CN104216288A - Self-gain-scheduling PID (proportion integration differentiation) controller of double-in double-out system of heat-engine plant - Google Patents
Self-gain-scheduling PID (proportion integration differentiation) controller of double-in double-out system of heat-engine plant Download PDFInfo
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Abstract
The invention provides a self-gain-scheduling PID (proportion integration differentiation) controller of a double-in double-out system of a heat-engine plant. Through a quick/slow loop detection setter, a quick/slow loop control mode switch, quick and slow loop feedforward controllers and quick and slow loop feedforward-feedback comprehensive arithmetic units, and through lap joint of proper modules, relay feedback control of a general double-in double-out system loop is realized, critical vibration information of the process is measured, and under the condition that a controlled system mathematic model is not known, P, I and D parameters of the double-in double-out system loop can be automatically set in closed-loop control according to stability margin as required; according to changes of actually-measured operation condition signals and deviation signals, optimal P, I and D parameters of quick and slow loops are automatically inferred in real time, transition time of a control system is reduced to the utmost, and dynamic and static deviations of the control system are reduced. By the self-gain-scheduling PID controller, parameter setting of the multivariable control system becomes more quick and scientific, and the control system has high robustness.
Description
Technical field
The present invention relates to the multivariable control techniques field of flow process production run, particularly relate to the gain self scheduling PID controller of a kind of thermal power plant double-input double-output system.
Background technology
It is a multivariable complex process in fuel-burning power plant, very strong correlativity is there is between each variable, the double-input double-output control strategy of broad sense need be have employed to this, and the change of the operating condition of unit and fuel supply etc., as load variations, coal varitation, will cause the dynamic perfromance change by a relatively large margin of production control object, makes this kind of control object show strong coupling, time variation, non-linear.And modern multi-variant control method requires complete process model, this model cannot accurately obtain under many circumstances, makes a lot of multi-variant control method be difficult to apply in generating plant.The scattered control system (DCS) that modern power plants mostly adopts carries out the control of full factory, in DCS, main PID (proportional-integral-differential) controller of routine that adopts carries out closed-loop control, and be aided with various feedforward controller and carry out uneoupled control, this is mostly based upon on the constant or approximate constant basis of control object dynamic perfromance.In fact generating plant production run has time variation, non-linear, and when load, ature of coal etc. change, plant characteristic can occur seriously, and if do not changed controller parameter, Control platform cannot ensure.The parameter tuning of past each PID controller is preset by experience value, manual adjustment is done again according to the response wave shape run, this way often experience more than science, both time-consuming, be difficult to again reach best setting valve, because the bad adjustment of the controller differential action is often removed differentiation element, do not reach the effect that differential prediction controls.And the pid control parameter of double-input double-output system adjust especially one consuming time, effort work.
There has been proposed the PID controller setting method varied.Although the loop control unit with PID self-setting function has commercially produced product, how to realize in dcs multivariable control loops pid parameter adjust or general in this area faced by a technical barrier.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of gain self scheduling PID controller can carrying out thermal power plant's double-input double-output system of automatically adjusting in real time to P, I, D parameter in fast, the slow loop of thermal power plant's double-input double-output system.
A gain self scheduling PID controller for thermal power plant's double-input double-output system, comprising: fast control loop, fast loop detection tuning device, fast loop feedforward controller, the fast comprehensive arithmetical unit of loop feedforward feedback, slow control loop, slow loop detection tuning device, slow loop feedforward controller, the slow comprehensive arithmetical unit of loop feedforward feedback, the first actuator and the second actuator;
Described fast control loop comprises fast loop PID gain self scheduling controller and fast loop control mode switch switch, the PID input end of described fast loop control mode switch switch connects the output terminal of described fast loop PID gain self scheduling controller, its ON-OFF input end connects the output terminal that tuning device is detected in described fast loop, and its output terminal connects the first input end of the comprehensive arithmetical unit of described fast loop feedforward feedback;
The composite measurement signal that tuning device receives fast loop is detected in described fast loop, and the composite measurement signal in described fast loop is compared with the setting signal in fast loop, two according to comparative result computing output first mode change-over switch control signal to described fast loop control mode switch switch;
Described fast loop feedforward controller receives fast loop feed-forward signal, and its output terminal is connected to the second input end of the comprehensive arithmetical unit of described fast loop feedforward feedback;
The output terminal of the comprehensive arithmetical unit of described fast loop feedforward feedback is connected to described first actuator;
Described slow control loop comprises slow loop PID gain self scheduling controller and slow circuit controls mode selector switch, the PID input end of described slow circuit controls mode selector switch connects the output terminal of described slow loop PID gain self scheduling controller, its ON-OFF input end connects the output terminal that tuning device is detected in described slow loop, and its output terminal connects the first input end of the comprehensive arithmetical unit of described slow loop feedforward feedback;
The composite measurement signal that tuning device receives slow loop is detected in described slow loop, and the composite measurement signal in described slow loop is compared with the setting signal in slow loop, export two of the second mode selector switch according to comparative result computing and control signal to described slow circuit controls mode selector switch;
Described slow loop feedforward controller receives slow loop feed-forward signal, and its output terminal is connected to the second input end of the comprehensive arithmetical unit of described slow loop feedforward feedback;
The output terminal of the comprehensive arithmetical unit of described slow loop feedforward feedback is connected to described second actuator.
Compared with prior art, the gain self scheduling PID controller of thermal power plant of the present invention double-input double-output system, tuning device is detected by soon described/slow loop, hurry up/slow circuit controls mode selector switch, hurry up, slow loop feedforward controller, and it is fast, the comprehensive arithmetical unit of slow loop feedforward feedback, and by the overlap joint of suitable module, realize the Relay feedback test of broad sense double-input double-output system circuit, measure the critical concussion information of process, can when unknown controlled system mathematical model, just can automatically adjust out by required stability margin the P of double-input double-output system circuit in closed-loop control, I, D parameter, and according to surveying the change of operating condition signal and deviation signal, inferring P, I, D parameter of fast, slow loop the best automatically, in real time, shortening the transit time of control system to greatest extent, reduce its dynamic deviation and static deviation.The parameter tuning making multivariable control system is more quick, science, and makes control system have good robustness (Robust).
Accompanying drawing explanation
The structure diagram of the gain self scheduling PID controller of Tu1Shi thermal power plant of the present invention double-input double-output system;
The detailed construction schematic diagram of the gain self scheduling PID controller of Tu2Shi thermal power plant of the present invention double-input double-output system;
The operation time sequence figure of each PID controller in the gain self scheduling PID controller of Tu3Shi thermal power plant of the present invention double-input double-output system;
The gain scheduling subordinate function schematic diagram of the gain self scheduling PID controller adjustment feedwater controling parameters of Tu4Shi thermal power plant of the present invention double-input double-output system.
Embodiment
Refer to Fig. 1, the structure diagram of the gain self scheduling PID controller of Tu1Shi thermal power plant of the present invention double-input double-output system.
A gain self scheduling PID controller for thermal power plant's double-input double-output system, comprising: fast control loop 10, fast loop detect tuning device 20, slowly control loop 30, slowly loop and detect tuning device 40, fast loop feedforward controller 17, the fast comprehensive arithmetical unit of loop feedforward feedback 16, slowly loop feedforward controller 37, slowly loop feedforward feedback comprehensive arithmetical unit 36, first actuator and the second actuator;
Described fast control loop 10 comprises fast loop PID gain self scheduling controller 11 and fast loop control mode switch switch 15, the PID input end of described fast loop control mode switch switch 15 connects the output terminal of described fast loop PID gain self scheduling controller 11, its ON-OFF input end connects the output terminal that tuning device 20 is detected in described fast loop, and its output terminal connects the first input end of the comprehensive arithmetical unit 16 of described fast loop feedforward feedback;
The composite measurement signal that tuning device 20 receives fast loop is detected in described fast loop, and the composite measurement signal in described fast loop is compared with the setting signal in fast loop, export first mode switch-over control signal to described fast loop control mode switch switch 15 according to comparative result;
Described fast loop feedforward controller 17 receives fast loop feed-forward signal, and its output terminal is connected to the second input end of the comprehensive arithmetical unit 16 of described fast loop feedforward feedback;
The output terminal of the comprehensive arithmetical unit of described fast loop feedforward feedback 16 is connected to described first actuator;
Described slow control loop 30 comprises slow loop PID gain self scheduling controller 31 and slow circuit controls mode selector switch 35, the PID input end of described slow circuit controls mode selector switch 35 connects the output terminal of described slow loop PID gain self scheduling controller 31, its ON-OFF input end connects the output terminal that tuning device 40 is detected in described slow loop, and its output terminal connects the first input end of the comprehensive arithmetical unit 36 of described slow loop feedforward feedback;
The composite measurement signal that tuning device 40 receives slow loop is detected in described slow loop, and the composite measurement signal in described slow loop is compared with the setting signal in slow loop, export the second pattern switch-over control signal to described slow circuit controls mode selector switch 35 according to comparative result;
Described slow loop feedforward controller 37 receives slow loop feed-forward signal, and its output terminal is connected to the second input end of the comprehensive arithmetical unit 36 of described slow loop feedforward feedback;
The output terminal of the comprehensive arithmetical unit of described slow loop feedforward feedback 36 is connected to described second actuator.
The gain self scheduling PID controller of thermal power plant of the present invention double-input double-output system, tuning device is detected by soon described/slow loop, hurry up/slow circuit controls mode selector switch, hurry up, slow loop feedforward controller, and it is fast, the comprehensive arithmetical unit of slow loop feedforward feedback, and by the overlap joint of suitable module, realize the Relay feedback test of broad sense double-input double-output system circuit, measure the critical concussion information of process, can when unknown controlled system mathematical model, just can automatically adjust out by required stability margin the P of double-input double-output system circuit in closed-loop control, I, D parameter, and according to surveying the change of operating condition signal and deviation signal, inferring P, I, D parameter of fast, slow loop the best automatically, in real time, shortening the transit time of control system to greatest extent, reduce its dynamic deviation and static deviation.The parameter tuning making multivariable control system is more quick, science, and makes control system have good robustness (Robust).Described fast control loop and described slow control loop can calculate the ratio (P) of required stability margin respectively by setting methods such as SPAM or Z-N, integration (I), differential (D) parameter, or the model parameter of circuit controls object is calculated by identification Method, the P meeting nominal performance and stability and require is calculated with the setting method of internal mode controller, I, the parameters such as D, respectively by many groups P of input, I, D parameter and actual measurement operating condition signal thereof, automatic governing P, I, D parameter, via controller controls non-linear controlled system, to make system in whole working range, obtain desirable sound state Control platform.
Refer to Fig. 2, the detailed construction schematic diagram of the gain self scheduling PID controller of Tu2Shi thermal power plant of the present invention double-input double-output system.
In the present embodiment, described fast loop is detected tuning device 20 and is comprised: the first deviation alarm module 201, first rest-set flip-flop 202 and the first two output valve change-over switches 203;
The input end of described first deviation alarm module 201 inputs fast loop composite measurement signal and fast loop setting signal respectively, and two output terminal is connected to the input end of described first rest-set flip-flop 202;
The output terminal of described first rest-set flip-flop 202 is connected to the control end of described the first two output valve change-over switches 203;
Two input ends of described the first two output valve change-over switches 203 input high potential signal and low-potential signal respectively;
The composite measurement signal in fast loop compares with setting signal by described first deviation alarm module 201, when the deviate comparing acquisition reaches alarming value, sends alerting signal to described first rest-set flip-flop 202; Described first rest-set flip-flop 202 according to described alerting signal to described the first two output valve change-over switch 203 output switch control signals; Described the first two output valve change-over switches 203, under the control of described switch controlling signal, select to export described high potential signal or described low-potential signal as described first mode switch-over control signal.
When carrying out Relay feedback test, the composite measurement signal in described fast loop and setting signal are delivered to described first deviation alarm module 201 and are carried out computing, once deviate has exceeded the dead band preset, described first deviation alarm module 201 just sends high or low warning, send switching signal by described first rest-set flip-flop 202, switching signal controls described the first two output valve change-over switches 203 and exports high-order to export or low level exports.So, tuning device 20 is detected in described fast loop just can according to the change of error situation of measured value with setting value, continues to send the high position that replaces or low signal output realizes Relay feedback test function.
Described slow loop is detected tuning device 40 and is comprised: the second deviation alarm module 401, second rest-set flip-flop 402 and the second two output valve change-over switches 403;
The input end of described second deviation alarm module 401 inputs slow loop composite measurement signal and slow loop settings signal respectively, and two output terminal is connected to the input end of described second rest-set flip-flop 402;
The output terminal of described second rest-set flip-flop 402 is connected to the control end of described the second two output valve change-over switches 403;
Two input ends of described the second two output valve change-over switches 403 input high potential signal and low-potential signal respectively;
The composite measurement signal in slow loop compares with setting signal by described second deviation alarm module 401, when the deviate comparing acquisition reaches alarming value, sends alerting signal to described second rest-set flip-flop; Described second rest-set flip-flop 402 according to described alerting signal to described the second two output valve change-over switch 403 output switch control signals; Described the second two output valve change-over switches 403, under the control of described switch controlling signal, select to export described high potential signal or described low-potential signal as described second pattern switch-over control signal.
When carrying out Relay feedback test, the measured value in described slow loop and setting value are delivered to described second deviation alarm module 401 and are carried out computing, once deviate has exceeded the dead band preset, described second deviation alarm module 401 just sends high or low warning, send switching signal by described second rest-set flip-flop 402, switching signal controls described the second two output valve change-over switches 403 and exports high-order to export or low level exports.So, tuning device 40 is detected in described slow loop just can according to the change of error situation of measured value with setting value, continues to send the high position that replaces or low signal output realizes Relay feedback test function.
In the present embodiment, further, described fast control loop 10 also can comprise: fast loop scale parameter gain self scheduling computing module 12, fast loop integral parameter gain self scheduling computing module 13 and fast loop differential parameter gain self scheduling computing module 14; The external scale parameter input end of described fast loop PID gain self scheduling controller 11 connects described fast loop scale parameter gain self scheduling computing module 12; Its external integral parameter input end connects described fast loop integral parameter gain self scheduling computing module 13; Its external differential parameter input end connects described fast loop differential parameter gain self scheduling computing module 14.
Each gain self scheduling computing module, the operating mode according to current operation departs from the degree of each typical condition, adopts intelligent inference rule from many groups P, I, D parameter of input, meets control stiffness and require P, I, D controling parameters under extrapolating current working.Extrapolate the outer given side of controling parameters that the parameters such as P, I, D of corresponding current working deliver to each loop control unit respectively.By described fast loop scale parameter gain self scheduling computing module 12, fast loop integral parameter gain self scheduling computing module 13 and fast loop differential parameter gain self scheduling computing module 14, control loop 10 in PID gain self scheduling is made to have P, I, D parametric gain self scheduling function.
When actual motion, the composite measurement signal in fast loop receives the measuring junction PV of described fast loop PID gain self scheduling controller 11, and the setting value in fast loop is connected to the setting end SP of described fast loop PID gain self scheduling controller 11.Fast loop operating condition signal receives described fast loop scale parameter gain self scheduling computing module 12, described fast loop integral parameter gain self scheduling computing module 13 and described fast loop differential parameter gain self scheduling computing module 14 respectively.The output terminal of described fast loop PID gain self scheduling controller 11 receives A end (PID) of described fast loop control mode switch switch 15, and B end (ON-OFF) of described fast loop control mode switch switch 15 is received in the output that two output valve change-over switches 203 of tuning device 20 are detected in described fast loop.1 end of the comprehensive arithmetical unit 17 of fast loop feedforward feedback is received in the output of described fast loop control mode switch switch 15,2 ends of the comprehensive arithmetical unit 17 of fast loop feedforward feedback are received in the output of fast loop feedforward controller 16, and first actuator in fast loop is received in the output of the comprehensive arithmetical unit of fast loop feedforward feedback 17.
In the present embodiment, described slow control loop 30 also can comprise: slow loop scale parameter gain self scheduling computing module 32, slow contour integration parametric gain self scheduling computing module 33 and slow loop differential parameter gain self scheduling computing module 33; The external scale parameter input end of described slow loop PID gain self scheduling controller 31 connects described slow loop scale parameter gain self scheduling computing module 32; Its external integral parameter input end connects described slow contour integration parametric gain self scheduling computing module 33; Its external differential parameter input end connects described slow loop differential parameter gain self scheduling computing module 34.
Each gain self scheduling computing module, the operating mode according to current operation departs from the degree of each typical condition, adopts intelligent inference rule from many groups P, I, D parameter of input, meets control stiffness and require P, I, D controling parameters under extrapolating current working.Extrapolate the outer given side of controling parameters that the parameters such as P, I, D of corresponding current working deliver to each loop control unit respectively.By described slow loop scale parameter gain self scheduling computing module 32, slow contour integration parametric gain self scheduling computing module 33 and slow loop differential parameter gain self scheduling computing module 33, the outer control loop 30 of described PID gain self scheduling is made to have P, I, D parametric gain self scheduling function.
When actual motion, the composite measurement signal in slow loop receives the measuring junction PV of described slow loop PID gain self scheduling controller 31, and the setting value sent here by slow loop is connected to the setting end SP of described slow loop PID gain self scheduling controller 31.Slow loop operating condition signal receives described slow loop scale parameter gain self scheduling computing module 32, described slow contour integration parametric gain self scheduling computing module 33 and described slow loop differential parameter gain self scheduling computing module 33 respectively.The output terminal OT1 of described slow loop PID gain self scheduling controller 31 receives A end (PID) of described slow circuit controls mode selector switch 35, and B end (ON-OFF) of described slow circuit controls mode selector switch 35 is received in the output of the second two output valve change-over switches 403 that described slow loop is detected in tuning device 40.1 end of the comprehensive arithmetical unit 37 of described slow loop feedforward feedback is received in the output of described slow circuit controls mode selector switch 35,2 ends of the comprehensive arithmetical unit 37 of slow loop feedforward feedback are received in the output of slow loop feedforward controller 36, and second actuator in slow loop is received in the output of the comprehensive arithmetical unit of slow loop feedforward feedback 37.
The following describes employing the present invention, carry out the pid parameter setting method of double-input double-output system:
For complex industrial process control system, when certain typical condition needs to detect broad sense double-input double-output system controlled object control characteristic, perform following operation:
1. under the described control mode switch switch 15 of described fast control loop 10 being switched to detecting pattern: namely by suitably adjusting high position output (Oh) and the low level output valve (Ol) of the dead band of deviation alarm module, two change-over switches, making described fast loop detect tuning device 20 and realizing Relay feedback test function.Meanwhile, slow control loop 30 still remains on pid control mode, limits the exporting change scope of slow control loop, makes it remain on stable operation interval.
2. obtain the switching control state of this PID controller and the measured value of control system.
3. by detecting the time T of fast loop threshold oscillation to peaking
pand arrive the time T of valley
v; Upper hemiwave time T
mAXand lower hemiwave time T
mIN, threshold oscillation peak value V
mAXand valley V
mIN, just can calculate T (T=T cycle length of control system threshold oscillation
mAX+ T
mIN) and the amplitude V (V=V of threshold oscillation
mAX-V
mIN).Measure out critical period of the oscillation T and amplitude V, time to peak T
pand valley time T
v.As shown in Figure 3.
4. utilize the critical period of the oscillation T recorded and amplitude V, the Relay feedback test parameters such as the stagnant ring width (H) of its corresponding stagnant ring relay-type switch control rule and hysteresis band (e), just can adopt Z-N setting method to calculate ratio (P), integration (I), differential (D) numerical value in this loop; Also required phase angle stabilization, nargin (Q can be set
m) and amplitude stability nargin (A
m), adopt SPAM setting method to calculate P, I, D parameter of required stability margin; The model parameter of circuit controls object can also be calculated by identification Method, calculate with the setting method of internal mode controller and meet the parameters such as P, I, D that nominal performance and stability require.
5. then the numerical value of the parameters such as P, I, D of calculating and this operating mode boot parameter η etc. is inserted respectively each Intelligent Gain self scheduling computing module in the control law of operating mode, thus fuzzy P, I, D parameters self-tuning control law of complete full working scope being formed.And fast loop is switched back to PID control model.
Then, the described slow circuit controls mode selector switch 35 of described slow loop PID gain self scheduling controller 30 is switched to detecting pattern end, namely adopts the Relay feedback test function that stagnant ring is adjustable.Step in 1 ~ 4 detects, calculates ratio (P), integration (I), differential (D) numerical value of slow loop PID gain self scheduling controller.Then the numerical value etc. of ratio (P), integration (I), differential (D) numerical value and this operating mode boot parameter η will calculated, is filled into slow loop ratio corresponding to this operating mode, integration, differential parameter in scheduling module.And slow loop is switched back to PID control model.
Under each typical condition, adopt above step, by starting the detecting pattern of double-input double-output system-gain self scheduling PID controller of the present invention, detect, adjust, calculate, insert different operating mode under the numerical value of ratio (P), integration (I), differential (D) and boot parameter η thereof, what just can form corresponding nonlinear system improves full working scope intelligent P, I, D parameters self-tuning control law.
By many groups P, I, D optimum configurations of adjusting out at each typical condition at parameters gain self scheduling calculation element, many groups P, I, D parameter and the typical condition boot parameter of input are η, outer given way is adopted to access each PID controller, in order to cause controlled system control characteristic to change when working conditions change, the automatic allotment of adaptation ground P, I, D parameter, non-linear controlled system is controlled by double-input double-output system-gain self scheduling PID controller of the present invention, to make system in whole working range, obtain desirable sound state Control platform.
In the present invention, parameters gain self scheduling computing module adopts Takagi-Sugeno-Kang type intelligent inference method, and control law is formed as follows:
Parameters gain self scheduling computing module, the operating mode according to current operation departs from the degree of each typical condition, adopts intelligent inference rule from many groups P, I, D parameter of input, meets control stiffness and require P, I, D controling parameters under extrapolating current working.Extrapolate the outer given side of controling parameters that the parameters such as P, I, D of corresponding current working deliver to each loop PID controller respectively.
If the calculating formula of PID controller is as follows:
In formula: U (s) controller exports, K
prfor ratio, T
irfor integral time, T
drfor derivative time, FF feed-forward signal.
The boot parameter of control domain is η (setting parameter is S), when control domain is at Zone R, is that the PID control law that η determines is as follows by boot parameter:
IFηis?S
r?THEN
Controling parameters has its membership function mui in P, I, D parameter of reference mark η
a k(α) determine, do not lose the general controling parameters at any reference mark η and determined by two groups of P, I, D parameters of adjacent control domain, suppose that this is on the common factor of control domain k and k-1, then P, I, D parameter of this point is drawn by following formula:
K
pr＝(1-μ
A k(α))K
p k-1+μ
A k(α)K?
p k
T
ir＝(1-μ
A k(α))T
i k-1+μ
A k(α)T?
i k
T
dr＝(1-μ
A k(α))T
d k-1+μ
A k(α)T?
d k
According to the operating mode of current operation, extrapolate P, I, D controling parameters meeting stability margin requirement, corresponding current working.Extrapolate the ratio P of corresponding current working, integration I, the outer given side of controling parameters that differential D parameter delivers to the PID controller in each loop.
The present invention utilizes module intrinsic in each DCS, by newly-increased module, and suitable module overlap joint, achieve the Relay feedback test in each loop, the gain self scheduling of double-input double-output system controls, and be applied to various broad sense double-input double-output system control loop and comprise: Control System of Load Distribution loop of the boiler-turbine coordinated control loop of various fired power generating unit, the pressure load cooperation control control loop of thermal power plant unit, Combined Cycle Unit etc.
The running of double-input double-output system-gain self scheduling PID controller of the present invention is described with concrete engineering application example below:
Double-input double-output system-gain self scheduling PID controller of the present invention is adopted in 300MW circulating fluidized bed unit cooperative controls.It is typical double-input double-output system that unit cooperative controls, and its two inputs are the position of boiler fuel and pitch respectively, and two outputs are generated output and vapor pressure.Fast, slow two PID controller are had in coordinated control system.Ramping controller PID1 is boiler implosion loop, and it is mainly aided with the decoupling signal of coming in turbine control loop controls coal-supplying amount according to vapor pressure deviation; Fast controller PID2 is turbine control loop, and it is mainly aided with according to generation load deviation the position that the decoupling signal of coming in boiler implosion loop controls pitch; What form thus is the control system of double-input double-output.
Because coordinated control system exists strong coupling, serious non-linear, very large difficulty is brought to unit allocation, by adopting gain self scheduling PID controller in turbine control, this double-input double-output system of boiler implosion loop, better overcome the impact of load, coal varitation etc. interference, control the parameter such as generation load, vapor pressure that ground controls unit well.Achieve the load rapid track and control of Properties of CFB.
Respectively in high and low two load sections, adopt relay feedback setting method, measured the characterisitic parameter of boiler implosion loop, each comfortable two the load section control objects in turbine control loop.The controling parameters that different load section is adjusted out sees the following form.
Setting parameter under table 1 coordinated control system middle controller different load
Then, following inference rule is adopted to carry out gain scheduling calculating in each parametric gain self scheduling module.
The gain scheduling rule of boiler, steam turbine loop control parameters is as follows:
IFηis?S-FLOW
r?THEN
Wherein boot parameter η is main steam amount S-FLOW, so obtain boiler, steam turbine loop control parameters gain scheduling subordinate function as shown in Figure 4.
The pid parameter calculated with Tuning be filled in different load in speed gain scheduling loop under, just forms the double-input double-output gain self scheduling PID controller of coordinated control system.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any amendment done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within claims of the present invention.
Claims (7)
1. the gain self scheduling PID controller of thermal power plant's double-input double-output system, it is characterized in that, comprising: fast control loop, fast loop detection tuning device, fast loop feedforward controller, the fast comprehensive arithmetical unit of loop feedforward feedback, slow control loop, slow loop detection tuning device, slow loop feedforward controller, the slow comprehensive arithmetical unit of loop feedforward feedback, the first actuator and the second actuator;
Described fast control loop comprises fast loop PID gain self scheduling controller and fast loop control mode switch switch, the PID input end of described fast loop control mode switch switch connects the output terminal of described fast loop PID gain self scheduling controller, its ON-OFF input end connects the output terminal that tuning device is detected in described fast loop, and its output terminal connects the first input end of the comprehensive arithmetical unit of described fast loop feedforward feedback;
The composite measurement signal that tuning device receives fast loop is detected in described fast loop, and the composite measurement signal in described fast loop is compared with the setting signal in fast loop, two according to comparative result computing output first mode change-over switch control signal to described fast loop control mode switch switch;
Described fast loop feedforward controller receives fast loop feed-forward signal, and its output terminal is connected to the second input end of the comprehensive arithmetical unit of described fast loop feedforward feedback;
The output terminal of the comprehensive arithmetical unit of described fast loop feedforward feedback is connected to described first actuator;
Described slow control loop comprises slow loop PID gain self scheduling controller and slow circuit controls mode selector switch, the PID input end of described slow circuit controls mode selector switch connects the output terminal of described slow loop PID gain self scheduling controller, its ON-OFF input end connects the output terminal that tuning device is detected in described slow loop, and its output terminal connects the first input end of the comprehensive arithmetical unit of described slow loop feedforward feedback;
The composite measurement signal that tuning device receives slow loop is detected in described slow loop, and the composite measurement signal in described slow loop is compared with the setting signal in slow loop, export two of the second mode selector switch according to comparative result computing and control signal to described slow circuit controls mode selector switch;
Described slow loop feedforward controller receives slow loop feed-forward signal, and its output terminal is connected to the second input end of the comprehensive arithmetical unit of described slow loop feedforward feedback;
The output terminal of the comprehensive arithmetical unit of described slow loop feedforward feedback is connected to described second actuator.
2. the gain self scheduling PID controller of thermal power plant as claimed in claim 1 double-input double-output system, it is characterized in that, described fast control loop also comprises: fast loop scale parameter gain self scheduling computing module, fast loop integral parameter gain self scheduling computing module and fast loop differential parameter gain self scheduling computing module;
The external scale parameter input end of described fast loop PID gain self scheduling controller connects described fast loop scale parameter gain self scheduling computing module; Its external integral parameter input end connects described fast loop integral parameter gain self scheduling computing module; Its external differential parameter input end connects described fast loop differential parameter gain self scheduling computing module.
3. the gain self scheduling PID controller of thermal power plant as claimed in claim 2 double-input double-output system, is characterized in that, described fast loop is detected tuning device and comprised: the first deviation alarm module, the first rest-set flip-flop and the first two output valve change-over switches;
The input end of described first deviation alarm module inputs fast loop composite measurement signal and fast loop setting signal respectively, and two output terminal is connected to the input end of described first rest-set flip-flop;
The output terminal of described first rest-set flip-flop is connected to the control end of described the first two output valve change-over switches;
Two input ends of described the first two output valve change-over switches input high potential signal and low-potential signal respectively;
The composite measurement signal in fast loop compares with setting signal by described first deviation alarm module, when the deviate comparing acquisition reaches alarming value, sends alerting signal to described first rest-set flip-flop; Described first rest-set flip-flop according to described alerting signal to described the first two output valve change-over switch output switch control signals; Described the first two output valve change-over switches, under the control of described switch controlling signal, select to export described high potential signal or described low-potential signal as described first mode switch-over control signal.
4. the gain self scheduling PID controller of the thermal power plant's double-input double-output system as described in claim 2 or 3, it is characterized in that, described fast control loop also comprises: described fast loop scale parameter gain self scheduling computing module, fast loop integral parameter gain self scheduling computing module is connected the operating condition signal in fast loop respectively with the input end of fast loop differential parameter gain self scheduling computing module, operating mode according to current operation departs from the degree of each typical condition, employing intelligent inference rule, from many groups P of input, I, meet control stiffness under extrapolating current working in D parameter and require P, I, D controling parameters, extrapolate the P of corresponding current working, I, D controling parameters delivers to the outer given side of controling parameters of described fast loop PID gain self scheduling controller respectively.
5. the gain self scheduling PID controller of thermal power plant as claimed in claim 1 double-input double-output system, it is characterized in that, described slow control loop also comprises: slow loop scale parameter gain self scheduling computing module, slow contour integration parametric gain self scheduling computing module and slow loop differential parameter gain self scheduling computing module;
The external scale parameter input end of described slow loop PID gain self scheduling controller connects described slow loop scale parameter gain self scheduling computing module; Its external integral parameter input end connects described slow contour integration parametric gain self scheduling computing module; Its external differential parameter input end connects described slow loop differential parameter gain self scheduling computing module.
6. the gain self scheduling PID controller of thermal power plant as claimed in claim 5 double-input double-output system, is characterized in that, described slow loop is detected tuning device and comprised: the second deviation alarm module, the second rest-set flip-flop and the second two output valve change-over switches;
The input end of described second deviation alarm module inputs slow loop composite measurement signal and slow loop settings signal respectively, and two output terminal is connected to the input end of described second rest-set flip-flop;
The output terminal of described second rest-set flip-flop is connected to the control end of described the second two output valve change-over switches;
Two input ends of described the second two output valve change-over switches input high potential signal and low-potential signal respectively;
The composite measurement signal in slow loop compares with setting signal by described second deviation alarm module, when the deviate comparing acquisition reaches alarming value, sends alerting signal to described second rest-set flip-flop; Described second rest-set flip-flop according to described alerting signal to described the second two output valve change-over switch output switch control signals; Described the second two output valve change-over switches, under the control of described switch controlling signal, select to export described high potential signal or described low-potential signal as described second pattern switch-over control signal.
7. the gain self scheduling PID controller of the thermal power plant's double-input double-output system as described in claim 5 or 6, it is characterized in that, described slow control loop also comprises: described slow loop scale parameter gain self scheduling computing module, slow contour integration parametric gain self scheduling computing module is connected the operating condition signal in slow loop respectively with the input end of slow loop differential parameter gain self scheduling computing module, operating mode according to current operation departs from the degree of each typical condition, employing intelligent inference rule, from many groups P of input, I, meet control stiffness under extrapolating current working in D parameter and require P, I, D controling parameters, extrapolate the P of corresponding current working, I, D controling parameters delivers to the outer given side of controling parameters of described slow loop PID gain self scheduling controller respectively.
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Address after: 510080 water Donggang 8, Dongfeng East Road, Yuexiu District, Guangzhou, Guangdong. Patentee after: ELECTRIC POWER RESEARCH INSTITUTE, GUANGDONG POWER GRID CO., LTD. Address before: 510080 water Donggang 8, Dongfeng East Road, Yuexiu District, Guangzhou, Guangdong. Patentee before: Electrical Power Research Institute of Guangdong Power Grid Corporation |