CN109001504B - A generator frequency signal homologous device - Google Patents
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Abstract
本发明公开了一种发电机频率信号同源装置，包括频率信号调理模块、信号采样与处理模块、输入输出模块和人机交互模块；实现了发电机输出频率信号的快速、准确测量与变送。本发明将正弦波调理为相位相差180度的两路方波信号，并结合ARMF767高速的双通道输入捕获能力，将测频响应时间缩短了10ms，保证了发电机组输出频率测量的快速性。频率测量数据处理算法采用改进的滤波系数自适应的一阶滤波算法，在保证频率测量结果稳定性和灵敏性的同时，使频率测量精度达到了0.001Hz，保证了频率测量的准确性。提高了装置频率测量的可靠性，可以大大提高了发电机组输出频率测量的快速性、准确性和可靠性，保证了火电机组的经济稳定运行。
The invention discloses a generator frequency signal homologous device, comprising a frequency signal conditioning module, a signal sampling and processing module, an input and output module and a human-computer interaction module; it realizes the rapid and accurate measurement and transmission of the generator output frequency signal. . The invention adjusts the sine wave into two square wave signals with a phase difference of 180 degrees, and combines the high-speed dual-channel input capture capability of the ARMF767 to shorten the frequency measurement response time by 10ms, ensuring the rapidity of the output frequency measurement of the generator set. The frequency measurement data processing algorithm adopts an improved first-order filter algorithm with adaptive filter coefficient, which ensures the stability and sensitivity of the frequency measurement result, and at the same time, the frequency measurement accuracy reaches 0.001Hz, which ensures the accuracy of the frequency measurement. The reliability of the frequency measurement of the device is improved, the rapidity, accuracy and reliability of the output frequency measurement of the generator set can be greatly improved, and the economical and stable operation of the thermal power set is guaranteed.
Description
技术领域technical field
本发明涉及发电机电气量测量技术领域，具体涉及一种具有测量精度高、输出响应快的发电机频率信号同源装置。The invention relates to the technical field of generator electrical quantity measurement, in particular to a generator frequency signal homologous device with high measurement accuracy and fast output response.
背景技术Background technique
发电机输出电压频率的精确测量是电力系统稳定运行和控制的基础。目前很多火电机组因一次调频响应电网负荷的不足经常造成大范围考核事件发生，其中调频负荷响应不同步、电网调度考核采用的频率信号和火电机组调节采用的频率测量信号不同源是其主要原因之一。电网要求火电机组调频死区为2r/min，同时电网调度考核采用的电网频率信号变化趋势理论上要提前于火电机组的转速信号。但目前不少火电机组转速测量采用磁阻探头且设计齿数一般为60齿，在火电机组一次调频实际响应中经常出现调频幅值不足和迟滞问题，造成实际转速反馈偏差较大且迟延时间较长。同时频率信号经常因为干扰出现偏差。因此，需要一种具有测量精度高、输出响应快的发电机频率信号同源装置，以解决上述不足。Accurate measurement of generator output voltage and frequency is the basis for stable operation and control of power systems. At present, many thermal power units often cause large-scale assessment events due to the lack of primary frequency regulation to respond to the grid load. Among them, the frequency regulation load response is asynchronous, the frequency signal used in grid dispatch assessment and the frequency measurement signal used in thermal power unit regulation are different sources are the main reasons. one. The power grid requires the frequency regulation dead zone of thermal power units to be 2r/min, and the change trend of the power grid frequency signal used in the power grid dispatching assessment is theoretically ahead of the speed signal of the thermal power unit. However, many thermal power units currently use magnetoresistive probes for speed measurement, and the number of teeth is generally 60 teeth. In the actual response of the primary frequency modulation of thermal power units, there are often problems of insufficient frequency modulation amplitude and hysteresis, resulting in a large deviation of the actual speed feedback and a long delay time. . At the same time, the frequency signal is often deviated due to interference. Therefore, there is a need for a generator frequency signal homologous device with high measurement accuracy and fast output response to solve the above deficiencies.
目前市场上有单独测频的数字频率变送器，但这些变送器大多数在信号调理单元采用A/D采样电路，并结合相应的数据处理算法计算出采样信号的频率。这种方法受A/D转换器转换精度、采样速率等的限制，其频率测量精度不高、响应时间长，无法满足高精度、快响应的发电机频率信号同源需求。At present, there are digital frequency transmitters with independent frequency measurement on the market, but most of these transmitters use A/D sampling circuit in the signal conditioning unit, and calculate the frequency of the sampling signal combined with the corresponding data processing algorithm. This method is limited by the conversion accuracy and sampling rate of the A/D converter, and its frequency measurement accuracy is not high and the response time is long, which cannot meet the homologous requirements of high-precision and fast-response generator frequency signals.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种具有测量精度高、响应速度快的发电机频率信号同源装置。该装置采用了半波信号频率快速精确测量新方法，不仅能够有效滤除电网谐波，而且具有频率信号测量精度高(测频精度0.001Hz)、输出响应时间短(小于40ms)、抗干扰能力强的特点。实现了发电机输出电压频率信号快速、准确的测量与变送。The purpose of the present invention is to provide a generator frequency signal homologous device with high measurement accuracy and fast response speed. The device adopts a new method of fast and accurate measurement of half-wave signal frequency, which can not only effectively filter the harmonics of the power grid, but also has high frequency signal measurement accuracy (frequency measurement accuracy 0.001Hz), short output response time (less than 40ms), and anti-interference ability. strong features. It realizes the fast and accurate measurement and transmission of generator output voltage and frequency signal.
为实现上述目的本发明采用以下技术方案：For achieving the above object, the present invention adopts the following technical solutions:
一种发电机频率信号同源装置，包括频率信号调理模块、信号采样与处理模块、输入输出模块以及人机交互模块；A generator frequency signal homologous device, comprising a frequency signal conditioning module, a signal sampling and processing module, an input and output module and a human-computer interaction module;
所述的频率信号调理模块包括输入信号掉线切换电路、二阶低通滤波电路、电压限幅电路、过零迟滞比较电路和光耦隔离电路，用于将发电机输出的正弦电压信号滤除高次谐波，调理为相位相差180度的两路方波信号，供信号采样与处理模块使用；The frequency signal conditioning module includes an input signal drop switching circuit, a second-order low-pass filter circuit, a voltage limiting circuit, a zero-crossing hysteresis comparison circuit, and an optocoupler isolation circuit, which are used to filter the sinusoidal voltage signal output by the generator to remove high voltages. Sub-harmonic, conditioned into two square wave signals with a phase difference of 180 degrees, for the signal sampling and processing module;
所述信号采样与处理模块结合主控芯片STM32F767高速的双通道输入捕获功能和改进的滤波系数自适应的一阶滤波算法，精确、快速的测量出发电机组的输出频率；The signal sampling and processing module combines the high-speed dual-channel input capture function of the main control chip STM32F767 and the improved first-order filtering algorithm with adaptive filter coefficients to accurately and quickly measure the output frequency of the generator set;
所述输入输出模块将主控芯片STM32F767频率信号输出的0-3.3V电压作为输入信号通过瞬态抑制二极管送入该模块，对应输出相应的4-20mA电流信号供发电机自动调节系统和调度系统使用，为电厂调频提供精确、可靠的频率测量结果；The input and output module takes the 0-3.3V voltage output by the main control chip STM32F767 frequency signal as the input signal and sends it to the module through the transient suppression diode, and outputs the corresponding 4-20mA current signal for the generator automatic adjustment system and dispatch system. Use to provide accurate and reliable frequency measurement results for power plant frequency regulation;
所述人机交互模块用于装置和用户之间进行信息交换，包含测量结果显示、系统参数设定、测量校准。The human-computer interaction module is used for information exchange between the device and the user, including measurement result display, system parameter setting, and measurement calibration.
作为本发明进一步的方案，所述频率信号调理模块的输入信号掉线切换电路包含信号隔离电路、两路单刀双掷继电器和相应的驱动电路，单刀双掷继电器分别接入两路不同的发电机机端电压，通过主控芯片发出的控制信号将其中一路信号送入二阶低通滤波电路，实现频率输入信号掉线可切换功能。As a further solution of the present invention, the input signal drop switching circuit of the frequency signal conditioning module includes a signal isolation circuit, two SPDT relays and a corresponding drive circuit, and the SPDT relays are respectively connected to two different generators The terminal voltage of the machine is sent to the second-order low-pass filter circuit through the control signal sent by the main control chip to realize the switchable function of the frequency input signal when it is dropped.
作为本发明进一步的方案，所述频率信号调理模块的二阶低通滤波电路用于滤除输入信号中的高次谐波干扰。As a further solution of the present invention, the second-order low-pass filter circuit of the frequency signal conditioning module is used to filter out high-order harmonic interference in the input signal.
作为本发明进一步的方案，所述频率信号调理模块的电压限幅电路和过零迟滞比较电路将输入的正弦电压信号转化为相位相差180度的两路方波信号，输出的方波信号的周期和过零点高精度的等同于输入的正弦电压信号的周期和过零点。As a further solution of the present invention, the voltage limiting circuit and the zero-crossing hysteresis comparison circuit of the frequency signal conditioning module convert the input sinusoidal voltage signal into two square wave signals with a phase difference of 180 degrees, and the period of the output square wave signal is And the zero-crossing point is equivalent to the period and zero-crossing point of the input sinusoidal voltage signal with high precision.
作为本发明进一步的方案，所述频率信号调理模块的光耦隔离电路将过零迟滞比较电路输出的方波信号隔离放大，输出可供主控芯片STM32F767捕获的两路高低电平信号。As a further solution of the present invention, the optocoupler isolation circuit of the frequency signal conditioning module isolates and amplifies the square wave signal output by the zero-crossing hysteresis comparison circuit, and outputs two high and low level signals that can be captured by the main control chip STM32F767.
作为本发明进一步的方案，信号采样与处理模块中的频率测量数据处理算法采用改进的滤波系数自适应的一阶滤波算法，可根据前3次历史数据和当前数据自动计算灵敏度系数。As a further solution of the present invention, the frequency measurement data processing algorithm in the signal sampling and processing module adopts an improved first-order filtering algorithm with adaptive filter coefficient, which can automatically calculate the sensitivity coefficient according to the previous three historical data and current data.
作为本发明进一步的方案，所述输入输出模块的信号输入与输出端具有电磁隔离功能。As a further solution of the present invention, the signal input and output ends of the input and output module have an electromagnetic isolation function.
作为本发明进一步的方案，所述人机交互模块由TFT液晶彩屏、指示灯和按键组成。As a further solution of the present invention, the human-computer interaction module is composed of a TFT liquid crystal color screen, an indicator light and a key.
一种发电机频率信号同源装置，改进的滤波系数自适应的一阶滤波算法，在进行调整之前，先进行以下判断：A generator frequency signal homologous device, an improved first-order filter algorithm with adaptive filter coefficients, before adjustment, the following judgments are made:
a)当前数据的前3次变化是否朝向同一个方向；a) Whether the first 3 changes of the current data are in the same direction;
b)当前数据的前3次变化是否较快；b) Whether the first three changes of the current data are fast;
改进的滤波系数自适应的一阶滤波算法实现了：The improved filter coefficient adaptive first-order filter algorithm realizes:
a)当数据快速变化时，滤波结果能及时跟进(灵敏度优先)；并且数据变化越快，灵敏度应该越高；a) When the data changes rapidly, the filtering results can be followed up in time (sensitivity first); and the faster the data changes, the higher the sensitivity should be;
b)当数据趋于稳定，并在一个固定的点上下振荡时，滤波结果能趋于平稳(平稳度优先)。b) When the data tends to be stable and oscillates up and down at a fixed point, the filtering result can be stable (stableness first).
本发明的有益效果是：(1)本发明的装置设计了单相电压波形调理电路、有效滤除电网谐波的二阶低通滤波电路、电压限幅电路和过零迟滞比较电路，将正弦波调理为相位相差180度的两路方波信号，并结合STM32F767高速的双通道输入捕获能力，将测频响应时间缩短了10ms，保证了发电机组输出频率测量的快速性。The beneficial effects of the present invention are as follows: (1) The device of the present invention is designed with a single-phase voltage waveform conditioning circuit, a second-order low-pass filter circuit for effectively filtering out harmonics of the grid, a voltage limiting circuit and a zero-crossing hysteresis comparison circuit. The wave conditioning is two square wave signals with a phase difference of 180 degrees, and combined with the high-speed dual-channel input capture capability of STM32F767, the frequency measurement response time is shortened by 10ms, which ensures the rapidity of the output frequency measurement of the generator set.
(2)本发明的装置频率测量数据处理算法采用改进的滤波系数自适应的一阶滤波算法，在保证频率测量结果稳定性和灵敏性的同时，使频率测量精度达到了0.001Hz，保证了频率测量的准确性，使频率变送输出具有非常高的工业实用价值。(2) The device frequency measurement data processing algorithm of the present invention adopts an improved first-order filter algorithm with adaptive filter coefficient, which ensures the stability and sensitivity of the frequency measurement result, and at the same time, the frequency measurement accuracy reaches 0.001Hz, which ensures the frequency The accuracy of the measurement makes the frequency transmission output have a very high industrial practical value.
(3)本发明的装置具有频率输入信号掉线可切换功能，频率输入信号掉线后自动识别、判断并切换至另一路输入信号，同时发出输入信号掉线报警信息，提高了装置频率测量的可靠性。(3) The device of the present invention has a switchable function when the frequency input signal is disconnected. After the frequency input signal is disconnected, it will automatically identify, judge and switch to another input signal, and at the same time, send out the alarm information of the input signal disconnection, which improves the frequency measurement accuracy of the device. reliability.
附图说明Description of drawings
图1为本发明的发电机频率信号同源装置结构图；Fig. 1 is the structure diagram of the generator frequency signal homologous device of the present invention;
图2为本发明的单相电压波形调理电路图；Fig. 2 is the single-phase voltage waveform conditioning circuit diagram of the present invention;
图3为本发明的频率信号掉线判别逻辑图；Fig. 3 is the logic diagram of frequency signal disconnection discrimination of the present invention;
图4为本发明的频率测量数据处理算法流程图。FIG. 4 is a flowchart of the frequency measurement data processing algorithm of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整的阐述。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
如图1-2所示，一种发电机频率信号同源装置，包括频率信号调理模块、信号采样与处理模块、输入输出模块以及人机交互模块；As shown in Figure 1-2, a generator frequency signal homologous device includes a frequency signal conditioning module, a signal sampling and processing module, an input and output module, and a human-computer interaction module;
所述的频率信号调理模块包括输入信号掉线切换电路、二阶低通滤波电路、电压限幅电路、过零迟滞比较电路和光耦隔离电路，用于将发电机输出的正弦电压信号滤除高次谐波，调理为相位相差180度的两路方波信号，供信号采样与处理模块使用；The frequency signal conditioning module includes an input signal drop switching circuit, a second-order low-pass filter circuit, a voltage limiting circuit, a zero-crossing hysteresis comparison circuit, and an optocoupler isolation circuit, which are used to filter the sinusoidal voltage signal output by the generator to remove high voltages. Sub-harmonic, conditioned into two square wave signals with a phase difference of 180 degrees, for the signal sampling and processing module;
所述信号采样与处理模块结合主控芯片STM32F767高速的双通道输入捕获功能和改进的滤波系数自适应的一阶滤波算法，精确、快速的测量出发电机组的输出频率；The signal sampling and processing module combines the high-speed dual-channel input capture function of the main control chip STM32F767 and the improved first-order filtering algorithm with adaptive filter coefficients to accurately and quickly measure the output frequency of the generator set;
所述输入输出模块将主控芯片STM32F767频率信号输出的0-3.3V电压作为输入信号通过瞬态抑制二极管送入该模块，对应输出相应的4-20mA电流信号供发电机自动调节系统和调度系统使用，为电厂调频提供精确、可靠的频率测量结果；The input and output module takes the 0-3.3V voltage output by the main control chip STM32F767 frequency signal as the input signal and sends it to the module through the transient suppression diode, and outputs the corresponding 4-20mA current signal for the generator automatic adjustment system and dispatch system. Use to provide accurate and reliable frequency measurement results for power plant frequency regulation;
所述人机交互模块用于装置和用户之间进行信息交换，包含测量结果显示、系统参数设定、测量校准。The human-computer interaction module is used for information exchange between the device and the user, including measurement result display, system parameter setting, and measurement calibration.
所述频率信号调理模块的输入信号掉线切换电路包含信号隔离电路、两路单刀双掷继电器和相应的驱动电路，单刀双掷继电器分别接入两路不同的发电机机端电压，通过主控芯片发出的控制信号将其中一路信号送入二阶低通滤波电路，实现频率输入信号掉线可切换功能。提高了装置频率测量的可靠性。The input signal drop switching circuit of the frequency signal conditioning module includes a signal isolation circuit, two SPDT relays and a corresponding drive circuit. The SPDT relays are respectively connected to two different generator terminal voltages, and the main control The control signal sent by the chip sends one of the signals into the second-order low-pass filter circuit to realize the switchable function of the frequency input signal when the line is dropped. Improved reliability of device frequency measurements.
所述频率信号调理模块的二阶低通滤波电路用于滤除输入信号中的高次谐波干扰。所述频率信号调理模块的电压限幅电路和过零迟滞比较电路将输入的正弦电压信号转化为相位相差180度的两路方波信号，输出的方波信号的周期和过零点高精度的等同于输入的正弦电压信号的周期和过零点。The second-order low-pass filter circuit of the frequency signal conditioning module is used to filter out high-order harmonic interference in the input signal. The voltage limiting circuit and the zero-crossing hysteresis comparison circuit of the frequency signal conditioning module convert the input sinusoidal voltage signal into two square wave signals with a phase difference of 180 degrees, and the period of the output square wave signal is equal to the zero-crossing point with high precision. period and zero-crossing of the input sinusoidal voltage signal.
所述频率信号调理模块的光耦隔离电路将过零迟滞比较电路输出的方波信号隔离放大，输出可供主控芯片STM32F767捕获的两路高低电平信号。The optocoupler isolation circuit of the frequency signal conditioning module isolates and amplifies the square wave signal output by the zero-crossing hysteresis comparison circuit, and outputs two channels of high and low level signals that can be captured by the main control chip STM32F767.
信号采样与处理模块中的频率测量数据处理算法采用改进的滤波系数自适应的一阶滤波算法，可根据前3次历史数据和当前数据自动计算灵敏度系数。既保证了在频率快速变化时，频率信号输出具有较高的灵敏度，又使频率在小范围波动时，频率信号输出具有较好的稳定性，保证了频率测量的准确性，使该装置测频精度达到了0.001Hz。The frequency measurement data processing algorithm in the signal sampling and processing module adopts an improved first-order filtering algorithm with adaptive filter coefficient, which can automatically calculate the sensitivity coefficient according to the previous three historical data and current data. It not only ensures that the frequency signal output has high sensitivity when the frequency changes rapidly, but also makes the frequency signal output have good stability when the frequency fluctuates in a small range, which ensures the accuracy of frequency measurement and enables the device to measure frequency. The accuracy reaches 0.001Hz.
所述输入输出模块的信号输入与输出端具有电磁隔离功能。所述人机交互模块由TFT液晶彩屏、指示灯和按键组成。The signal input and output ends of the input and output module have the function of electromagnetic isolation. The human-computer interaction module is composed of a TFT liquid crystal color screen, an indicator light and a key.
如图3所示，为本发明的频率信号掉线判别逻辑图，主控芯片通过输入的发电机机端电压信号实现频率输入信号掉线可切换功能，实现了装置在一路输入信号故障后，装置自动识别、跳线和报警，仍能正确的输出频率测量信号，提高了装置频率测量的可靠性。As shown in FIG. 3, it is the logic diagram of the frequency signal disconnection determination logic diagram of the present invention. The main control chip realizes the switchable function of the frequency input signal disconnection through the input voltage signal of the generator terminal, and realizes that after the failure of one input signal of the device, the The device can automatically identify, jump, and alarm, and can still output the frequency measurement signal correctly, which improves the reliability of the device's frequency measurement.
如图4所示，本发明的频率测量数据处理算法流程图，频率测量数据处理算法结合装置测频信号处理的工程实际需要，采用改进的滤波系数自适应的一阶滤波算法，可根据前3次历史数据和当前数据自动计算灵敏度系数。在进行调整之前，先进行以下判断：As shown in Figure 4, the flow chart of the frequency measurement data processing algorithm of the present invention, the frequency measurement data processing algorithm combined with the actual engineering needs of the device frequency measurement signal processing, adopts an improved first-order filtering algorithm with adaptive filter coefficients, which can be based on the first 3 Sensitivity coefficients are automatically calculated from secondary historical data and current data. Before making adjustments, make the following judgments:
a)当前数据的前3次变化是否朝向同一个方向；a) Whether the first 3 changes of the current data are in the same direction;
b)当前数据的前3次变化是否较快；b) Whether the first three changes of the current data are fast;
改进的滤波系数自适应的一阶滤波算法实现了：The improved filter coefficient adaptive first-order filter algorithm realizes:
a)当数据快速变化时，滤波结果能及时跟进(灵敏度优先)；并且数据变化越快，灵敏度应该越高；a) When the data changes rapidly, the filtering results can be followed up in time (sensitivity first); and the faster the data changes, the higher the sensitivity should be;
b)当数据趋于稳定，并在一个固定的点上下振荡时，滤波结果能趋于平稳(平稳度优先)。b) When the data tends to be stable and oscillates up and down at a fixed point, the filtering result can be stable (stableness first).
因此，该系数自适应的一阶滤波算法即保证了在频率快速变化时，频率信号输出具有较高的灵敏度，又使频率在小范围波动时，频率信号输出具有较好的稳定性。通过实践证明，该算法使测频精度达到了0.001Hz，保证了频率测量的准确性，具有非常高的工业实用价值与创新性。Therefore, the coefficient-adaptive first-order filtering algorithm not only ensures that the frequency signal output has high sensitivity when the frequency changes rapidly, but also makes the frequency signal output have better stability when the frequency fluctuates in a small range. It has been proved by practice that the algorithm makes the frequency measurement accuracy reach 0.001Hz, which ensures the accuracy of frequency measurement and has very high industrial practical value and innovation.
综上所述，本发明的发电机频率信号同源装置，首先将输入的两路不同的发电机机端电压送入输入信号掉线切换电路，将其中一路信号作为输出送入二阶低通滤波电路。滤除谐波后，将基波分量送入电压限幅电路和双通道过零迟滞比较电路，输出相位相差180度的两路方波信号。两路方波信号经放大后送入高速光耦隔离电路，输出可供STM32F7识别的高低电平信号。通过主控芯片ARMF767高速的双通道输入捕获和硬件滤波功能，分别计算出两路相位相差180度的方波信号的周期，间隔10ms输出一个频率信号测量数据。频率测量数据经改进的滤波系数自适应的一阶滤波算法滤波后，即为频率信号测量结果。输入输出模块将频率信号测量结果转化为对应的4-20mA电流信号信号，供发电机自动调节系统使用，为电厂调频提供精确、可靠的频率测量结果。人机交互模块用于显示测量结果等装置和用户之间的信息交换。To sum up, the generator frequency signal homologous device of the present invention first sends the input two different generator terminal voltages into the input signal drop switching circuit, and sends one of the signals as the output into the second-order low-pass filter circuit. After filtering out the harmonics, the fundamental wave component is sent to the voltage limiting circuit and the dual-channel zero-crossing hysteresis comparison circuit, and the two-way square wave signals with a phase difference of 180 degrees are output. The two square wave signals are amplified and sent to the high-speed optocoupler isolation circuit to output high and low level signals that can be recognized by the STM32F7. Through the high-speed dual-channel input capture and hardware filtering functions of the main control chip ARMF767, the period of the two square wave signals with a phase difference of 180 degrees is calculated respectively, and a frequency signal measurement data is output at an interval of 10ms. The frequency measurement data is the frequency signal measurement result after being filtered by the improved first-order filter algorithm with adaptive filter coefficient. The input and output module converts the frequency signal measurement result into the corresponding 4-20mA current signal signal, which is used by the generator automatic adjustment system and provides accurate and reliable frequency measurement results for the power plant frequency regulation. The human-computer interaction module is used to display measurement results and other information exchange between the device and the user.
以上所述为本发明较佳实施例，对于本领域的普通技术人员而言，根据本发明的教导，在不脱离本发明的原理与精神的情况下，对实施方式所进行的改变、修改、替换和变型仍落入本发明的保护范围之内。The above are preferred embodiments of the present invention. For those of ordinary skill in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, Substitutions and modifications still fall within the scope of the present invention.
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