CN105387449B - A kind of control method that second-order differential is used in boiler steam temperature control - Google Patents
A kind of control method that second-order differential is used in boiler steam temperature control Download PDFInfo
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- CN105387449B CN105387449B CN201510847300.8A CN201510847300A CN105387449B CN 105387449 B CN105387449 B CN 105387449B CN 201510847300 A CN201510847300 A CN 201510847300A CN 105387449 B CN105387449 B CN 105387449B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22G—SUPERHEATING OF STEAM
- F22G5/00—Controlling superheat temperature
- F22G5/20—Controlling superheat temperature by combined controlling procedures
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Abstract
The invention discloses a kind of control method that second-order differential is used in boiler steam temperature control, it belongs to Automatic Control of Boiler technical field, and it comprises the following steps：1st, tested by vapor (steam) temperature system performance, obtain the Higher-order inertia link transfer function model in boiler steam temperature process inertia area；2nd, the Higher-order inertia link transfer function model in step 1 is converted into state-space model；3rd, based on the state-space model in step 2, the state observer of design point variable；4th, the second-order differential signal based on the state observer construction outlet steam temperature signal in step 35th, second-order differential signal is adjustedControl gain Kd2：6th, by the control gain K in step 5d2The second-order differential signal being multiplied by step 4And with the output function u of proportional plus integral plus derivative controller0(t) it is added, the controller output function after being adjusted.The beneficial effects of the invention are as follows improve large delay, big inertia vapor (steam) temperature object control performance quality.
Description
Technical field
The invention belongs to Automatic Control of Boiler technical field, it is related to the control method of boiler steam temperature, more particularly, to
A kind of control method that second-order differential is used in boiler steam temperature control.
Background technology
The control of station boiler vapor (steam) temperature is one of basic control system of large-scale power station unit automation operation.But by
It is relatively tired to the control ratio of vapor (steam) temperature object in the complexity that the particularity and jet chimney of thermal power generation production process construct
It is difficult.Wherein because the randomness of unit load fluctuates, cause disturbance frequently and disturbance quantity be larger, especially for unit load or
The disturbance of person's equivalently steam flow, causes steam temperature often to fluctuate.Regulatory PID control scheme is difficult to obtain satisfied control effect
Fruit.Because regulatory PID control has obvious limitation for Great inertia system as vapor (steam) temperature process：Lack to future
The foresight of state development trend.Although its differential action describes the development trend of signal, the effect of first differential for
Great inertia system is still insufficient, simply knows the current speed of signal equivalent to us.The phase if second derivative action is introduced
When in the acceleration for being aware of signal, this has no report in utility boiler control field, and one of reason is second-order differential for letter
Number measurement interference it is very sensitive because polytropy of the complexity of environment, fuel source etc. factor cause measurement interference exist
It is seen everywhere in the measuring system of station boiler parameter, therefore the antinoise to second-order differential is calculated just as the pass solved the problems, such as
Key.
As seen from the above analysis, existing boiler steam temperature PID control method has some limitations or defect.
The content of the invention
The technical problems to be solved by the invention are：One kind is provided in the main PID control of station boiler vapor (steam) temperature external loop
Increase the control method of second-order differential, and the building method of the second-order differential signal insensitive to measurement noise in device, improve
Large delay, big inertia vapor (steam) temperature object control performance quality.
The technical proposal for solving the technical problem of the invention comprises the following steps：
Step 1. is tested by vapor (steam) temperature system performance, and the Higher-order inertia link for obtaining boiler steam temperature process inertia area passes
Delivery function model；
In the step 1 shown in the form such as following formula (1) of the Higher-order inertia link transfer function model in inertia area：
Wherein, s represents Laplace operator；
Y (s) represents outlet steam temperature signal y Laplace transform；
Z (s) represents the Laplace transform of steam temperature signal z after direct-contact desuperheater；
K represents the steady-state gain of steam temperature object inertia section model；
T represents the time constant of steam temperature object inertia section model；
N represents the order of steam temperature object inertia section model, span 3~6.
Higher-order inertia link transfer function model in step 1 is converted to state-space model by step 2.；
The form for the state-space model that Higher-order inertia link transfer function model is converted to such as following formula (2) in the step 2
It is shown：
Wherein, y=x1, y expressions outlet steam temperature signal；
x1,x2,…,xnN state of vapor (steam) temperature process inertia zone state spatial model is represented respectively；
The first differential of n state of vapor (steam) temperature process inertia zone state spatial model is represented respectively.
Step 3. is based on the state-space model in step 2, the state observer of design point variable；
The formula (3) of the state observer of design point variable is as follows in the step 3：
Wherein,Represent the observer output of outlet steam temperature signal；
The observation of n state of vapor (steam) temperature process inertia zone state spatial model is represented respectively；
The one of the observation of n state of vapor (steam) temperature process inertia zone state spatial model is represented respectively
Rank differential；
E represents the measured value y and its observation of outlet steam temperature signalBetween deviation, i.e.,
L1,L2,…,LnThe gain of state observer is represented respectively, is designed according to modern control theory.
Second-order differential signal of the step 4. based on the state observer construction outlet steam temperature signal in step 3
The second-order differential signal of the outlet steam temperature signal constructed in the step 4Formula (4) it is as follows：
Wherein,The second-order differential of vapor (steam) temperature and its observation is represented respectively.
Step 5. adjusts second-order differential signalControl gain Kd2；
Second-order differential signal in the step 5Control gain Kd2=Kp×Td2, Td2=N × n × T × Td1；
Wherein, N is coefficient, span 0.03~0.1；
KpIt is the proportional gain of PID controller；
Td1And Td2It is first differential time and second-order differential time respectively.
Step 6. is by the control gain K in step 5d2The second-order differential signal being multiplied by the step 4And accumulated with ratio
Divide the output function u of differential (PID) controller0(t) it is added, the controller output function u (t) after being adjusted, i.e.,
Beneficial effects of the present invention：To large delay, the vapor (steam) temperature object of big inertia, pass through second-order differential adjustment effect
Introduce, need to can only be obtained than conventional tandem by carrying out simple configuration realization in widely used scattered control system
The more preferable vapor (steam) temperature regulation performance of PID control, the stability and robustness of strengthening system, improve unit operation economy and
Security.
Brief description of the drawings
Fig. 1 is conventional vapor (steam) temperature cas PID control systematic schematic diagram.
Fig. 2 is the cascade control system schematic diagram that second-order differential is used in vapor (steam) temperature control provided by the invention.
Wherein symbol description：yrFor vapor (steam) temperature setting value；Y is vapor (steam) temperature measured value；zrFor external loop PID controller
Output, for the present invention then be with second-order differential PID controller output, while be also leading steam temperature setting value；Z is
Leading steam temperature measured value；U is the output of inner looping PI controllers, as the control signal for driving desuperheat penstock；Kd2For this hair
The control gain of bright external loop second-order differential signal；" ∫ " represents integral sign；E is that vapor (steam) temperature measured value is observed with observer
Error between value.
Embodiment
Below in conjunction with specific embodiments and the drawings, 1~2 couple of present invention is described in more detail.
As shown in Fig. 1~2, embodiment comprises the following steps that：
Step 1.n takes 4, is tested by vapor (steam) temperature system performance, obtains the high-order in boiler steam temperature process inertia area
Inertia transfer function model obtains
Wherein, s represents Laplace operator；
Y (s) represents outlet steam temperature signal y Laplace transform；
Z (s) represents the Laplace transform of steam temperature signal z after direct-contact desuperheater.
Higher-order inertia link transfer function model in step 1 is converted to state-space model by step 2.：
Y=x1
Wherein, x1,x2,x3,x4Represent 4 states of vapor (steam) temperature process inertia zone state spatial model；
Represent the first differential of 4 states of vapor (steam) temperature process inertia zone state spatial model.
Step 3. is based on the state-space model in step 2, the state observer of design point variable：
Wherein,Represent the observation of 4 states of vapor (steam) temperature process inertia zone state spatial model；
Represent the single order of the observation of 4 states of vapor (steam) temperature process inertia zone state spatial model
Differential；
E represents the measured value y and its observation of outlet steam temperature signalBetween deviation, i.e.,
According to modern control theory, the gain of design point observer is respectively L1=0.1633, L2=0.4898, L3=
0.6531,L4=0.3265.
Second-order differential signal of the step 4. based on the state observer construction outlet steam temperature signal in step 3
Wherein,The second-order differential of vapor (steam) temperature and its observation is represented respectively.
Step 5. adjusts second-order differential signalControl gain Kd2=KpTd2；
Further, in the step 5 second-order differential signal control gain Kd2=Kp×Td2, Td2=(0.03~0.1)
×4×T×Td1, wherein KpIt is the proportional gain of PID controller, Td1And Td2When being first differential time and second-order differential respectively
Between.
Step 6. is by the control gain K in step 5d2The second-order differential signal acted in step 4And the routine that is added to
PID (PID) controller output function u0(t), so as to form new controller output u (t), that is, obtain
Bottom in Fig. 2 is that observer is realized, the related content that symbol therein is shown in specification.
Above-mentioned detailed description is illustrating for possible embodiments of the present invention, and the embodiment simultaneously is not used to limit this hair
Bright the scope of the claims, all equivalence enforcements or change without departing from the present invention, it is intended to be limited solely by the scope of patent protection of this case.
Claims (6)
1. a kind of control method that second-order differential is used in boiler steam temperature control, it is characterised in that step is as follows：
Step 1. is tested by vapor (steam) temperature system performance, and the Higher-order inertia link for obtaining boiler steam temperature process inertia area transmits letter
Exponential model；
Higher-order inertia link transfer function model in step 1 is converted to state-space model by step 2.；
Step 3. is based on the state-space model in step 2, the state observer of design point variable；
Second-order differential signal of the step 4. based on the state observer construction outlet steam temperature signal in step 3
Step 5. adjusts second-order differential signalControl gain Kd2；
Step 6. is by the control gain K in step 5d2The second-order differential signal being multiplied by the step 4It is and micro- with proportional integration
Divide the output function u of (PID) controller0(t) it is added, the controller output function u (t) after being adjusted, i.e.,
2. a kind of control method that second-order differential is used in boiler steam temperature control according to claim 1, it is special
Sign is：In the step 1 shown in the form such as following formula (1) of the Higher-order inertia link transfer function model in inertia area：
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Wherein, s represents Laplace operator；
Y (s) represents outlet steam temperature signal y Laplace transform；
Z (s) represents the Laplace transform of steam temperature signal z after direct-contact desuperheater；
K represents the steady-state gain of steam temperature object inertia section model；
T represents the time constant of steam temperature object inertia section model；
N represents the order of steam temperature object inertia section model, span 3~6.
3. a kind of control method that second-order differential is used in boiler steam temperature control according to claim 2, it is special
Sign is：The form for the state-space model that Higher-order inertia link transfer function model is converted to such as following formula (2) institute in the step 2
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Wherein, y=x1, y expressions outlet steam temperature signal；
x1,x2,…,xnN state of vapor (steam) temperature process inertia zone state spatial model is represented respectively；
The first differential of n state of vapor (steam) temperature process inertia zone state spatial model is represented respectively.
4. a kind of control method that second-order differential is used in boiler steam temperature control according to claim 3, it is special
Sign is：The formula (3) of the state observer of design point variable is as follows in the step 3：
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The observation of n state of vapor (steam) temperature process inertia zone state spatial model is represented respectively；
Represent that the single order of the observation of n state of vapor (steam) temperature process inertia zone state spatial model is micro- respectively
Point；
E represents the measured value y and its observation of outlet steam temperature signalBetween deviation, i.e.,
L1,L2,…,LnThe gain of state observer is represented respectively, is designed according to modern control theory.
5. a kind of control method that second-order differential is used in boiler steam temperature control according to claim 4, it is special
Sign is：The second-order differential signal of the outlet steam temperature signal constructed in the step 4Formula (4) it is as follows：
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Wherein,The second-order differential of vapor (steam) temperature and its observation is represented respectively.
6. a kind of control method that second-order differential is used in boiler steam temperature control according to claim 5, it is special
Sign is：Second-order differential signal in the step 5Control gain Kd2=Kp×Td2, Td2=N × n × T × Td1；
Wherein, N is coefficient, span 0.03~0.1；
KpIt is the proportional gain of PID controller；
Td1And Td2It is first differential time and second-order differential time respectively.
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| CN106369589A (en) * | 2016-08-28 | 2017-02-01 | 华北电力大学（保定） | Control method of superheated steam temperature |
| CN109085747B (en) * | 2018-08-23 | 2021-06-29 | 广东电网有限责任公司 | Method and device for acquiring differential signal |
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| CN100555125C (en) * | 2008-07-04 | 2009-10-28 | 东南大学 | The forecasting type PID control method of gasification furnace |
| CN102360176A (en) * | 2011-07-21 | 2012-02-22 | 山东省电力学校 | Method for controlling main steam temperature in power plant based on simplified second-order auto disturbance rejection controller |
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| US9841185B2 (en) * | 2013-10-29 | 2017-12-12 | Emerson Process Management Power & Water Solutions, Inc. | Steam temperature control using model-based temperature balancing |
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