Disclosure of Invention
The embodiment of the invention provides a method, a device and a system for testing a control loop of a nuclear power plant, which are used for solving the problem that the testing of the control loop of the existing nuclear power plant is greatly limited in industrial application.
A method of testing a control loop of a nuclear power plant, comprising:
acquiring a control loop test request, wherein the control loop test request comprises a control loop classification type;
acquiring historical data through a front-end data acquisition machine, screening based on the historical data, acquiring controlled variable and control variable data, and drawing a loop test period curve based on the controlled variable and the control variable data;
Screening based on the loop test period curve and the control loop classification type, and acquiring part of control variable data as data to be tested for testing to acquire a classification test result;
And displaying and storing the classification test result.
Preferably, drawing a loop test period curve based on the controlled variable and the control variable data includes:
drawing a history data curve of the main/auxiliary control loop based on the controlled variable and the control variable data;
and drawing a loop test period curve based on the historical data curve of the main/auxiliary control loop and the start-stop time of the test.
Preferably, after drawing the loop test period curve based on the controlled variable and the control variable data, further comprising:
Detecting a necessary filling item in the set value information, and acquiring a default necessary filling item;
and sending an input default data instruction to the operation workbench so as to enable the operation workbench to return to the default numerical value corresponding to the default necessary filling item.
Preferably, after displaying and saving the classification test result, the method further comprises:
If the acquisition control loop test request is continuously acquired, all loading information existing in the system is cleared.
Preferably, the test method of the control loop of the nuclear power plant further comprises:
And respectively storing historical data, control variable data and classification test results according to a preset format.
A test device for a control loop of a nuclear power plant, comprising:
The acquisition test request module is used for acquiring a control loop test request, wherein the control loop test request comprises a control loop classification type;
The variable data acquisition module is used for acquiring historical data through the front-end data acquisition machine, screening based on the historical data, acquiring controlled variable and control variable data, and drawing a loop test period curve based on the controlled variable and the control variable data;
the test result acquisition module is used for screening based on the loop test period curve and the control loop classification type, acquiring part of the control variable data as data to be tested for testing, and acquiring a classification test result;
and the display test result module is used for displaying and storing the classification test result.
A test system of a control loop of a nuclear power plant comprises a front-end data acquisition machine, a data server and an operation workbench, wherein the data server in the system executes the test method of the control loop of the nuclear power plant.
Preferably, the data server includes a test data loading section, a loop information selecting section, a test data displaying section, a test function selecting section, and a test result displaying section.
Preferably, the hydraulic control system further comprises a unidirectional isolation net gate for protecting the front-end data acquisition machine and a portable workstation connected with the operation workbench.
Preferably, the front-end data acquisition machine, the data server and the operating table are disposed in a movable cabinet.
According to the method, the device and the system for testing the control loop of the nuclear power plant, various control loops of the nuclear power plant are used as application objects, the operation data of the control loop of the transient test is used as the basis, calculation of a performance index model, optimization integration of parameters required by PID, interaction of a data interface and test result display are completed on the basis of the obtained historical data, and the method is applied to the control loop of the nuclear power plant, so that the scene of the control loop of the nuclear power plant is quick and convenient, and the test method is widely expanded in industrial application scenes through the integrated tool system with complete functions.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The most widely adopted control scheme in a DCS (Distributed Control System ) system of a nuclear power plant is PID (proportional-integral-DERIVATIVE CONTROL). Generally, about 60% of performance defects exist in industrial PID loops, some problems can be solved by adjusting PID parameters, and the index of performance evaluation is an important basis for adjusting the PID parameters. In the result analysis and performance evaluation of the control system of the nuclear power plant, the performance evaluation concerned by the debugger comprises seven indexes of peak value, peak value time, residual error, adjustment time, overshoot, attenuation ratio and rise time. These indicators are manually read after reading the historical data of the field test. Because the number of control loops is huge in the actual process, the reading and judging work consumes a great deal of time, and the progress of experimental debugging work is affected. The performance of the control system is judged by only seven existing indexes, and the experience of debugging personnel is relied on. When a commissioning person lacks experience with a control system, it is often difficult to give a reasonable evaluation conclusion. The actual control object can generally be abstracted into a first order model and a second order model. The two models have different characteristics, and neither of the seven indices need to be evaluated. Seven indices are obtained based on historical data, mainly by ISE (Integral Square Error, squared error integral performance index) and Harris.
ISE is the integral performance index of square error, and the calculation method is as followsI.e. controlling the sum of the deviation of the set point from the actual output over the whole run time. Harris is also a controller performance evaluation index, which refers to the ratio of the output variance of a control system using a minimum variance controller to the output variance of an actual system, and is implemented by making the minimum variance control law the minimum objective function (variance of the output time series). The performance evaluation method based on the minimum variance control law is realized by (a) obtaining the pure lag time d of the system by estimation, (b) carrying out time sequence analysis on the output yt of the closed-loop control circuit, establishing a time sequence model yt=fat+Lat-d from disturbance at to output yt, and (c) obtaining the minimum variance of the process output by estimation(D) Calculating actual variance of process output using system output data(E) Calculated to obtainWherein, although at is unknown, the output yt can be time-series analyzed to obtain an estimated value of white noiseIs the actual output variance of the control system, η (d) is between [0,1], and a larger value of η (d) means better, stronger control, but other performance metrics such as robustness may not meet the requirements.
Although ISE and Harris are two very valuable comprehensive indexes, the reflected control performance is very accurate, the ISE and Harris cannot be completed without a certain calculation tool because of complex calculation, so that field technicians can hardly use the ISE and Harris on the spot, and the ISE and Harris mainly have the use requirement that two groups of different parameters are adopted for testing a control loop, and two groups of test data are utilized for comparison and evaluation. Many loops do not allow for parameter adjustment or repeated testing due to the associated requirements of the nuclear power plant. Both indices therefore lack the control index for evaluation. Based on the foregoing existing problems, the present application proposes the following scheme that ISE and Harris can be obtained on site as two very valuable comprehensive indicators, and can be tested repeatedly on site:
in one embodiment, as shown in fig. 1, a method for testing a control loop of a nuclear power plant is provided, and the method is applied to the server in fig. 1, and specifically includes the following steps:
S10, acquiring a control loop test request, wherein the control loop test request comprises a control loop classification type.
The control loop test is classified into 5 types, a first-order rising type, a first-order falling type, a second-order rising type, a second-order falling type and a stationary type.
S20, acquiring historical data through a front-end data acquisition machine, screening based on the historical data, acquiring controlled variable and control variable data, and drawing a loop test period curve based on the controlled variable and the control variable data.
The front-end processor is used for data acquisition and processing of field devices and environments, and is a core component of the monitoring system. The historical data are all historical real scene data and test data recorded by a test system of a control loop of the nuclear power plant.
The controlled variables are notification process variables designed in the control loop, manually entered adjustable variables, and the like.
The loop test period curve is a curve formed by controlled variables selected based on the test period.
S30, screening based on the loop test period curve and the control loop classification type, and obtaining part of the control variable data as data to be tested for testing to obtain a classification test result.
The classification test result is a test result obtained after scene test by taking part of the control variable data as data to be tested.
S40, displaying and storing the classification test result.
Specifically, the test results can be displayed in real time through the integrated machine display of the test site, and the integrated machine display is used for displaying the performance test results. The characteristics of the process parameter control system of each unit of the nuclear power plant are relatively close. After the commissioning of the unit and a period of operation, the performance of the control system is checked, which can be regarded as a near optimal control performance. The historical data of the existing unit can be tested for the performance of the control system, the test result is used as a standard, and the standard is stored and used as a test and evaluation standard of corresponding loops of other units.
The hardware topology of the test system of the control loop of the nuclear power plant involved in steps S10 to S40 is shown in fig. 2. Wherein:
The data source device is a hardware device for acquiring real-time data in the test process, such as DCS, PLC (programmable logic controller ), real-time database carrier, and the like.
The unidirectional isolating network gate is arranged to protect data source equipment from an external evaluation system.
The front-end processor is generally implemented by an industrial personal computer, and data communication with the data source device usually adopts an OPC (OLE for Process Control ) protocol, as shown in fig. 3.
The data server is the core of the whole system, and is generally provided with a real-time database, interface software, performance evaluation application software and the like. In the data server, except for establishing operation system support, the real-time database and all application software systems are installed and run in the data server, and the control loop performance evaluation module, namely the test module, is the core of the whole system.
The real-time operation workstation is a working platform of engineers for performing testing and performance evaluation tasks, and is used for switching the operation of different machines through a multi-screen switching display screen together with a data server and a front-end data acquisition machine.
In addition, the portable workstation can be expanded for convenient post-processing and remote processing of the user, and the portable workstation can be an industrial notebook.
In order to make the application successfully applied, the following technical environments are provided for support:
(1) Suitable software programming environments, including fast data processing capabilities, are aggressively rich in graphical interface programming capabilities.
(2) A suitably configured computer device and operating system serve as support for the operation of the evaluation system.
(3) The control loops of the existing nuclear power plant are classified, and proper control performance evaluation criteria are selected for loops of different types.
(4) And (5) automatically processing evaluation data to obtain conventional indexes such as peak value, peak value time and the like.
(5) And searching a reference object of proper ISE and Harris evaluation indexes according to the characteristics of the control loop of the nuclear power station, and calculating to obtain the two evaluation indexes.
(6) The software and hardware are integrated in the movable trolley type cabinet which is suitable for the installation and debugging site of the nuclear power plant, is explosion-proof and safe, is dustproof and antistatic, has good ventilation and heat dissipation and has enough mechanical strength.
In order to be able to evaluate the performance of the different loops in a realistic way, it is necessary to classify the individual control loops according to the characteristics of the step response and the characteristics of the action signal. In debugging, a method of manually adjusting and then throwing into an automatic or setting value modifying method is adopted to observe the control effect of the control loop, and the actions can be considered as modification of the setting value of the control loop, namely, step signals for ascending or descending are given to the control loop. Models of actual industrial processes can be generally divided into two major classes, namely first-order monotonic type and second-order oscillation decay type, by abstract extraction:
the transfer function of the first order process can be described as The transfer function of the second order process can be described asStep signals are given to the two processes in the forward direction and the reverse direction, and different response characteristic curves can be obtained. There is a special class of curves, namely the characteristic curves of the system without external control action signals being input. Due to the presence of the controller, the loop in this case generally maintains a stable or small range of constant amplitude oscillation characteristics. The respective loops can be classified into five types, i.e., a first-order rising type, a first-order falling type, a second-order rising type, a second-order falling type, and a stationary type. None of these five types require a complete evaluation of nine performance metrics. For example, the first-order rising and falling type does not need to evaluate the indexes such as overshoot, attenuation ratio and the like. The following are listed below
The contents to be evaluated for each type are listed in table 1.
TABLE 1
According to the test method of the control loop of the nuclear power plant, various control loops of the nuclear power plant are used as application objects, the operation data of the control loop of the transient test is used as the basis, calculation of a performance index model, optimization integration of parameters required by PID, interaction of a data interface, test design, archiving of test data, exporting and checking of the historical test data, post-processing of the test data and test result display are completed on the basis of the obtained historical data.
In one embodiment, as shown in fig. 4, in step S20, drawing a loop test period curve based on the controlled variable and the control variable data includes:
s21, drawing a historical data curve of the main/auxiliary control loop based on the controlled variable and the control variable data.
S22, drawing a loop test period curve based on a historical data curve of the main/auxiliary control loop and the start-stop time of the test.
The test start-stop time is from a start time point to an end time point of the test, and the corresponding historical data curve in the time interval is the loop test period curve.
In one embodiment, as shown in fig. 5, after step S20, that is, after drawing the loop test period curve based on the controlled variable and the control variable data, the method further includes:
S201, detecting the necessary filling items in the set value information, and acquiring default necessary filling items.
S202, sending an instruction of inputting default data to the operation workbench so as to enable the operation workbench to return to the default numerical value corresponding to the default necessary filling item.
Specifically, in order to facilitate adaptation to various industrial application scenarios, the present embodiment also provides an interface for manual input, for belonging to default values.
In one embodiment, after step S40, as shown in fig. 6, that is, after displaying and saving the classification test result, the method further includes:
s401, if the acquisition control loop test request is continuously acquired, all loading information existing in the system is cleared.
In one embodiment, the method for testing a control loop of a nuclear power plant further comprises:
And respectively storing historical data, control variable data and classification test results according to a preset format.
Specifically, in the present embodiment, the following tables two, three and four show the data saving formats of the history data, the control variable data and the classification test result, respectively:
| Time of |
Data 1 |
... |
Data n |
| Controlled variable (Main) |
Data 1 |
... |
Data n |
| Control variable (Main) |
Data 1 |
... |
Data n |
| Controlled variable (auxiliary) |
Data 1 |
... |
Data n |
| Control variable (auxiliary) |
Data 1 |
... |
Data n |
Watch II
Watch III
Table four
The application provides a testing, analyzing and performance evaluating system of a control loop special for a testing process of a control loop of a nuclear power plant, which has the following advantages:
1) Classifying the existing control loops and establishing different evaluation criteria.
2) And quantitatively evaluating the control system by using 9 control performance indexes such as peak value, peak value time, residual difference, adjustment time, overshoot, attenuation ratio, rise time, ISE and Harris.
3) And according to the nuclear power operation characteristics, providing a comparison standard for ISE and Harris indexes by using historical data.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
In an embodiment, a testing device for a control loop of a nuclear power plant is provided, where the testing device for the control loop of the nuclear power plant corresponds to the testing method for the control loop of the nuclear power plant in one-to-one correspondence. As shown in fig. 7, the test device of the control loop of the nuclear power plant includes an acquisition test request module 10, an acquisition variable data module 20, an acquisition test result module 30, and a display test result module 40. The functional modules are described in detail as follows:
The acquisition test request module 10 is configured to acquire a control loop test request, where the control loop test request includes a control loop classification type.
The variable data acquisition module 20 is used for acquiring historical data through the front-end data acquisition machine, screening based on the historical data, acquiring controlled variable and control variable data, and drawing a loop test period curve based on the controlled variable and the control variable data.
The test result obtaining module 30 is configured to screen based on the loop test period curve and the control loop classification type, obtain a part of the control variable data as data to be tested, and obtain a classification test result.
The display test result module 40 is used for displaying and storing the classified test result.
For specific limitations on the testing device of the control loop of the nuclear power plant, reference may be made to the above limitations on the testing method of the control loop of the nuclear power plant, and no further description is given here. The above-mentioned various modules in the test device of the control loop of the nuclear power plant may be implemented in whole or in part by software, hardware and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In an embodiment, a test system for a control loop of a nuclear power plant is provided, including a front-end data acquisition machine, a data server and an operation table, where the data server executes the test method for the control loop of the nuclear power plant.
Specifically, the software part in the data server of the system can be realized by MATLAB software of MathWorks company. MATLAB has powerful data processing functions. It provides multiple toolboxes for control, statistics, system identification analysis, etc. for user invocation. In addition, MATLAB also provides a graphic user interface programming function, which not only can enable a developer to conveniently develop a user interface, but also can realize interaction with functions of other tool boxes.
The system can also use the DELL R710 server as a carrier of software, and the server uses Windows service 2003 as an operating system. In order to facilitate the movement on site, an ATEN CL5708MA type integrated display is adopted to be matched with a server for use.
In one embodiment, the data server includes a test data loading section, a loop information selecting section, a test data display section, a test function selecting section, and a test result display section:
And the test data loading part is used for completing the loading work of the test loop history data file.
The loop information selecting part firstly reads the configuration information of the system, firstly, the related content of the loop to be tested in the configuration information is obtained, the related information of the loop is provided, wherein the related information comprises the loop type (single loop and cascade loop), the controlled variable name and the controlled variable name, and the second step is to screen the controlled variable and the controlled variable data from the loaded test data file according to the information in the configuration file, and the history data curve of the main (auxiliary) loop is drawn in the test data display part. And thirdly, selecting a starting and ending time point to be used for the test data, and drawing a curve of the starting and ending time point again on a display part of the test data. Fourth, since some loop setting information is default at the time of loading, it is necessary to manually input the setting of the test data section.
The functions implemented by the test function selecting section include:
(a) After the content of the loop information selection part is configured, the classification type of the control loop is selected, test calculation is carried out, and after the calculation is finished, the test result is displayed in the test result display part;
(b) Storing the test result;
(c) All information loaded by the system is cleared (this function is used when other loop tests are needed);
(d) And exiting the system.
In one embodiment, the test system of the control loop of the nuclear power plant further comprises a unidirectional isolation barrier for protecting the front-end data acquisition machine, and a portable workstation connected to the operation table.
In one embodiment, the testing system of the control loop of the nuclear power plant sets the front-end data acquisition machine, the data server and the operation table in a movable cabinet, for example, all software and hardware are integrated into a movable cabinet with a size of 800mm x 1200mm, so that the system is convenient to adapt to various industrial scenes at any time and any place, and starts performance testing.
The test system of the control loop of the nuclear power plant provided by the embodiment has the advantages that:
1) A complete tool system for analyzing and evaluating debugging test results of a control loop of a nuclear power plant is formed through software and hardware integration and key technology software.
2) The system integrates the process characteristics of the nuclear power plant, and integrates the nuclear power plant process operation technology, the automatic control technology and the computer data processing technology to form a set of nuclear power plant control loop test result analysis and evaluation system. The software main functional module of the performance evaluation system comprises five main parts, namely evaluation data loading, loop information selection, evaluation data display, evaluation function selection and evaluation result display. The hardware of the performance evaluation system mainly comprises a server, an integrated display and a mobile cabinet.
3) Seven indexes of peak value, peak time, residual error, adjusting time, overshoot, attenuation ratio and rising time of the control system are automatically calculated and analyzed.
4) ISE and Harris indexes of the control system give comparison standards suitable for evaluation of the nuclear power plant device according to the characteristics of the nuclear power plant device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The foregoing embodiments are merely for illustrating the technical solution of the present invention, but not for limiting the same, and although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solution described in the foregoing embodiments may be modified or substituted for some of the technical features thereof, and that these modifications or substitutions should not depart from the spirit and scope of the technical solution of the embodiments of the present invention and should be included in the protection scope of the present invention.