RU2178578C1 - Method for automated control of complex technical object - Google Patents

Abstract

FIELD: systems for automatically controlling complex technical objects with the aid of computing devices. SUBSTANCE: method comprises steps of separating technological process realized by means of technical object by intermediate technological states selected according to condition of setting for each state constant tasks for discrete and analog circuits of all technical units of object; realizing control of each technical member for each technological state with the aid of special control circuit corresponding to predetermined technological state while using the same peripheral equipment for said technical member. EFFECT: simplified process of control without lowering its quality parameters. 5 dwg, 2 tbl

Description

 The invention relates to automated control of a complex technological object using computer technology and can be used in automatic control systems (ACS) of a complex technological object, for example, in a modern thermal power plant (TPP).

 As the closest to the destination and the set of essential features of the analogue of the invention (prototype), a known method of automated control of a technological object, consisting of technological elements grouped into technological units and assemblies, using computer technology, including the formation of control actions on the technological parameters in interconnected and equipped peripheral equipment of discrete and analog circuits using microprocessor controllers (see. Automation of power units. - Lisko V.V. et al. - Development of heat power engineering. - Collection of scientific articles edited by Dyakov A.F. and Olkhovsky G.G. - All-Russian Thermotechnical Research Institute. M., VTI, 1996, p. 71-83).

 In the known method, the automated control of an object is carried out using the same circuits in the entire range of tasks for controlling each technological unit. Such control requires a rather complicated scheme with the introduction of numerous corrections corresponding to the transition to the development of a new task.

 Achievable technical result of the invention is to improve the quality of automated control of a complex technological object, as well as simplifying the process of managing it.

 This result is ensured due to the fact that in a method of automated control of a technological object, consisting of technological elements grouped into technological units and assemblies, using computer technology, including the formation of control actions on technological parameters in interconnected and equipped with peripheral equipment discrete and analog circuits with using microprocessor controllers, according to the invention, a technological The process is divided into intermediate technological states, chosen from the condition of invariance for each task state of the discrete and analog circuits of all technological units of the object, each technological element of the object node in each technological state is controlled using an individual control loop corresponding to this state with the same of this technological element by peripheral equipment, and the technological object is controlled by updating the sequence of technological states, issuing for each of them tasks to the circuits and commands for working out these tasks in the established technological sequence for each state.

 The invention is illustrated by drawings, where in FIG. 1 as an example of the implementation of the method schematically depicts self-propelled guns power unit TPP; in FIG. 2 is a structural diagram of a unified software module; in FIG. 3 is a block diagram of an ACS by a technological unit; in FIG. 4 is a block diagram of an automatic control system with a technological unit consisting of several technological units; in FIG. 5 is an example of a circuit of one of the simplest technological units with regulatory and executive bodies (IO).

 ACS of the TPP power unit (Fig. 1) contains a high-level control panel 1 and operator terminals OT 2 for controlling technological units 3 (electrical equipment 3.1, condensate-feed path 3.2, turbine 3.3, boiler 3.4, general station equipment 3.5), and microprocessor controllers ( Algoblocks) 4 intermediate control levels. Each technological unit 3.1-3.5 has technological units 5 (a group of technological elements of equipment, combined by solving an independent technological problem). Elements (not shown in FIG. 1) of nodes 5 receive control signals from microprocessor controllers (algoblocks) 6 of the lower control level. Signals of the control action on the elements of technological units 5 can also come from microprocessor algoblocks 4 of an intermediate control level, operator terminals OT 2 or from manual controls not shown in the drawing.

 In an example of one of the simplest technological units (Fig. 5), the make-up tank 7 is filled with water, the level of which should be maintained within the specified limits using the sensor 8, algoblocks 6 (Fig. 1.2) and a regulating body (control valve) 9 Another control valve 10 is designed to change the flow rate of water in the water supply line 11 to the inlet of the condensate pump (not shown in the drawing). In series with the control valves 9 and 10, the corresponding shut-off valves 12,13 are installed. A protective drain valve 14 is also provided. Thus, this technological unit contains n = 5 technological elements (control valves and shut-off valves 9, 10, 12, 13, 14 with controls not shown in Fig. 5).

Each 1st element of the technological unit (out of the total number of n technological elements numbered in accordance with a given technological sequence of their work) has a separate analog or discrete automatic control circuit (Fig. 2), which contains peripheral equipment 15 (P ₁ ) and microprocessor Algoblock 6 of the lower control level, configured to implement software modules (M ₁ ), the number of which is set equal to the number k of specified technological states. The peripheral equipment P ₁ 15 of each circuit contains the executive bodies of the IO 16 (in Fig. 5 with five elements of the technological unit - 16.1-16.5, respectively) with a drive 17, a sensor 8 of a controlled technological parameter (KTP), a sensor 18 of the position of the executive bodies of the IO 16, sensors 19 positions of position and power switches (not shown in the drawing).

Modules M _{1 of the} lower level algoblocks 6 are unified in structure, which includes the same elements for each module to implement the functioning of both analog and discrete circuits. At the same time, each module M ₁ includes (Fig. 2) a functional converter 20 in accordance with a predetermined standardized function of signals from sensors 8,18,19 and signals arriving along lines 21 from other circuits: a cascade controller consisting of a main controller 22.1 and executive regulator 22.2; integrator 23; an adder 24 of the output regulatory signals coming from the controller 22.1 and from other circuits along lines 25; a selection device 26 with a given priority of the output control signal from the total control signal (line 24.1), discrete protection signals received through lines 27.1, the output signal of the executive controller coming from line 27.2, and the control signal (line 27.3) received at the input switch 27.4 the action of the executive regulator 22.2. The composition of each low-level algoblock 6, in addition to the software modules Mi, also includes a converter 28 of the selected signal (line 26.1) to a pulse signal (line 28.1) for setting the time of the action of the actuator 17 on the permutation of the actuator 16. Since the processing of the signal for setting the time of the action on the drive is invariant by in relation to the current technological state, the converter 28 is conditionally assigned to the composition of the peripheral equipment Pi. In this case, the executive controller 22.2 is connected to the output of the main controller 22.1 in series through the integrator 23 and the adder 24. The drive 17 of peripheral equipment P _{1 is} connected to the output of the main controller 22.1 in series through the converter 28 and devices 26,27.4 and 24. To the output of the executive controller 22.2 drive 17 connected in series through devices 28, 26 and 27.4.

The step logic algorithm in each program module M _{i of the} control circuit of the technological element n _{i is} implemented as a logical key, which is an element step switch (ESR) 29 for starting this module M _i and sending a command to start the module M _{(i + 1} ) of the control loop the next technological element n _{(i + 1)} along the given technological sequence in the same jth (from among k) technological state of the technological object (Figs. 2 and 3). To generate the input signal of the software module M _{i of the} next circuit, the ESR 29 has two blocks: an internal control unit 29.1 and an external control unit 29.2 with two corresponding inputs. The input of block 29.1 is connected to the output not shown in FIG. 2 similar ESRs of the previous module M _(i-1) . The input of block 29.2 is connected to the output of logic element 30 (OR), the input of which is connected to signal lines 31 from signals not shown in FIG. 2 control devices of different levels and lines 32.1, 32.2 of the output signals, respectively, from the logic element 33 (I) and the element 34 (τ) time delay. The inputs of the time delay element 34 are connected to the output of the logic element 33 and the signal delay setting signal line 35. The outputs of the element 33 are connected via line 36 to the output of the ECB 29 internal control unit 29.1 and the output of the threshold element (PE) 37, the inputs of which are connected to the PE setpoint signal signal line 38 and to one of the outputs of the main controller 22.1. The output of block 29.1 of the internal control of the electronic circuit board 29 by line 39 is connected to the input of the main controller 22.1 through the element 40 of the task from one of the alternative signals received via lines 41: an analog project task, an external task, and a manual control signal. Elements 8,18,19,22.1, 22.2,23 of the module M _i are connected by lines 43 (43.1-43.4), 44 (44.1-44.7) with other circuits and external control gears (not shown in Fig. 2). In particular, line 43.3 is intended for giving and withdrawing a command to switch to manual control, and line 43.4 is for supplying a manual control signal to drive 17.

Any of the external control signals arriving at block 29.2 on lines 31 and 32 forms a delay in the signal on line 44.1 to turn on the next program module M _{(i + 1)} in the given technological sequence until all these control signals are removed. In particular, the control signals received by the ECB 29 external control unit 29.2 through the OR logic element 30 via lines 32.1, 32.2 are generated at the output of the logical element 34 AND when the control signal arrives at its inputs from the ECU 29 internal control unit 29.1 (via line 36 ) and the output signal from the main controller 22.1 through the threshold element PE 37. The output signal from the logical element 34 AND is fed to the inputs of the logical element 30 OR directly (line 32.1) and through the element 34 τ time delay. In this case, the threshold element 37 passes to its output only bursts of the output signal from the main controller 22.1 that occur when it is started. After reaching the steady state level of the controlled technological parameter, the signal at the output of the threshold element 37 disappears, which immediately leads to the disappearance of the control signal supplied to the logic element 30 OR on line 32.1 with the removal of the ban on the passage through line 44.1 of the signal to turn on the next program module M _{(i + 1)} . The control signal supplied to the other input of the OR logic element 30 via line 32.2 is generated when there is a time delay at the inputs of the element 34 τ of the output signal from the threshold element 37 and the specified delay signal received via line 35. If the signal at the output of the logical element 33 And disappears before the operation of the element 34 time delay, the control signal at the output of the latter is not generated and is not supplied via line 32. If, during the specified delay time, the output signal of the main controller is not established and continues to pass through the threshold element 37, this will trigger the element 35 with the output to its output of the control signal prohibiting the inclusion of the next software module. This signal is not limited in time and can only be removed manually after eliminating the emergency situation that caused the abnormal operation of the main controller 22.1.

The unification of the software modules M _i for analog and discrete circuits is ensured by introducing into the structure of all modules a cascade amplifier 22.1, 22.2, a device 26 for selecting a priority signal and a switch 27.4 for commissioning the executive controller 22.2.

ACS each technological node 5 (Fig. 1) contains n (by the number of technological elements of the node) interconnected analog and discrete groups of control loops (Fig. 3). Moreover, each of the 1st group of circuits from n contains one set of peripheral equipment Pi 15 (Fig. 2) and k (according to the number of technological states) of the software modules M _i . This self-propelled guns also contains a nodal step switch USP 42 with blocks 42.1 and 42.2, respectively, of internal and external control. The number of UShP switches 42 for each technological unit is also equal to the number k of technological conditions of the object (42 _i -42 _k ). In the presented diagram (Fig. 3), the external control lines 31.1 and 31.2 are connected only to the UWB 42. The external control signals to the elemental step switch ESR 29 (Fig. 2) are received only via lines 32 from the time delay elements 33 τ. The output signal line 43.1 of the USP 42 (Fig. 3) is connected to the ECU block 29.1 29 (Fig. 2) of the internal control of the ESR 29 of the first technological element (Fig. 3); lines 44.1 blocks 29.1 internal control ESR 29 (Fig. 2) of all n program modules 6 of each technological state of the technological unit (Fig. 3) are interconnected; lines 45 (Fig. 3) connect the ESR block 29.1 29 (Fig. 2) of the last (n-th) technological element (Fig. 3) of the previous technological state with the ESR block 29.1 29 (Fig. 2) of the first technological element (Fig. 3) ) subsequent technological condition; line 46 connects the ESR unit 29.1 29 of the n-th technological element of the last (k-th) technological state with the USP ₁ 42 of the first technological state (Figs. 3 and 2).

 ACS technological node (Fig. 3) also contains a microprocessor algoblock 4 (Fig. 1) of a high level of control, made with the possibility of implementation in the form of a nodal program switch (SCP) 4.1. The latter is connected to external control units 42.2 of the UWB 42. It is also possible to connect the soft starter 4.1 via lines 31 (Fig. 2) through the OR element 30 and to the external control units 29.2 of the UWB 29. In this case, switching to the new technological state of the ACS of the entire unit is carried out using the soft starter 4.1 on the signal that the development of the previous state was completed by the last technological element of the technological unit (the transmission lines of these signals are not shown in the drawing), provided that there is no prohibition to continue working on the development of the next state.

ACS technological unit (Fig. 4), consisting in the considered example of three technological units 5, the structure is similar to the above self-propelled guns one technological unit (Fig. 3). The implementation of control using self-propelled guns in the considered example is carried out by sequentially passing through seven technological states. At the same time, switching to a new technological state of the entire unit is carried out using aggregate step switches (ACP) 47.1-47.7, and the latter are controlled externally using the aggregate program switch APP 4.2. As can be seen from FIG. 4, the signals of the external control action from the nodal switches of the soft starter programs _1- UPP ₃ and from the aggregate switch of the AMS programs along lines 31.1 and 31.2, respectively, are not supplied to all external control units 42.2 and 47.2 of the nodal (USP) and aggregate (ACP) step switches. The absence of an external control signal input means that the task to maintain the technological state achieved in the specified technological sequence in the previous self-propelled guns is stored in the appropriate ACS by the node or unit.

 ACS technological object as a whole, consisting of a certain number of technological units, the structure is also similar to the above self-propelled guns technological unit and unit. At the same time, the entire technological object is switched to a new state using the main step switches (GPU) not shown in the drawing, the number of which is equal to the number of units, and the external control of the GPP is carried out using the main program switch (GPP) not shown in the drawing.

 In table 1 for the one shown in FIG. 5 of the technological unit with five executive bodies of IO 16.1-16.5, four numbered sequential technological states are given, for each of which the tasks are given for the corresponding circuits of each IO and the sequence (numbers in brackets) of switching on the circuits after the task is completed by the previous circuit.

 Similar tables are compiled for each circuit of each technological unit (design tables). They are filled (table 2) with codes of circuits, technological states, values of design constants.

 The set of tables 2 for all the circuits of the technological node is a working project for managing this node. According to the data entered into the tables, connections are automatically made forming a working self-propelled gun.

 Designing self-propelled guns, therefore, does not require the drawing of functional diagrams. This allows the designer and technologist not to delve into the functional and hardware essence of control, i.e., significantly simplify the design of self-propelled guns.

The self-propelled guns according to the invention provide for the possibility of complete all-mode automation of a complex technological object operating in a sequence of technological states determined by time intervals until all technological units of each next state work out the tasks assigned to them. At the same time, the system allows you to manage the facility and in parallel with the operator, who has the opportunity to influence all executive bodies of the IO in accordance with the established scale of priorities in relation to self-propelled guns and to protection. In particular, the ACS TPP according to the invention can operate in the following modes:
- automatic control with maintaining a given load and implementing the absence of possible operational deviations;
- automated control with the transition to manual control of individual IOs, the operator takes actions in accordance with the commands received from the operator terminal OT 2 (Fig. 1);
- remote control with partial automation without using OT, in case of violations, the system leaves the operator the opportunity to make the necessary decisions.

 Thus, the management of a complex technological object using operator terminals is carried out in non-automatic or partially automated modes. In automatic mode, the OT serves as a means of monitoring the absence of operational deviations.

ACS TPP according to the invention in automatic mode operates as follows
From the stop position, the operator switches the main GPP program switch (not shown in the drawing) to the position corresponding to the required load. The executive bodies of the IO of technological elements of all technological units are turned on in accordance with the relationships assigned during the design. After the EUT of all technological elements fulfills the first technological state, the next (second) technological state corresponding to the required load is switched on with the use of step switches ESW, USHP, AChP and GShP. When assigning a new load, all technological conditions between the old load and the new one change in turn. When rearranging the GPP to the “stop” position, the self-propelled gun goes through all the sequences of technological states projected on this part up to the “stop” state.

 The operator, using the OT operator terminals, monitors the position of the operating system's technological condition and, in case of a discrepancy, finds and eliminates the cause of the discrepancy.

 With manual control, the operator sets the GPP to the “stop” position and, with the help of the OT, makes sure the correct positions of the initial state of the initial state, and then shifts the GPU to the position corresponding to the first state in the given technological sequence of operations and in accordance with the commands received from the OT in sequence along lines 43.3 , 43.4 (Fig. 2) provides manual control signals to the IO of the circuits fulfilling this technological state. Next, the next technological state is worked out in the same way, etc. If the technological sequence is violated due to missing necessary positions, the GPP will block further work until it returns to the missed position. Thus, the condition for the implementation of manual control is the subordination of the operator to the OT operator terminal.

 With partial automation of control, for example, with automatic control, control is carried out in the same order as manually, but at the same time the analog circuits work out the corresponding parameters automatically.

Claims (1)

 A method for automated control of a technological object, consisting of technological elements grouped into technological units and assemblies, using computer technology, including the formation of control actions on technological parameters in interconnected and equipped with peripheral equipment discrete and analog circuits using microprocessor controllers, characterized in that object technological process is divided into intermediate technological states selected from the condition of invariance for each task state to discrete and analog circuits of all technological units of an object, each technological element of an object node in each technological state is controlled using an individual control circuit corresponding to a given state with the same peripheral equipment for the given technological element , and the technological object is controlled by establishing a sequence of technological states , issuing for each of them tasks to the circuits and commands for working out these tasks in the established technological sequence for each state.

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