CN113341717A - Large-scale coal-fired power plant CO2Method for suppressing disturbance of overall trapping system - Google Patents
Large-scale coal-fired power plant CO2Method for suppressing disturbance of overall trapping system Download PDFInfo
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Abstract
The invention is suitable for the technical field of coal emission, and provides CO for a large-scale coal-fired power plant2The method for suppressing disturbance of the trapping overall system comprises the following steps: selecting a controlled variable y(k)And a control variable u(k)(ii) a Establishing a relative state space model; establishing infinite time domain performance index
Setting relevant parameters of a controller; considering the constraint condition of the control variable, and constructing an objective function; optimizing infinite time domain performance index
To calculate the control variable umpc meeting the stable operation requirement of the system(k)(ii) a The influence of the unmeasured disturbance and the measurement noise on the system is considered; control variable umpc at current moment by compensation gain(k)Correcting; outputting the current time control quantity u(k)Collecting the fire coalPower station CO2Capturing the output y of the overall system(k)The invention effectively solves the problems of noise and undetectable disturbance widely existing in the industrial process, so that the control system meets the actual requirements of an industrial field.
Description
Technical Field
The invention belongs to the field of coal emission, and particularly relates to CO of a large-scale coal-fired power station2And trapping the overall system disturbance suppression method.
Background
The coal-fired thermal power unit is currently CO2The largest single emission source, CO in 2018 years in China2The total emission is 9.48Gt, 77 percent of the total emission comes from coal-fired thermal power units and other coal-fired processes, so that the CO of the thermal power units is deeply researched2The trapping technology is an important means for realizing greenhouse gas emission reduction and controlling environmental temperature, and is an important way for realizing the ambitious goal of carbon neutralization and carbon peak reaching early, at present, the post-combustion CO is chemically absorbed based on ethanolamine solution2Capturing current CO2Mainstream technology of capture with CO2The absorption capacity is strong, the technology is easy to realize, and the advantages of the existing thermal power generating unit device are not changed.
Coal-fired thermal power generating unit and CO after combustion2The trapping system has strong coupling effect, flexible operation is difficult to realize by a conventional control method, and on the other hand, the coal-fired thermal power generating unit and the CO after combustion2The trapping system is widely subject to various types of measurable or undetectable disturbances, including: disturbance of coal quality; valve leakage or plugging; measuring errors by a sensor; signal noise, which disturbances or noise can substantially reduce coal-fired power plant CO2Quality of control of the overall system of capture, for which coal-fired power plant CO was developed2The advanced control method of the trapping system eliminates the influence of disturbance, noise and the like on the system performance, realizes the flexible operation of the whole system, and meets the requirements of deep peak regulation and CO of the whole system2The invention calculates the optimal control variable meeting the stable operation of the system by constructing a disturbance suppression method based on stable predictive control and expanded state observation, corrects the control variable by using compensation gain at the same time, eliminates the influence of disturbance, noise, model mismatch and other factors on the system performance, and effectively processes the CO of the large-scale coal-fired power station2The strong coupling, large delay and output constraint of the whole system are captured, and the control quality is improved.
Disclosure of Invention
The invention provides CO of a large-scale coal-fired power plant2A method for suppressing disturbance of a whole capture system, aiming at solving the problem of the existing CO2The problem that the disturbance suppression method of the whole trapping system has weak capacity of resisting external disturbance is solved.
The invention is realized in such a way that a large-scale coal-fired power plant CO2The method for suppressing disturbance of the trapping overall system comprises the following steps:
s01: selecting CO of large coal-fired power plant2Capturing the controlled variable y of the overall system(k)And a control variable u(k)；
S02: establishment of CO in large coal-fired power plant2Capturing a relative state space model of the whole system;
s03: infinite time domain performance index meeting Lyapunov stability condition is established
S04: setting relevant parameters of the controller, including free step length P, output error weight matrix Q, control weight matrix R and disturbance item matrix BdAnd a noise term matrix Dv；
S05: considering the constraint condition of the control variable, and constructing an objective function;
s06: optimizing infinite time domain performance index
To calculate the control variable umpc meeting the stable operation requirement of the system(k)；
S07: the influence of the unmeasured disturbance and the measurement noise on the system is considered, and an expanded state observer is utilized to construct an amplified state space equation;
s08: estimating unmeasured disturbances using extended state observer
And noise
And controls the variable umpc at the current moment by compensating the gain(k)Correcting;
s09: outputting the current time control quantity u(k)Collecting output y of the CO2 capturing whole system of the coal-fired power plant(k)。
Preferably, in step S01, the main steam pressure, the intermediate point enthalpy, the unit power generation, the capture rate and the reboiler temperature are selected to be CO of the large-scale coal-fired power plant2Capturing the controlled variable y of the overall system(k)Selecting corresponding control variables u of coal supply amount, water supply flow, main steam valve opening, barren liquor flow and reboiler steam extraction flow(k)。
Preferably, in the step S04, the sampling period Ts is selected to generally conform to shannon sampling theorem, and may be selected by an empirical rule T95/Ts being 5-15, where T95 is an adjustment time for the transition process to rise to 95%.
Preferably, after the step S09 is completed, the steps S04 to S08 are repeatedly performed in each sampling period.
Preferably, in step S08, the compensation gain includes a compensation gain 1: according to non-detectable disturbance
Calculating a correction control amount u1(k)And compensation gain 2: according to non-detectable disturbance
Calculating a correction control amount u2(k)。
Compared with the prior art, the invention has the beneficial effects that: the invention relates to a large-scale coal-fired power plant CO2The disturbance suppression method for the whole trapping system utilizes a stable model prediction controller to obtain the CO meeting the requirement of a large-scale coal-fired power plant2The optimal control variable required by the stable operation of the system is collected, the immeasurable disturbance and noise are estimated by the extended state observer, the influence of the disturbance, the noise or the model mismatch on the control performance is eliminated by utilizing the compensation gain, and the dynamic regulation quality is improved.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Fig. 2 is a schematic structural diagram of the control system of the present invention.
FIG. 3 shows CO of a large coal-fired power plant of the present invention2Trapping monolithA flow diagram of the system.
FIG. 4 is a graph comparing the effect of main steam pressure control during coal disturbance for the present invention (ESOSMPC) and a conventional MPC.
Figure 5 is a graph comparing the effect of intermediate point enthalpy control on coal quality disturbance for the present invention (esompc) and conventional MPC.
FIG. 6 is a graph comparing the group power control effect at the time of a coal disturbance for the present invention (ESOSMPC) and a conventional MPC.
FIG. 7 is a graph comparing the effect of the present invention (ESOSMPC) on the control of coal quantity during a coal quality disturbance with a conventional MPC.
FIG. 8 is a graph comparing the effect of the present invention (ESOSMPC) on feedwater control at coal quality disturbances with a conventional MPC.
FIG. 9 is a graph comparing the effect of main steam valve opening control during coal quality disturbance for the present invention (ESOSMPC) and the conventional MPC.
FIG. 10 is a graph comparing the effectiveness of the capture rate control of the present invention (ESOSMPC) and conventional MPC at coal quality disturbances.
FIG. 11 is a graph comparing the effect of reboiler temperature on coal quality disturbance for the present invention (ESOSMPC) and a conventional MPC.
FIG. 12 is a graph comparing the lean flow control effect of the present invention (ESOSMPC) and a conventional MPC at coal quality disturbances.
FIG. 13 is a graph comparing the effect of reboiler extraction flow control during coal disturbances for the present invention (ESOSMPC) and a conventional MPC.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-13, the present invention provides a technical solution: large-scale coal-fired power plant CO2The method for suppressing disturbance of the trapping overall system comprises the following steps:
s01: selecting CO of large coal-fired power plant2Capturing the controlled variable y of the overall system(k)And a control variable u(k)；
S02: establishment of CO in large coal-fired power plant2Capturing a relative state space model of the whole system;
s03: infinite time domain performance index meeting Lyapunov stability condition is established
S04: setting relevant parameters of the controller, including free step length P, output error weight matrix Q, control weight matrix R and disturbance item matrix BdAnd a noise term matrix Dv；
S05: considering the constraint condition of the control variable, and constructing an objective function;
s06: optimizing infinite time domain performance index
To calculate the control variable umpc meeting the stable operation requirement of the system(k)；
S07: the influence of the unmeasured disturbance and the measurement noise on the system is considered, and an expanded state observer is utilized to construct an amplified state space equation;
s08: estimating unmeasured disturbances using extended state observer
And noise
And controls the variable umpc at the current moment by compensating the gain(k)Correcting;
s09: outputting the current time control quantity u(k)Collecting CO from coal-fired power plant2Capturing the output y of the overall system(k)。
In the present embodiment, the present invention is implemented by a control system as shown in fig. 2, including: stable prediction controller, extended state observer, compensation gain 1, compensation gain 2 and large coal-fired power plant CO2Capturing a system model; the stability prediction controller has two inputs, respectively, the current time controlled variable is givenConstant value yref(k)And state quantity estimation value
The output of the control variable is a control variable umpc meeting the Lyapunov stability condition of the system(k)The input of the extended state observer is large-scale coal-fired power plant CO2Capturing input variables u of the overall system(k)And an output variable y(k)The output is the system-undetectable disturbance
Non-measurable measurement noise
And state quantity
An estimated value of (d); compensation gain 1 through undetectable disturbance
Calculating the corrected control amount u1(k)(ii) a Compensation gain 2 by undetectable disturbance
Calculating the corrected control amount u2(k)(ii) a CO of large coal-fired power station2Capturing the final input variable umpc of the overall system(k)、u1(k)And u2(k)The sum is accumulated.
Selecting the main steam pressure, the intermediate point enthalpy value, the unit generated energy, the capture rate and the reboiler temperature as the CO of the large-scale coal-fired power station2Capturing the controlled variable y of the overall system(k)Selecting corresponding control variables u of coal supply amount, water supply flow, main steam valve opening, barren liquor flow and reboiler steam extraction flow(k)；
Under the condition of open loop, inputting continuous step signals into the coal feeding amount, the water feeding flow, the opening of a main steam valve, the flow of barren liquor and the steam extraction flow of a reboiler to obtain large coal-fired power under the condition that the generated energy and the capture rate are changed in a large rangeStation CO2Capturing dynamic input and output data of the whole system; establishing CO of large coal-fired power plant by utilizing subspace identification method according to steady-state working condition points of input and output data2Capturing the relative state space model of the whole system, as in equation (1)
Wherein the content of the first and second substances,
according to the formula (1), an infinite time domain performance index meeting the Lyapunov stability condition is established
As shown in equation (2):
wherein, P represents the step size of the free control variable,
and
as follows:
setting relevant parameters of the controller, including free step length P, output error weight matrix Q, control weight matrix R and disturbance item matrix BdNoise term matrix DvAnd a sampling time Ts, where Ts is 30 seconds, the free step P is 10, and Q is diag ([4 e)5，1e3，1e3，4.2e8，5e8])，R＝diag([3e4，10，5000，30，0.6e4])，Bd＝diag([0.01，0.01，0.01，0.01，0.01])，Dv＝diag([0.01，0.01，0.01，0.01，0.01]). The controller-related constraints are: delta umax＝[5；15；0.03；20；10]T；△umin＝[-5；-15；-0.03；-20；-10]T；umin＝[20；200；0.4；100；30]T；umax＝[120；600；1；700；250]T
Optimization Using MOSEK solver
Target function, calculating control variable umpc meeting system stable operation requirement(k)。
Estimation of the unmeasured disturbance using the extended state observer shown in equation (2)
Non-measurable measurement noise
And state quantity
Wherein the observed gain L is
According to non-detectable disturbance
And noise
Using the compensation gain to control the current time control variable umpc(k)The correction is performed as shown in equation (4):
in the formula, Kd＝-(ΘB+D)-1ΘBd，Kv＝-(ΘB+D)-1Dv，Θ＝(C+DYG-1)(I-A-BYG-1)-1
And (5) outputting the control quantity u (k) at the current moment, collecting the output y (k) of the overall system captured by the CO2 of the coal-fired power plant, and repeatedly executing the steps (5) to (7) in each sampling period.
The invention relates to a large-scale coal-fired power plant CO2The control effects of the trapping overall system disturbance suppression method are shown in fig. 4, 5, 6, 7, 8, 9, 10, 11, 12, and 13: initial steady state operating condition is u1＝54.6467kg/s、u2＝384.361kg/s、u3＝83.43％、u4＝370.654kg/s、u3＝96.7548kg/s、y1＝21.3693、y2＝2722.1325kJ/kg、y3＝432.9270MW、y4＝70％、y5At 392.2K, after 10 minutes of steady state operation, a step change in the coal composition (increase in carbon content from 52.65 wt% to 62.65 wt%, decrease in ash content from 29.44 wt% to 19.44 wt%) was produced, and the system was operated for a total of 75 minutes with the other conditions unchanged.
As can be seen from the simulation curves of FIG. 4, FIG. 5, FIG. 6, FIG. 7, FIG. 8, FIG. 9, FIG. 10, FIG. 11, FIG. 12 and FIG. 13, the CO power plant of the present invention2The method for restraining disturbance of the trapping whole system (ESOSMPC based on stable model prediction control of state observer) can effectively eliminate the non-measurable disturbanceThe influence of the motion on the system output has the characteristics of small fluctuation and high response speed, and can realize steady-state no-difference control.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. Large-scale coal-fired power plant CO2The method for suppressing disturbance of the whole trapping system is characterized by comprising the following steps: the method comprises the following steps:
s01: selecting CO of large coal-fired power plant2Capturing the controlled variable y of the overall system(k)And a control variable u(k)；
S02: establishment of CO in large coal-fired power plant2Capturing a relative state space model of the whole system;
s03: infinite time domain performance index meeting Lyapunov stability condition is established
S04: setting relevant parameters of the controller, including free step length P, output error weight matrix Q, control weight matrix R and disturbance item matrix BdAnd a noise term matrix Dv；
S05: considering the constraint condition of the control variable, and constructing an objective function;
s06: optimizing infinite time domain performance index
To calculate the control variable umpc meeting the stable operation requirement of the system(k)；
S07: the influence of the unmeasured disturbance and the measurement noise on the system is considered, and an expanded state observer is utilized to construct an amplified state space equation;
s08: estimating unmeasured disturbances using extended state observer
And noise
And controls the variable umpc at the current moment by compensating the gain(k)Correcting;
s09: outputting the current time control quantity u(k)Collecting CO from coal-fired power plant2Capturing the output y of the overall system(k)。
2. A large coal-fired power plant CO according to claim 12The method for suppressing disturbance of the whole trapping system is characterized by comprising the following steps: in the step S01, the main steam pressure, the intermediate point enthalpy value, the unit generating capacity, the capture rate and the reboiler temperature are selected to be large-scale coal-fired power station CO2Capturing the controlled variable y of the overall system(k)Selecting corresponding control variables u of coal supply amount, water supply flow, main steam valve opening, barren liquor flow and reboiler steam extraction flow(k)。
3. A large coal-fired power plant CO according to claim 12The method for suppressing disturbance of the whole trapping system is characterized by comprising the following steps: in step S04, the sampling period Ts is generally selected according to shannon' S sampling theorem, and may be selected according to an empirical rule T95/Ts of 5-15, where T95 is an adjustment time when the transition process is increased to 95%.
4. A large coal-fired power plant CO according to claim 12The method for suppressing disturbance of the whole trapping system is characterized by comprising the following steps: after step S09 is completed, steps S04 to S08 are repeatedly performed in each sampling period.
5. A large coal-fired power plant CO according to claim 12The method for suppressing disturbance of the whole trapping system is characterized by comprising the following steps: in step S08, the compensation gain includes a compensation gain 1: according to non-detectable disturbance
Calculating a correction control amount u1(k)And compensation gain 2: according to non-detectable disturbance
Calculating a correction control amount u2(k)。
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| CN115445390A (en) * | 2022-08-11 | 2022-12-09 | 东南大学 | Thermal power generating unit carbon capture system scheduling and predictive control method with absorbent storage |
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