第二章-微机调速器中英文国内培训修改定

Hydraulic andRegulating大 Cai123456123456电/液、电/机转油压装置 微机调速器现场调试与运水轮7调节保证计算概721Overview puter- 2.2HardwareSystem 2.3Control puter- 2.4ServoSystemof 2.5水轮机微机调速器机械系统（实例概述Basicprinciplesoftheof 近四十多年来，国际上不少学者和研究单位都在研究和开发水轮发电机组的微机型调器(简称微机调速器)。它与模拟式电气型调速器相比，具有许多明显的优点，主要的有Duringrecentfortyyears,alotofresearchersandresearchunitsaroundtheworldareresearchinganddeveloputer-basedhydraulic ernorofturbinegeneratorset(hereinafterreferredtoas Compared ogelectrical- ernor,ithasmanyadvantagesmainly调节规律用程序实现，不仅可以实现PI、PID调节规律，还可以实现其它更复杂的调节规Regulationrulesarerealizedbysoftwareprogram.NotonlyPIandPIDregulationrulescanberealizedbutalsoothermorecomplexregulationrulessuchasfeed-forwardcontrolanptivecontroletcmayberealized.调节参数的整定和修改方便，运行状态的查询和转换灵活Itisconvenienttopresetandmodifyregulationparametersanditisflexibletoinquireandconvertoperatingstate.机组的开、停机规律可方便地用程序实现。即停机过程可根据调节保证计算要求，灵地实现折线关闭规律；开机过程可根据机组增速及引水系统最大压力降的具体要求进行设定。Start-upandshut-downlawsofgeneratorsetmayberealizedconvenientlysoftwareprogram.Shut-downprocessmayguaranteecomputationaccordingtoregulationandrealizebrokenlineclosinglawflexibly;start-upprocessmaybesetaccordingtospecificrequirementsofgeneratorsetspeedincreaseand umpressuredropofwaterdiversionsystem.简化了操作回路。各种运行操作相互间的逻辑关系均可用程序完成，取消了相应的继器，降低了成本，也提高了可靠性Operatingcircuitissimplified.Logicalrelationshipbetweenvariouskindsofoperationmaybecompletedbysoftwareprogramsothatcorrespondingrelayiscanceled,costisreducedandreliabilityisimproved.便于直接与计算机系统的现地控制单元进行信息交互，有利于实现全厂的综合控制，高水电厂的自动化水平Itisconvenienttorealizeinformationexchangewithlocalcontrolunitofcomputermonitoringsystemandishelpfultorealizecomprehensivecontrolofcompleteplantandtoimproveautomationlevelofhydraulicpowerplant.微机调速器通常是以工业控制机（包括微处理器、可编程控PLC、可编程计算机控制器PCC，甚至是单片机系统）为主，辅以相应接口和外部设备组成微机控制器硬件系统； ernorismainlybasedonindustrialcomputer(includemicroprocessorprogrammablelogiccontrollerPLC,programmablecomputercontrollerPCCandevensingle-chipsystem)andissupportedbyputercontrollerhardwaresystemformedbycorrespondinginterfacechipandexternaldevices;however,atpresent mainlyadoptthe putercontrollerhardwaresystemformedbyprogrammablelogiccontrollerandcorrespondingfunctionmodulewhichrealizerequiredregulationlawsbycontrolsoftware.One ernormaybeformedbywayofmatchingcontrollerwithelectrical-hydraulic(ordigital-hydraulic)servoPI改变程序就能实现较复杂的控制，如前馈控制、适应式变参数控制等。微机调速器所控制的水轮机调节系统，可用图21Substitutionof ogelectronicregulatorwith putercontrollernotonlymayrealizePIDregulationbutalsomayrealizemorecomplexcontrolsuchasfeed-forwardcontrolanptivevariableparametercontroletconlybychangingsoftwareprogramanddispensingwithchanginghardwaresystem.Turbineregulatingsystemcontrolled puter- ernormayexpressedwithtypicstructureshowninFigure2-ControlControl图2-1微机调速器控制系统结Figure2- puter- ernorControlSystem对于一般微机控制器硬件系统一般包括：处理器CP、输入/输出接口电路包括模拟量输入/输出、开关量输入输出及一些接口，以及机联系设备键盘、和显器等。它们之间通过系统总线（地址总线、数据总线和控制总线）构成一个完整的控制系统。 putercontrollerhardwaresystemusuallyincludes:centralprocessingunitCPU,internalmemoryunitsROMandRAM,clock,decoder,input/outputinterfacecircuit(including oginput/output,on-offinput/outputandsomespecialinterface),man-machineinteractionequipments(keyboard,printeranddisplayeretc)etc.Theyformcompletesystembysystembuses(addressbus,databusandcontrolbus).CP是微机控制器的，它接收检测单元送来的、经接口后的机组转速（数字量）及其它信号（头、率、开等数字信号按照预编存在中的序，自动进行信息处理和运算，作出相应的控制决策，同时以数据的形式通过接口及时地发出控制命令，并通过电液（或数液）伺服系统执行之。CPUisthecore puteritreceivesprocessingandcomputingaccordingtogeneratorsetspeed(digitalty)andothersignals(suchasdigitalsignalslikewaterheadpowerandopeningetc.)transmittedbydetectionunitandafterinterfaceinaccordancewithsoftwareprogrampre-programmedandstoredinROM,makescorrespondingcontroldecision,andatthesametimesendsoutcontrolinstructionstimelythroughinterfacebywayofdata,andactuatestheinstructionsbyelectrical-hydraulic(digital-hydraulic)servosystem.存于主机ROM中的程序和控制数据是设计事先根据控制规律编排好的，当系统启（即合上电源）后，处理器就从存贮器ROM中逐条取出指令并执行之。于是，整个系统按人们预先设定的规律一步步地工作SoftwareprogramandcontroldatastoredinhostROMareprogrammedbydesignersinadvanceaccordingtocontrollaw.Aftersystemisstarted(switchonpowersupply),CPUwilltakeouttheinstructionsonebyonefromROMandactuate.Therefore,completesystemwillworkstepbystepaccordingtothelawspresetbyhumanbeings.forforkeyboardanddisplayer相应的信息和命令，即主机通过接口电路对输入/输出信息进行变换、缓存、锁存等等。“变换”包括模/模变换和电平变换。此外还有“联络”等作用，例如发出信号询问输入设备是否已准备好输入信息，输出设备是否“不忙”，可以接收信息等等。Interfacecircuitisusedtoconnecthostcomputerwithexternaldevicesbecauseexternaldevicescannotbecontrolleddirectlybyhostcomputerbutcorrespondinginformationandinstructionsaretransmittedthrough“interface”;itmeansthathostcomputerrealizesconversion,buffermemoryandlatchetcofinput/outputinformationthroughinterfacecircuit.“Conversion”includesmode/digital,digital/modeconversionandelectricallevelconversion.Besides,italsohas“communication”function.Forexample,itmaysendoutsignaltoinquirewhetherinputequipmentsarereadytoinputinformation,whetheroutputequipmentsare“busy”andmayreceiveinformationetc.常用的接口有模数输、数模输接口并行口、行接，以口如计数定时器和键盘显示器等。其中模数输人接口用于水头、功率及导叶开度（对双调还有桨叶开度）等模拟信号的输入；数模输出用于与电液随动系统连接；并行接口作为开关量输输出及的接口；接口常作为键盘和显示器等的。Frequently-usedinterfacesincludeog/digitalinput,digital/ ogoutputinterface,parallelinterface,serialinterface,andspecialinterface(suchascountertimerandkeyboarddisplayetc.);The og/digitalinputinterfaceisusedfortheinputof signalssuchashead,powerandguidevaneopening(doubleadjustablebladeopening);digital/modeoutputisusedtoconnectwithelectrical-hydraulicservosystem;parallelinterfaceisusedastheinterfaceofon-offinput/outputandprinter;specialinterfaceisused人机联系设备属于常规外部设备，按功能可分为三类：输入设备、输出设备和外存贮器。常用的输入设备在微机调速器中主要是键盘。键盘主要用来输入外部命令及参数整定和修改。常用的输出设备有示器（码显示器R显示器或晶显示器）记录仪、。显器作为输出设备，以便运行观察及修改运行参数和了解故障情况。记录仪或一般只在试验时才用。外存贮器有磁盘和磁带，微机调速器通常不用外存贮器。Man-machineinteractionequipmentbelongstogeneralexternaldeviceandmaybedividedintothreecategoriesaccordingtofunctions:inputequipment,outputequipmentandexternalmemoryunit.Frequently-usedinputequipmentin ernoriskeyboardwhichismainlyusedtoinputexternalinstructionandtopresetandmodifyparameters.Frequently-usedoutputequipmentsincludedisplay(digitaldisplay,CRTdisplayorliquidcrystaldisplay),recorderandprinter.Displayisusedasoutputequipmentfortheconvenienceof neltoobserveandmodifyoperatingparametersandtoacknowledgetroublesituation.Recorderorprinterusuallyisusedduringtesting.Externalmemoryunitsincludemagneticdiskandmagnetictape.Externalmemoryunitsusuallyarenotusedon .了适应式变参数PI，而真正比较高级调节规律的微机调速器还只限于研究和试验阶段。数字PI微机调速器按算法不同可分为位置型、增量型和仿增量型三种，而按所采用的伺服系统不同，又有电液随动系统型和数液伺服系统型，下面对三种不同算法型式的微机调速器作一些简单介绍。Atpresent,althoughtherearemanykindsof regulatorbothinallovertheworld,butmostofthemadoptPIDregulationlawandonlysomeadoptadaptiveparameter-varyingPIDwhile ernorswithrealhighregulationlawareonlylimitedtoresearchandteststage.DigitalPID ernormaybedividedintopositiontype,incrementtypeand ogincrementtypeaccordingtodifferentalgorithm,andmaybedividedintoelectrical-hydraulicservosystemtypeanddigital-hydraulicservosystemtypeaccordingtodifferentservosystems.puter- ernorsofdifferentalgorithmsaredescribedas可编程控制器概OverviewofProgrammable可编程微机调节器的硬件系HardwareSystemofProgrammable 可编程微机调速器中的频率测Frequencymeasurementin puter-微机调速器的人机界Human-machineinterfaceof 微机调速器工作电Powersupplyof 为三个流派：产品、欧洲产品和产品。产品以GE公司的GE系列和AB公司的PLC-5为典型产品；欧洲产品以法国施耐德公司的MODICON、TSX和德国西门子公司的S7-300为典型产品；产品以三菱公司的AIS、FX2和立石公司的C200为典型产品。Thereareabout200manufacturerswhichcanproduceprogrammablecontrollerallovertheworldatpresentandtheproductsareasmanyas400kinds.Theproductscanbedividedintothreegenresaccordingtoproducingarea:Americanproducts,EuropeanproductsandJapaneseproducts.GeseriesfromGECompanyandPLC-5fromABCompanyaremodelproductsinAmericanproducts;MODICONandTSXfromSchneiderandS7-300from modelproductsinEuropeanproducts;AISandFX2fromandMitsubishiandC200fromTateishiaremodelproductsinJapaneseproducts.生产的微机调速器中，其调节器大多采用可编程控制器，但也有部分产品采用可编程计算机控制器（P）或工业控制机。Mostofregulatorsof ernorproducedinChinaadoptprogrammablecontrollerbutpartofproductsadoptprogrammablecomputercontrol(PCC)orindustrial alcomputer.按照国际电工（I）的定义，可编程序控制器（Paaletller）简称P，它是一种数字运算操作的电子系统，专为在工业环境下应用而设计的，它采用可编程序的器，用来在其执行逻辑运算、顺序控制、定时、技术和算术运算等操作的指令，并通过数字式、模拟式的输入和输出控制各种类型的机械生产过程。AccordingtothedefinitionofInternationalElectro-technicalCommission(IEC),programmablecontrolleriscalledPCforshort;itisakindofelectronicsystemusingdigitarithmeticandisdesignedespeciallyfortheapplicationunderindustrialenvironment.Itadoptsprogrammablememorizerforthepurposeofactuatinglogicaloperation,sequentialcontrol,timing,technicalandarithmeticoperationinstructionsininternalmemorizerandcontrolallkindsofmechanicalproductiveprocessthroughdigitalor oginputandoutput.因此，可编程控制器实际上是一种功能完善的、的工业控制微机计算机，其主要特点是Therefore,programmablecontrollerisakindofwell-functionedspecialindustrialcontrol puteractually;itsmaincharacteristicsinclude:可靠性高。可编程控制器是按工业现场恶劣环境考虑设计的，并在硬件、诸方面采用、滤波、、电源自调整、保护及自检等措施，因而具有很强的、耐热、防潮和防震等特性。故可编程控制器的各种模块都有很高的可靠性。其基本单元的无故障时间达十多年。Highreliability.Programmablecontrollerisdesignedaccordingtosevereindustrialenvironmentandtakesmeasuresonaspectsofshielding,filtering,isolation,powersupplyself-adjustment,protectionandself-inspectionandself-diagnosisetc;thereforeitpossessesverystronganti-interference,heat-resistingperformance,moistureproofperformanceandanti-vibrationetc.Allkindsofmoduleofprogrammablecontrollerhaveveryhighreliability.Itstrouble-freetimeofbasicunitismorethan10years.、、等功能。Completefunctions.Infact,itsfunctionsarenotlimitedtothecontentsdescribedinaforesaiddefinition;ithasalotofextensionfunctionssuchascommunicationnetworking,burstdatatransmission,matrixmanipulation,PIDclosed-loopcontrol,tablelook-upandperformancefunctionaloperationetc,andselfdiagnosis,alarmandmonitoringfunctionsetc.应用灵活。可编程控制器通常按功能作用不同组成单元模块，故构成可编程控制器硬件系统时，通常根据需要采用标准的积木型式构造。而可按模块化设计，故可适应大小不等、功能Flexibleapplication.Programmablecontrollerformsunitmoduleaccordingtodifferentfunctions;thus,whenformingprogrammablecontrollerhardwaresystem,usuallyitisnecessarytoadoptstandardbuildingblocktypestructureaccordingtoneeds.Softwaremayadoptbuildingblockdesign;thusitissuitableforcontrolsystemrequirementsofdifferentsizesanddifferentcomplicatedfunctionsandisapplicabletooccasionswithrelativelotoftechnologicalprocesschanges.减。而控制功能由编程实现，故可在设计生产车间进行，从而可缩短现场安装调试时间。dmeale,asfielditallationadiigaeverycoent,itmaybeextendordeletenecessarilyaccordingtobuildingblocktype.Controlfunctionsarerealizedthroughsoftwareprogramming;thusitmaybecarriedoutindesigning&manufacturingshopssothatfieldinstallation&adjustmenttimemaybeshortened.编程简单，监方便。可编程控器一般采“梯形图形式和“功助记符”式两种编程语言。特别是“梯形图”的编程语言与水电站电气自动控制回路表达形式非常类似，故用户易于学习掌握。另外，可编程序控制器本身具有完善的监视和 功能，的工作状态、讯状态、/点状态及各种异常状态均有醒目的显示，因而便于监视 。SimpleprogrammingandconvenientprogrammingmonitoredProgrammablecontrollerusuallyadopts“ladderdiagram”or“functionmnemonicsymbol”programminglanguage.Especially,“ladderdiagram”programminglanguageisextremelysimilartoexpressionformofelectricalautomaticcontrolloopofhydropowerstation;thereforeitiseasyfortheusertolearnandacknowledge.Besides,programmablecontrolleritselfpossessesthoroughmonitoringanddiagnosisfunctionsandinternalworkingcondition,communicationstate,I/Opointstateandallkindsofabnormalconditionhavestrikingdisplays;thusitisconvenienttomonitorandmaintain.可编程控制器大部分是模块式结构，它包含CPU模块、电源模块、开关量输入/输出模块、模输入/模拟输出模块、通信模块、高速计数模块等Mostofprogrammablecontrollersadoptmodularorganization.ItisincludingCPUmodule,Powermodule、DigitalInput/outputmodule、 oginput/output municationsmodule、High-speedcountingCPUCPU开关量输入/输出模块DigitalInput/output模拟输入/模拟输出模 ogtyinput/output电源模块Power通信模块Communications高速计数模块High-speedcounting协协议，其中系列I/O协议能进ASCII读/21、Modem自动拨号等（1）CPUCPUCPU技术性能CPUtechnical如双牌微机调速器采用的是公司的CP476可编程控制器，其CPU为32位 接口，高速任务等级循环周期800μs，典型指令周期0.022μs。CP476控制器带1个Enthernet、1个RS485通口，因此，可以实现以太网通信者通过RS485微机调速器采用GEFANUCVERSAMAX可编程控制器VersaMaxCPU能提供强大的功64个模块，2048个开关I/O点。两个串口提供RS-232RS-485接口用SNP（从）RTU（从）通讯。CPUE05有一个内置的RJ45以太网接口，因此比其它CPU的用途更广泛。CPU的基本特性：以梯形图，顺序功能图和指令语句等多种方式编程；支持高速计数器HSC、脉宽调制输出、脉冲串输出支持浮点数运算、PID功能、子程序、实时时钟日期、无冲击运行状态程●可用非易失快闪内存（flashmemory）程序、配置和数据，4个等级程序保护，OEM设置，子程序加密；强大功能，通过内置的PLC和I/O两个故障表，清晰的故障的时间、部位和内容。带有运行/停止操作开关，直观的LED指示运行、故障、强制、通讯状态；RS-232RS-485通讯口，每个端SNP、ModbusRTU和系（2）AI模块 ogInput模拟量输入模块I模块）主要是将导叶接力器反馈、配压阀反馈、功率反馈和工作PU运算处理。故I模块主要是实现A/转换，其工作原理示意图如图-所示。oginputmodule(AImodule)ismainlytotransferthe signalasneedle,servomotorfeedbackoftheguidevane,distributionvalvefeedback,activepowerfeedbackandturbineworkingheadintodigitaltyforoperationprocessingofCPUmodule.SoAImoduleismainlyforA/Dtransfer,itsprincipleisshowninfigure2-3.（2）AI模块 ogInput sampling ogog｛ Figure2- TheSchematicsdiagramofA/D模拟量输入ogueinputvalue:12channel-10~+10V/4-AO模块 ogOutput模拟量输出模块（O模块）主要是将PU运算得出的调节信号数字量转换为模拟量去控制调速器的电液随动系统；或者是将有关数字量转换为模拟量信号供有关指示仪表显示。因此，O模块主要是实现/转换，其工作原理示意图如图所示。oguetyoutputmodule(AOmodule)ismainlyfortransferringthedigitaltyofregulatorysignalobtainedfromCPUoperationinto oguetytocontroltheelectrical-hydraulicservosystemof erner;ortransfertherelateddigitaltyinto oguetysignalforindicatordisplay.So,AOmoduleismainlyusedforD/Atransfer,andtheworkingdiagramisasshowninfigure2-（3）AO模块 ogOutputThedigital｛数Thedigital｛

oguevoltage基准电基准电

ogue- Conversion

图2- D/A转换器的示意Figure2- SchematicsdaigramofD/A模拟量输 ogueoutputvalue:4channel-10~+10V\4-开关量输入/Digitalinputandoutput开关量输入（DI）Digitalinput开关量输入模块Digitalinput:48points inputcurrentislessthan开关量输入原理如图2-5所示。Theprincipleofdigitalinput isshowninfigure2-U

UEUEUU 图2- 开关量输入电路工作原理Figure2- inputcircuitofswitching20）增功20）增功率Powerincrease21）减功Powerreduction开关量输入信Digitalinputsignal：（可能设置电手动GVelectrical-manual 2）紧停Emergencyshut-down机手动Guidevanemechanical- 4）发电机开关含GCBon5）启动命令Start-upcommand 6）停机令Stopcommand7）增命令Increasingcommand 8）减命令DecreasingcommandResetfault远控命令Remotecontrolcommand现地控制Thefieldoperatingposition开度调节Opendegreeadjustmentcommand；13）切到频率调节Cuttofrequencycontrolcommand；14）切到功率调节Cuttopowercontrolcommand；15）孤网运Isolatednetworkcontrolcommand；16）电开限增Electricalopenlimitincreaseorder；17）电开限减Electricalopenlimitreductionorder；18）频率给Frequencysettingincreaseorder；19）频率给Frequencysettingreductionorder；开关量输(DO)Digitaloutput开关量输出(DO)模块的工作原理如图2-6所示Theschematicdiagramofdigitaloutput(DO)moduleisshowninfigure2-功率继电J

图2- 开Figure2- Outputcircuitofswitching开关量输出模Digitaloutputmodule:24points额定工作参数Conntactratedvalue:Actioncurrent5A，continuouscurrent开关量输出信号Digitaloutputsignals：（可能设置导叶控制输出Guidevanecontrol机组启动过程UnitbootUnitshutdown机组运行状态Unitoperation机组发电状态Generatingstateofthe控制故障Controlfailure7）机组运行正常Unitnormal8）机组备用Unitready(5)通信模块Communication微机调速器电气调节器和电站控制系统可以通过通信方式交换数据ernorelectricalregulatingsystemandunitcontrolcouldexchangedatathroughcommunication一般微机调节器的（即可编程控制器的CPU）都带有1~2个通口，大部分与监控系统采用串行Thespeedregulationsystemsupportstwokindsofconnectionmodes:theconnectionmodeandthemonitoringsystem,theserialcommunicationmode.比如双牌微机调速器采用公司的CP476可编程和微机调速器采用GEVersaMax可编程，它们的CPURS485串行接口可编程微机调速器中的频率测Frequencymeasurementin puter-based由于水轮发电机组转速低，其额定频率仅50Hz，用直接测频率的方法难以保证精度，故水机微机调速器中，频率测量一般采用测量周期的方法。因为被测机组的频率f与周期T有如下关系f=1/Asturbinegeneratorsethaslowrotaryspeed,anditsratedfrequencyisonly50Hz,itisdifficulttoguaranteeaccuracybywayofmeasuringfrequencydirectly;thereforemeasurementoffrequencyinturbine ernorisrealizedbywayofmeasuringperiodbecausefrequencyfofgeneratorsettobemeasurehasthefollowingrelationwithperiodfT因此，测周期方法的原理可表示为图2-7（a）的形式Thus,theoryofperiodmeasurementmethodistheformshowninFigure2-7为了测出这一周期时间T，可以对T时间内的已知频率的高频信号F进行计数。即将一高频时钟信号F与经放大整形及二分频后的被测频率信号f2相与后送计数器（如图2-（a）所示）。F与f2信号经与门后得到如图2-7（b）中的f3信号，如果能对f3信号用脉冲信号的正半周脉冲串进行计数（f3就是F的脉冲串）NT,则NT在数值上正比于被测信号的周期T。F,InordertomeasurethisperiodictimeT,high-frequencysignalFofknowfrequencywithinTtimemaybecounted.Transferhigh-frequencyclocksignalFwithmeasuredfrequencysignalf2afterdividingintotwopartstocounter(asshowninFigure2-7(a)).AfterFandf2signalspassthroughconjunctiongate,f3signalinFigure2-7(b)isobtained.Ifpositivesemi-cyclepulsetrainofpulsesignalforf3（f3ispulsetrainF）signalmaybecountedanddenotedtobeNT,valueofNTisindirectproportiontoperiodictimeTofmeasuredsignal:F,TTNTF

f=1/T=F也就是说，当我们测得脉冲信号串的个数

时，就可以算得被测频率的周期：

TNTFInotherwords,numberNTofpulsesignaltrainismeasured,periodictimeTmeasuredfrequencymaybeobtainedtoNT=TX

TNTF当被测信号频率为50Hz时，其周期T=0.02s，若F=1MHz时，则有NT=20000测量精度为≤0.0025Hzwhenmeasuredsignalfrequencyis50Hz,itsperiodictimeT=0.02s;ifF=1MHz,NT=20000.Measurementaccuracyoffrequencyis≤调速器采用PLC实现频率测量,配置三通道频率测量。电网频率测量方法采用PT残压,机组频率测量采用PT残压和SSG齿盘测频冗余,每路频率测量范围0.2Hz~120.000Hz,频率测量精度可0.0003125Hz。 ernoradoptsPLCtorealizefrequencymeasurement,whichisconfiguredasthreechannelfrequencymeasurement.PowergridfrequencymeasurementmethodisPTresidualvoltage,theunitfrequencymeasurementmethodisthePTresidualvoltageandSSGtoothdiskredundancy,eachfrequencyrangeof0.2Hz-120.000Hz,frequencymeasurementaccuracycouldbe0.0003125Hz.双牌调速器利用C控制器自带的6Mz高速计模块，实现真的控制本体测频，实际测频精度达到0.001Hz以上，同时测频可靠性与实时性也得到很好保证。微机调速器的人机界面Human-machineinterfaceofthe 人机界面简称HMI，它由触摸式图形显示操作终端实现，HMI与PLC通信,PLC的各种数据，然后将这些数据转换为可识别的信息，在触摸屏上显示，同时接收用户令,然后转换为PLC可识别信息。Human-machineinterfaceisshortasHMI.Itisrealizedbytouchgraphicaldisplay&operatingterminalHMIcommunicateswithPLC,readvariousdataofPLC,thenswitchthesedatatorecognizableinformationandshownitonthetouchscreen,meanwhile,receiveuser’scommands,andthenconverttotheidentifiableinformationofPLC.人机界面是水轮机微机调速器运行中用来显示调速器工作状态、调节参数、信息，以及实端设备。Human-machineinterfaceisthe puterinteractionfunctionterminalofturbine ernorduringoperationtodisplayworkingstateof ernor,adjustingparameter,alarminformationandtorealizeadjustingparametermodification,presettingparametermodification,manual/automaticadjustmentswitch-over,regulationmodeswitch-overanddisplayswitch-overetc.水电站微机调速器通常采用液晶触摸屏为人机界面HMI，人机界面除了常规的显示操作外，还具有参数设置、故障记录分析、事件记录、试验等辅助功能，使得检修可通过它清楚地了解电气调节系统的运行状态，而不用通过计算机与调Truecolorhigh-definitionLCDtouchscreenisusuallyusedas interfaceHMIintheNeelumJhelumhydropowerstation ernor.Exceptforconventionaldisplayandoperation,itstillhassomefunctionsofparametersetting,faultrecordandysis,eventrecord,onlinetestetc.Thesefunctionsensurethatmaintenancestaffcouldclearundertandoperationalstatusofelectricalregulationsystem,butdoesnotneedconnectwithcomputer.就具体界面来说，水电站调速器的人机界面主要有公共面、参数设置及试验界面等。下面就一些主要界面作简1）公共界公共界面主要是一些包含语界面的调速器所拥有的2）界面（或主显示界面界面（或主显示界面）该界面主要是为了便于运行监视调速器运行状态。 速的人机界面Hmn 表状数主显示界Main表 表状数数主菜3)主操作画MainOperation主操作界面主要用于操作，具体来说主要有频率设定、电气开限设定、有功功率设定、导叶开度设定、水头设定等。但该界面也有调速器运行状态和运行实时数据显示操作界面上部显示机组频率、频率给定、机组有功、功率给定、当前水头、设定水头、导叶输出、电气开限值，浆叶角度、浆叶平衡、导叶开度、导叶平衡为画面表计值单独列出便于观察。界面下端为一些触摸键按钮，包括：频给增、频给减、功给增、功给减、频/频给、功率调节/开度调节、水头手动/水头自动、修改、返回当需要进行某种此外，操作界面上还有开机、停机、并网、调相、开度调节/功率调节、水头自动手动、网频频给、通讯正常/异常、调速器正常/故障、浆叶自动/浆叶机手/浆叶电手动、水头通讯/水头采样4

等状态指示主操作画MainOperation实数 操设2主菜2 微机调速器的人机界Humanmachineinterfaceof 实数 状操参数设置及试验界Parametersettingand参数设置及试验界面（有的称之为主菜单界面）主要是用于整定调速器的有关参数便于进行一些必要的静动态试验重要提示：非电厂运行（）和设备厂家调试擅自进入界面修改参。Importantinstructions:Non- nel（maintenance）oftheplantandthenon nelofequipmentmanufacturerauthorizationdonotenterintothepicturesandmodifythe该画面是调速器主要的运行参数和试验参数设置菜单界面和试验界面必须在该画面输入正确后才能进入相应的画面，主要分为试验菜单和参数设置菜单两部分。Thepictureis pictureof ernoroperationalparametersandtestparameters.Beforeenteringintothepictures,theoperatormustinputthecorrectpasswords.Itismainlydividedintotest andparametersettings 参数设置及试验

tgased 主菜单画面主要由四大部分组成：参数设置、查询、试验和系统管直接点击主菜单画面“参数设置”中所列的各个按钮，就能直接读出并显示相应的各个参数（包括以下触摸键：导叶参数、浆叶参数、功率参数、空载参数、大网负载参数、小网负载参数、优化、其它设置、协联数据）。按相应的触摸键则进入对应的参数设置画面。进入主菜单画面有两种方法在“画面”中点主菜单触摸键，输入进入主菜单画面输入系统管理员进入主菜单画5）输入画操作终端将所有的画面分成不同的等级，最级不需要输入，其均需要输入。的设置画面如下图“设置画面”所示具体可在进入主菜单界面后点击“管理”就可进入输入界面 2.2.5工作电Workingpower为了保证微机调速器工作电源的可靠性，可编程微机调速器按技术规程要求，一般用交流电源和直流电源同时供电Inordertoguaranteereliabilityofworkingpowersupplyof ernor,programmable ernorispoweredbyACpowersupplyandDCpowersupplyatthesametimeaccordingtorequirementsoftechnicalspecification.交流电源和直流电源转换成直流电源，一路直接给可编程电源模块供电；另一路转为DC24V,为整个系统提供电源.供电电源特Specificofpower交流电源输ACpower直流电源输入DCpower~AC~AC220UC

U(-D1~DC220DC220V(-

M开关电Theprinciplediagramandcontrolalgorithmof ControlSoftware keyboard.keyboard.2-88图2-8是带电液随动系统的位置型数字PID微机调速器的原理框图，其机组和电网频率的测量通改。Figure2-8isfunctionalblockdiagramofpositiondigitalPID ernorwithelectrical-hydraulicservosystem.Measurementofgeneratorsetandgridfrequencyisrealizedbywayofmeasuringperiodictimewithsingle-chipsystemorspecialcountingmoduleanditobtainsdigitaltyofgenerator(orgrid)frequencydirectlywithsoftwareprogram.Single-chipfrequencypresetisstoredinthecomputerintheformof tyandmaybemodifiedPID控制算法由程序实现，其运算结果YPID为对应导叶开度Y的数字量，YPID经D/A转换变为模拟电压，并送电液随动系统的综合放大器，使导叶接力器开到对应的开度YPIDcontrolalgorithmisrealizedthroughsoftwareprogram;itsarithmeticresultYPIDisdigitaltyofcorrespondingguidevaneopeningY.YPIDisconvertedtobe ogvoltagethroughD/Aandtransitedtocomprehensiveamplifierofelectrical-hydraulicservosystemtoopenguidevaneservomotortocorrespondingopeningY.为实现有差调节，调差的反馈信号可取自位置式PID运算结果，并与功率给定信号（数字量）相减，然后经永态转差系数bp衰减后与频差信号综合。调差的反馈信号也可取自机组的输出功率，调节模式时的需要，同时也有利于提高运行的可靠性Inordertorealizedeviatingregulation,feedbacksignalofdifferenceadjustmentmaytakepositiontypePIDarithmeticresultandsubtractpowerpresetsignal(digitalty),andthensynthesizewithfrequencydifferencesignalafterattenuatedbypermanentslipcoefficient.Feedbacksignaloffrequencydifferencealsomaytakeoutputpowerofgeneratorset,istransferredthroughpowertransmitterandthenconvertedtodigitaltythroughA/D.Thesetwofeedbacksignalsmaybeswitchedovermutuallyforthepurposeofmeetingdemandsofdifferentregulationmodeandforthebenefitofimprovingoperatingreliability.从图2-8可以看出，位置型数字PID与模拟式并列PID极其相似。模拟式并列PID调节器的出可用下式表ItisobservedfromFigure2-8thatpositiondigitalPIDisextremelysimilarogparallelingPID.Output ogparallelingPIDregulatormayexpressedwiththefollowingt Ke(t) e(t)dtt

(2- i

KPKiKd分别是比例、积分和微分增益；Vy是模PID调节器的输出；e(t)是调节器输入偏差Where:Kp,Ki,Kdareproportional,integralanddifferentialgainsVyisoutput ogPIDregulator;e(t)isinputdeviationof对于位置型数字PID来说，只要将上式的微分方程改写成差分方程，就可得到离散PID表达式，WithregardtopositiondigitalPID,discretizeddigitalPIDequationmaybeobtainedbywayofconvertingabovedifferentialequationtodifferenceequation;thatismustmustbe

K

e(n)

nnTj

e(j)T

[e(n)e(n或写成Orconverted

K

e(n)KI

e(j)KD[e(n)e(nj

(2-式中KP=KP,KI=Ki*T,KD=Kd/T；T是采样周期；e(n)和e(n-1)分别是第n次和第n-1次采样周期的Where:KP=KP,Ki=KI,KD=Kd/T；Tissamplingperiode(n)ande(n-1)areinputdeviationofthentimesandn-1timesofsamplingperiod(thatisdigitaltyofgeneratorsetfrequencydeviation);YPIDisoutputdigitaltyofpositionPIDequationofntimesofsampling从位置型n字PID算式可知，每一采样周期的输出量YPID与过去状态有关，即算式中包含偏差累加

e(

故容易产生累积误差。同时，当计算机发生电源故障时，将可能导致调系统严重的事故，为此，必须考虑电源保护措施ItcanbeobtainedfrompositiondigitalPIDequationthatoutputtyeachsamplingperiodisrelatedtopreviousstate;theequationincludesndeviationaccumulated

e(

thereforeitiseasytoproduceerror.Andmeanwhile,whencomputerisoutofpowersupply,itmaycauseaccidenttoregulatingsystem;thus,safeguardproceduresforlossofpower＝针对位置型这种数字PID控制算法存在的缺点，提出了增量型控制算法。增量型与位置型差别要在于算法。另外，增量型还可直接利用其计算结果(增量)来驱动数液伺服系InallusiontodisadvantagesexistinginthatpositiontypedigitalPIDcontrolalgorithm,peopleputforwardincrementtypecontrolalgorithm.Differencebetweenincrementtypeandpositiontypemainlyoriginatesfromalgorithm.Besides,incrementtypemayuseitscomputingresu irectlytodrivedigital-hydraulicservosystem.根据位置型数字PID控制算式可得第(n-1)次和第n次采样周期的输出表达Outputexpressionofnumber(n-1)timesandntimesofsamplingperiodmaybeobtainedaccordingtocontrolalgorithmofpositiondigitalPID:YPID(n1)K

e(n1)KIn

e(j)j

KD[e(n1)e(n

p

j

D

所以增量为Soincrement

n＝KP[e(n)e(n1)]KIe(n)KD[e(n)2e(n1)e(n根据位置型数字PID控制算式可得第(n-1)次和第n次采样周期的输出表达式Outputexpressionofnumber(n-1)timesandntimesofsamplingperiodmaybeobtainedaccordingtocontrolalgorithmofpositiondigitalPID:YPID(n1)K

e(n1)KIn

e(j)KD[e(n1)e(nj

K

e(n)KI

e(j)j

KD[e(n)e(n所以增量SoincrementYPID(n)YPID(n)YPID(n=KP[e(n)e(n1)]KIe(n)KD[e(n)2e(n1)e(n(2-nn从上式可知，增量型数字PID控制算法只需计算增量，且算式中不含过去偏差值的累加e(j)ItisobservedfromaboveequationthatitisonlynecessarytocomputeincrementforntypedigitalPIDcontrolalgorithmandtheequationdoesnotincludeaccumulationofndeviatione(j)因此，计算误差或精度对控制量的影响较小。另外，随动系统本身具有寄存作用增量工作，相于一个分，当工作电源时，伺系统将仍然持原来的置（即接力器的开度不会发生变化）。同时，也易于加入手动控制，且在手自动切换时无冲击，所以，在实际控制中，增量型数字PI控制算法要比位置型数字控制算法用的更为广泛。Thus,calculationerrorandaccuracyhassmallinfluenceoncontrolBesides,servosystemitselfhasstoringfunction(stepmotorworksasperincrementanditisequivalenttooneintegrator);whenworkingpowersupplydisappears,servosystemwillstillkeeporiginalposition(itmeansopeningYofservomotorwillnotchange).Atthesametime,itiseasytoaddmanualcontrolandthereisnoimpactwhenduringmanual/automaticswitch-over;therefore,duringactualcontrolincrementtypedigitalPIDcontrolalgorithmisusedmorewidelythanpositiontypedigitalPIDcontrolalgorithm.ControlSoftware puter- ControlTheory puter- 微机调速器的调节模Regulationmode puter- ControlSoftware puter- 水轮机微机调速器在不同运行工况中采用不同的调节规律、控制结构、调节参数和调节模式，面就这些问题作些简单介绍 ernoradoptsdifferentregulatinglaws,controlstructures,regulatingparametersandregulationmodesunderdifferentoperatingconditions;theseproblemsareintroducedasfollowsbriefly.Closedloopstart-up闭环开在机械型速器和液调速器中通常是采开环开机即在开机过的初始阶，频率测量信号是不起调节作用的。导叶的开启由启动装置或启动回路控制机械开度限制机构来实现，直至机组转速接近额定转速时，频率测量信号才接入调速系统，并形成闭环调节。 ernorandelectrical-hydraulic ernorusuallyadoptopen-loopstart-up.Inotherwords,ininitialstageofstart-upprocess,frequencymeasurementsignaldoesnothaveregulationfunction.Openingofguidevaneis