, etc., the upper limit of integration of the integrator 7 can be limited. In addition, when it is necessary to adjust the control target speed such as speed adjustment, this can be done by adjusting the characteristics of the speed corresponding to the integral amount stored in the integrator 7. The arithmetic processing performed by the speed control circuit 2, which was performed by the speed governor, is no longer necessary. Therefore, no matter what kind of control is added, it can be handled by adjusting the integrator 7.
Since the computer used in the speed control circuit 2 only needs to perform speed control calculation processing for the speed deviation from the control target speed, standardization is possible and costs can be reduced.
また、第２図に示すように速度制御回路２と積分器７を
同一の盤１０に収納できることから、速度制御回路２と
積分器７で構成された閉ループは、外乱の影響を受けに
くくなυ、制御系の安定度を高めることができる。同、
サーボモータ４から出力切換装置３への帰環信号に外乱
が入っても、上記の影響と比較すると無視できる。In addition, since the speed control circuit 2 and the integrator 7 can be housed in the same panel 10 as shown in FIG. 2, the closed loop composed of the speed control circuit 2 and the integrator 7 is less susceptible to disturbance , the stability of the control system can be increased. same,
Even if a disturbance occurs in the return signal from the servo motor 4 to the output switching device 3, it can be ignored compared to the above effects.
さらに第３図に示すように速度制御回路２と積分器７で
構成された閉ループの伝達関数は、Ｅ＝Ｒ（８）−Ｃ：
（Ｓ）
＝Ｒ（８）’−Ｅ （ｓ ）Ｇ（ｓ ）・・・・・・（
１）但、Ｇ（Ｓ）＝に／８
よって
Ｅ（ｓ）＝Ｒ（Ｓ）／１４Ｇ（ｓ）・・・（２）で表わ
すことができるので積分器７の積分量変化
”率を調整することＫよシ応答時間を変化させるこ
とができる。すなわち、制御対称の制御系に最も適切な
伝達関数を選択することができる。Further, as shown in FIG. 3, the closed loop transfer function composed of the speed control circuit 2 and the integrator 7 is E=R(8)-C:
(S) = R(8)'-E (s)G(s)・・・・・・(
1) However, G(S)=/8 Therefore, E(s)=R(S)/14G(s)... (2) Since it can be expressed as
By adjusting the rate, the response time can be changed. In other words, the most appropriate transfer function for the control system to be controlled can be selected.
以上説明したように、本発明によれば、計算機を用い木
調速機において計算機を標準化でき、また外乱からの影
響を大幅に少なくできるので低価格で安定度の高い調速
機どすることができる。As explained above, according to the present invention, it is possible to standardize the computer in a wooden speed governor using a computer, and it is also possible to significantly reduce the influence of disturbances, thereby making it possible to create a low-cost and highly stable speed governor. can.
第１図は本発明の実施例を示す調速機制御ブロック図、
第２図は本実施例に係る調速機の配置図、第３図は本実
施例の速度制御回路と積分器によシ閉ループの伝達関数
を示す図、第４図は従来の調速機制御ブロック図、第５
図は従来の調速機の配置図である。
１・・・速度検出装置、２・・・速度制御回路、３・・
・出力切換装置、４・・・サーボモータ、５・・・水車
またはポンプ水車、６・・・発電機、７・・・積分器。FIG. 1 is a governor control block diagram showing an embodiment of the present invention;
Fig. 2 is a layout diagram of the speed governor according to this embodiment, Fig. 3 is a diagram showing a closed loop transfer function using the speed control circuit and integrator of this embodiment, and Fig. 4 is a diagram of the conventional speed governor. Control block diagram, fifth
The figure is a layout diagram of a conventional speed governor. 1...Speed detection device, 2...Speed control circuit, 3...
- Output switching device, 4... Servo motor, 5... Water turbine or pump water turbine, 6... Generator, 7... Integrator.
Claims (1)
置と、計算機を用い、前記速度検査装置によつて検出さ
れた速度と制御目標速度との偏差を求め制御量を出力す
る速度制御回路と、水車またはポンプ水車に流入する水
量を調整するための案内羽根を操作するサーボモータと
、前記速度制御回路から出力される出力信号を前記サー
ボモータの制御信号に変換する出力切換装置とからなる
水車またはポンプ水車の調速機において、上記速度制御
回路と、上記出力切換装置との間に上記サーボモータの
開度と相対関係にある積分器を設け、該積分器の積分量
を速度偏差信号に加算するようにしたことを特徴とする
水車またはポンプ水車の調速機。 ２、該積分器の積分量変化率が調整可能な特許請求の範
囲第１項記載の水車またはポンプ水車の調速機。[Claims] 1. Using a speed inspection device that detects the speed of a water turbine or a pump-turbine and a computer, a deviation between the speed detected by the speed inspection device and a control target speed is determined and a control amount is output. a servo motor that operates a guide vane to adjust the amount of water flowing into the water turbine or the pump water turbine; and an output switch that converts an output signal output from the speed control circuit into a control signal for the servo motor. In the speed governor of a water turbine or a pump water turbine, an integrator is provided between the speed control circuit and the output switching device in a relative relationship with the opening degree of the servo motor, and an integral amount of the integrator is provided. A speed governor for a water turbine or pump water turbine, characterized in that the speed governor is added to a speed deviation signal. 2. A speed governor for a water turbine or a pump water turbine according to claim 1, wherein the rate of change in the integral amount of the integrator is adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15467484A JPS6134360A (en) | 1984-07-25 | 1984-07-25 | Governor for water turbine or pump water wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15467484A JPS6134360A (en) | 1984-07-25 | 1984-07-25 | Governor for water turbine or pump water wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6134360A true JPS6134360A (en) | 1986-02-18 |
Family
ID=15589422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15467484A Pending JPS6134360A (en) | 1984-07-25 | 1984-07-25 | Governor for water turbine or pump water wheel |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6134360A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10335820B2 (en) | 2014-05-23 | 2019-07-02 | Taikisha Ltd. | Painting method and painting facility |
| CN113653589A (en) * | 2021-09-02 | 2021-11-16 | 昆明理工大学 | Variable-parameter double-power approximation law differential prediction sliding mode control method for hydraulic turbine set |
-
1984
- 1984-07-25 JP JP15467484A patent/JPS6134360A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10335820B2 (en) | 2014-05-23 | 2019-07-02 | Taikisha Ltd. | Painting method and painting facility |
| CN113653589A (en) * | 2021-09-02 | 2021-11-16 | 昆明理工大学 | Variable-parameter double-power approximation law differential prediction sliding mode control method for hydraulic turbine set |
| CN113653589B (en) * | 2021-09-02 | 2023-10-27 | 昆明理工大学 | Differential prediction sliding mode control method for hydro turbine unit with variable parameter double-power approach law |
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