WO2017071548A1

WO2017071548A1 - Balance control method and system for abrupt change in device output

Info

Publication number: WO2017071548A1
Application number: PCT/CN2016/103181
Authority: WO
Inventors: 黄卫剑; 朱亚清; 万文军; 陈世和; 潘凤萍; 李军
Original assignee: 广东电网有限责任公司电力科学研究院
Priority date: 2015-10-28
Filing date: 2016-10-25
Publication date: 2017-05-04
Also published as: DE112016004974T5; CN105242528B; CN105242528A

Abstract

A balance control method and system for abrupt change in device output. The method comprises: acquiring device output information containing a rated device output, a current device output, a set adjusted amount and a measured adjusted amount, and obtaining a device output override control condition (S101); detecting a device output override decrease condition and override increase condition (S102); and if the override increase condition is detected, increasing a device control instruction according to a predetermined rate, and if the override decrease condition is detected, decreasing a device control instruction according to a predetermined rate (S103). By means of the method, non-linear characteristics of a device control instruction and a device output are overcome, and a machine set can rapidly reach a safe and stable new operating condition.

Description

Equipment output sudden change balance control method and system

The present application claims priority to Chinese Patent Application No. 201510718664.6, entitled "Equipment Output Force Balance Control Method and System", filed on October 28, 2015, the entire contents of which is incorporated herein by reference. in.

Technical field

The invention relates to the technical field of automatic control of thermal power units, in particular to a method and a system for controlling the balance of output force of a device in a RUNBACK process of a thermal power unit.

Background technique

In the field of automatic control technology of thermal power units, the RUNBACK (abbreviated as RB) process refers to: when the main auxiliary machine faults of the unit cause the actual power of the unit to be limited (coordinated control system is in the automatic state), in order to adapt to the output of the equipment, the control system is forced to The unit load is reduced to the load target value that the auxiliary machine that is still operating can withstand; it is also called the auxiliary machine fault reduction process. The RUNBACK process includes the device output override control. When the system receives abnormal signals such as accident alarm, deviation limit, fault, etc., the override logic will immediately perform automatic cut manual, priority increase, priority decrease, prohibit increase according to the cause of the accident. It is prohibited to reduce the logic function and convert the system to a preset security state.

For example, most auxiliary engines such as large thermal power unit fans and feed water pumps are operated in parallel by two or more units. When one or more of these auxiliary machines are tripped, in addition to the control mode switching, rapid reduction of the unit's target load, unit fuel, water supply, air volume and other working fluid flow, the same type of operation is rapidly increased with the tripping auxiliary machine. The output of the auxiliary machine is used to quickly restore the unit to a new balanced condition to ensure safe and stable operation of the unit.

The existing method of boosting the output of the auxiliary machine after tripping the auxiliary machine of the unit is basically a method of linearly superimposing the output of the tripped device to the in-service device. This method does not take into account the auxiliary machine control command. The non-linear relationship with the actual output of the auxiliary machine, the output limit of the auxiliary machine itself, and the relationship between the corresponding system being adjusted and other restrictions, can easily cause the in-service equipment to exceed the allowable The maximum output and the risk of exceeding the other parameters of the unit.

Summary of the invention

Based on this, the device output sudden balance control method and system provided by the invention can overcome the nonlinear characteristics of the device control command and the output of the device, so that the unit can quickly reach a safe and stable new working condition.

The invention adopts the following technical solutions:

An aspect of the present invention provides a device output force balance control method, including:

Obtaining the output information of the device including the rated output of the device, the current output of the device, the adjusted amount of the device, and the measured amount of the device, and obtaining the control condition for the device to override the device according to the output information of the device, wherein the device exceeds the control condition including the override Increasing conditions and overtaking conditions;

Detecting the over-expansion condition and over-subtraction condition of the output of the equipment;

If an override condition is detected, the device control command is incremented at a predetermined rate, and if an override condition is detected, the device control command is decreased at a predetermined rate.

Another aspect of the present invention provides an equipment output sudden balance control system, including:

The integrated computing module is configured to obtain the output information of the device including the rated output of the device, the current output of the device, the adjusted amount of the device, and the measured amount of the device, and the device output override condition is obtained according to the output information of the device, and the device outputs a power exceeding The control conditions include an override condition and an override condition;

The detecting module is configured to detect an overtaking condition and an overtaking condition of the output of the device;

The lifting control module is configured to increase the device control command according to a predetermined rate if the override condition is detected, and if the override condition is detected, the device control command is decreased according to the predetermined rate.

The beneficial effects of the above technical solution of the present invention include: control command override condition and override condition according to equipment running state, device rated output, current device output (equipment output feedback), actual adjusted amount, setting is adjusted The comprehensive calculation of the quantity and other limiting conditions results in the device output over-expansion increase or super over the premise that the output of the override control process device does not exceed the limit, the deviation between the adjusted amount and the set value is small, and other parameters do not exceed the safety allowable range. When the condition of the equipment exceeds the overtaking condition, the equipment control command increases the maximum rate of change according to the output of the equipment; when the equipment exceeds the condition, the equipment Control commands are allowed to decrease at the maximum rate of change by device output. Thereby, the nonlinear characteristics of the equipment control command and the output of the equipment are overcome, so that the unit can quickly reach a safe and stable new working condition.

DRAWINGS

1 is a schematic structural view of a device output sudden change rapid balance control system;

2 is a schematic flowchart of a method for controlling an output force sudden change balance of an apparatus according to an embodiment of the present invention;

Figure 3 is a schematic structural diagram of a system equipment output sudden balance control system in which two devices are operated in parallel;

Figure 4 is a schematic diagram showing the principle of the overrunning condition of the draft fan blade;

Figure 5 is a schematic diagram of the principle of the fan blade super-speed increase condition;

Figure 6 is a schematic diagram showing the principle of the overspeed increase condition of the feed water pump;

FIG. 7 is a schematic structural diagram of a device output sudden balance control system according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. The embodiments are merely a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The embodiments provided by the present invention include an embodiment of a device output sudden change balance control method, and a corresponding device output sudden force balance control system embodiment. The details are described below separately.

1 is a schematic diagram of a hardware environment for implementing the method for controlling the output force balance of the device of the present invention. As shown in FIG. 1 , the hardware environment for implementing the power output abrupt balance control method of the device of the present invention comprises: an integrated operation loop, which is based on the main control signal output by the upstream controller, the rated output of the device obtained in real time, and the feedback of the device output. , system set value, system measurement value and other restrictions, through the comprehensive operation to obtain the downstream equipment output over-speed increase condition / over-ride condition; quickly balance the downstream equipment output according to the over-speed condition / over-ride condition, so that the whole The unit quickly reached a safe and stable new working condition.

FIG. 2 is a schematic flowchart of a method for controlling an output force abrupt balance of an apparatus according to an embodiment of the present invention. As shown in FIG. 2, the device output sudden change balance control method of this embodiment includes the following steps S101 to S103, which are described in detail as follows:

S101: Acquire device output information including device rated output, current device output, set adjusted amount, and measured adjusted amount, and obtain device output override control condition according to the device output information, where the device output override control condition includes Override condition and override condition;

S102, detecting an overtaking condition and an overtaking condition of the output of the device;

S103. If the override condition is detected, the device control command is increased according to a predetermined rate, and if the override condition is detected, the device control command is decreased according to a predetermined rate.

It should be noted that, if an override condition is detected, the device control command is increased according to a predetermined rate, and when it is detected that the predetermined override increase target value is reached, or the override condition is lost, the device control command stops increasing; When the override condition is detected, the device control command is decreased according to a predetermined rate, and when it is detected that the predetermined override reduction target value is reached, or the override and subtraction condition disappears, the device control command stops decreasing.

Before S103, the maximum rate of increase/decrease of the device control command is obtained according to the actual maximum rate of change of the device output. Preferably, the predetermined rate is an actual maximum rate of change of the device output.

As a preferred embodiment, if an override condition is detected or any condition of the override condition is detected, a tracking instruction is sent to the upstream controller; the upstream controller receives the tracking instruction and tracks the downstream device control instruction. The average is used to control the upstream and downstream output balance. For example, in a system in which two downstream devices run in parallel, if the output of the upstream controller is unchanged and the output of one of the devices is changed, the output of the other device is controlled to change in the opposite direction to keep the sum of the outputs of the two devices unchanged. .

Through the integrated equipment rated output, equipment output feedback, system set value, system measurement value and other restrictions and other data, the equipment output override condition and equipment output override condition are generated. When the device output exceeds the increase command, the device control command increases the maximum rate of change according to the output of the device. The target value is the predetermined over-achieving target value. When the device output overrides the command, the device control command is issued by the device. The force allows the maximum rate of change to decrease, and the target value is the predetermined override value. It can ensure that the output of the equipment is not over-limit, the deviation of the parameter is small, and the other parameters are overridden based on the safety range. By overriding the control, the nonlinear characteristics of the device control command and the output of the device are overcome.

In this embodiment, the upstream controller derives the system main control signal according to the device output setting value and the device output measurement, and sends the system main control signal to the downstream control loop as the downstream device output main control signal; the downstream device is The output master control signal is subjected to an offset operation to obtain a corresponding device control command; during the override operation, the device control command is increased/decreased according to a predetermined rate, and the system adjusts the device output according to the device control command. That is, the device output sudden change balance control method further includes: receiving a downstream device output main control signal sent by the upstream controller, wherein the downstream device output main control signal is estimated by the upstream controller according to the device output set value and the device output measurement; Corresponding device control instructions are obtained according to the downstream device output master control signal through a bias operation.

Based on the device output sudden change balance control method described above, the device output force balance control method of the present invention will be described below in a specific application scenario.

Application scenario 1: The system equipment output parallel control system with two devices running in parallel.

Figure 3 is a schematic diagram showing the structure of the system equipment output sudden balance control system in which two devices are operated in parallel. As shown in FIG. 3, the implementation process of the device output sudden change balance control method may include:

Step S11: The system setting value SP, the measured value PV, and the output feedback of the two devices obtain the system main control signal through the PID, and the system main control signal is distributed and balanced output to the downstream device control loop through the MASTER to form a downstream device main control signal. CO01;

Step S12: the downstream device main control signal CO01 is subjected to an offset operation and a hand automatic operation module to form a normal control command CO02A, CO02B;

Step S13: The normal control commands CO02A and CO02B form a final device control command COA and COB by over-chirping, over-subtracting, and rate control; and adjusting the device output of the system according to the device A control command and the device B control command.

Wherein, when the override condition (ORD_U_A or ORD_U_B) is established, the device control command increases to the output increase target value (UA or UB) at a predetermined rate until the override condition disappears or the control command The rising target value has been reached; when the override condition (ORD_D_A or ORD_D_B) is established, the device control command decreases to the output falling target value (DA or DB) at a predetermined rate until the override condition disappears or the control command has reached the falling target value. .

Among them, the super-achieving condition and the over-subtracting condition are based on the PID operation of the equipment operating state, the rated output of the equipment, the feedback of the equipment output, the adjusted amount, the adjusted setting and other limiting conditions, so that the equipment of the override control process is output. If the deviation is not exceeded, the deviation between the adjusted amount and the set value is small, and other parameters do not exceed the safety allowable range, the equipment output is over-extended or over-subtracted.

The rate limit of the device control command is set according to the actual maximum rate of change of the device itself.

In order to prevent the sudden change of the output of the device control command during the override action and the override release process, when the device command overrides or overrides any condition, the command is sent to the upstream controller, so that the upstream controller outputs the tracking downstream device control. The average of the instructions.

In order to overcome the non-linear characteristics of the parallel output of the output commands of the devices A and B and the actual output force and the upstream control command (MASTER output command), the output of one device changes when the output of one device changes. , thereby improving the speed and stability of the system. In addition, when two devices are simultaneously put into operation and the system is over-extended and the over-subtraction condition does not exist, under the premise that the output of the upstream controller is unchanged, the device control output offset can be manually adjusted to increase the control command of one device. A device output control command is reduced to overcome the nonlinear characteristics of the device. The bias output is half of the difference between the device A control command and the device B control command when the overshoot is increased or decreased, or at least one device is manually operated, so that when one device control command overrides, the other device The control command changes the same magnitude in the opposite direction to keep the total output of the two devices unchanged.

Application scenario 2: A 600MW thermal power unit induced draft fan override control system

A 600MW thermal power unit consists of two induced draft fans, the induced draft fan A and the induced draft fan B. After one induced draft fan trips, the induced draft fan's moving blade is reduced to the overtaking target, and the other induced draft fan is extended to the target. Increase at a predetermined rate. Taking the B induced draft fan trip as an example, the induced air override control action includes the induced draft fan B-super-slow reduction, the induced draft fan A-super-speed increase, and the furnace pressure controller tracking step, as follows:

Step S21: The system detects that the B induced draft fan has tripped.

Step S22: The B draft fan blade is overrun to a predetermined target value of 0%.

Step S23: Through the comprehensive calculation, when the condition of the induced draft fan A is increased, the induced draft fan A is super-accumulated (see Figure 4 for the principle).

For example, when the induced draft fan B trips within 60 seconds, the induced draft fan A current is less than 470A, the induced draft fan A command is less than 75%, the furnace pressure is higher than -200Pa, and the unit load is less than 300MW, the induced draft fan A super-speed increase command is issued.

Step S24: obtaining the maximum change rate of the position feedback of the induced draft fan blade is 2.5%/s, and setting the maximum rate of increase and decrease of the induced draft fan blade by 2.5%/s.

Step S25: During the process of the induced draft fan A moving blade, the furnace pressure controller (corresponding to the upstream controllers of the induced draft fan A and the induced draft fan B) is switched to the tracking mode to ensure the system before and after the override operation and before and after the release operation. The output does not produce a mutation.

Application scenario 3: a 600MW thermal power unit blower static leaf override control system

A 600MW thermal power unit consists of two blowers, blower A and blower B. After one blower trips, the blower of the blower is reduced to the overachieving target, and the other blower of the blower increases to the overachirprise target at a predetermined rate. Taking the B blower as an example, the air intake override control action includes the blower B-subtraction reduction, the blower A-super-speed increase, and the total air volume controller tracking step, as follows:

Step S31: The system detects that the B blower has tripped.

Step S32: B blower vane is reduced to a predetermined target value of 0%.

Step S33: Through the comprehensive calculation, when the condition that the blower A is over-achieved is met, the blower A is over-incremented (see Figure 5 for the principle).

For example, if the blower B trips within 60 seconds, the blower A current is less than 148A, the blower A command is less than 93%, the total air volume is less than the total air volume set value 0%, the furnace pressure is less than 200Pa, and the unit load is less than 300MW, the blower A is issued. Super-increase instructions.

Step S34: According to the maximum change rate of the feedback position of the blower vane position 2.5%/s, the maximum rate of increase and decrease of the vane of the blower is set to 2.5%/s.

Step S35: During the process of the blower A stationary blade super-speed increase, the total air volume controller (corresponding to the upstream controller of the blower A and the blower B) is switched to the tracking mode to ensure that the system output is not generated during the override operation and before and after the release of the override motion. mutation.

Application scenario 4: a 600MW thermal power unit steam driven feed pump override control system

A 600MW thermal power unit consists of two feed pumps, feed water pump A and feed water pump B. After one feed pump trips, the feed pump speed is reduced to override the target and the other feed pump is overdriven. The target increases at a predetermined rate. Taking the B feed pump trip as an example, the feed pump override control action includes the feed pump B-speed reduction, the feed pump A speed over-speed increase, and the feed water flow controller and the drum water level controller tracking steps, as follows:

Step S41: The system detects that the B feed pump has tripped.

Step S42: The B feed pump speed command is switched to 0 r/min.

Step S43: Comprehensive calculation, when the condition of the feed pump A is over-achieved, the feed pump A is over-speeded and increased (see Figure 6 for the principle).

For example, if the feed pump B trips within 60 seconds, the feed pump A rotates less than 5400r/min, the total feed water flow is less than the steam flow 50t/h, the drum water level is less than 30mm, and the unit load is less than 300MW, the feed pump A is overridden. Increase instructions.

Step S44: obtaining a maximum change rate of the feed water pump speed that can be achieved by the feed water pump is 1000 r/min/min, and setting a maximum speed of the feed water pump speed increase and decrease is 1000 r/min/min.

Step S45: During the speed increase operation of the feed water pump A, the steam water level controller and the feed water flow controller are switched to the tracking mode to ensure that the feed water pump speed command does not change before and after the feed water pump is overridden and the override motion is released. .

It should be noted that, for the foregoing method embodiments, for the sake of brevity, they are all described as a series of action combinations, but those skilled in the art should understand that the present invention is not limited by the described action sequence, because In accordance with the present invention, certain steps may be performed in other sequences or concurrently. In the following, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

The device output sudden balance control system of the embodiment of the present invention which can be used to perform the above-described device output sudden force balance control method will be described below. FIG. 7 is a schematic structural diagram of a device output sudden change balance control system according to an embodiment of the present invention. For convenience of description, only parts related to the embodiment of the present invention are shown in the figure, and those skilled in the art can understand that the figure shows The system structure does not constitute a limitation to the system, and may include more or less components than those illustrated, or some components may be combined, or different component arrangements.

FIG. 7 is a schematic structural diagram of a device output sudden balance control system according to an embodiment of the present invention. As shown in FIG. 6, the device output sudden balance control system of the embodiment includes: an integrated operation module 610, a detection module 620, and a lifting control module. 630, where:

The comprehensive operation module 610 is configured to acquire device output information including a device rated output, a current device output, a set amount, and a measured amount, and obtain a device output override condition according to the device output information, The equipment output override condition includes an override condition and an overspeed condition;

The detecting module 620 is configured to detect an override condition and an override condition of the device output;

The lifting control module 630 is configured to increase the device control command according to a predetermined rate if an override condition is detected, and if the override condition is detected, the device control command decreases according to a predetermined rate.

Preferably, in order to prevent the device control command output from being changed during the override operation and the override release process, the device output sudden change balance control system may further comprise a tracking module 640, configured to detect an override condition or detect the super The condition is reduced, the tracking instruction is sent to the upstream controller, and the upstream controller receives the tracking instruction, and tracks the average value of the downstream device control instruction to control the upstream and downstream output balance. For example, in a system in which two downstream devices run in parallel, if the output of the upstream controller is unchanged and the output of one of the devices is changed, the output of the other device is controlled to change in the opposite direction to keep the sum of the outputs of the two devices unchanged. .

It should be noted that the comprehensive operation module 610 is further configured to obtain a maximum rate of increase/decrease of the device control command according to an actual maximum rate of change of the device output;

The lifting control module 630 is further configured to detect that a predetermined over-achieving target value is reached, or an over-achieving condition disappears, the device control instruction stops increasing; and the predetermined over-achieving-reduction target value is detected. When the reaching, or overtaking, condition disappears, the device control command stops decreasing.

Preferably, the device output sudden balance control system further includes a bias control module, configured to receive a downstream device output master control signal sent by the upstream controller, and the downstream device output master control signal is set by the upstream controller according to the device output value. And the device output measurement is worthwhile; and the corresponding device control instruction is obtained according to the biasing operation of the downstream device output master signal. The lifting control module 630 is further configured to adjust the device output according to the device control instruction.

According to the embodiment of the device output sudden change balance control system in the above example, the override control can be ensured by overriding the control while ensuring that the output of the device is not overrun, the deviation of the adjusted parameter is small, and other related parameters are based on the safety range. The non-linear characteristics of the control command and the output of the equipment are used to increase the output of the equipment in the fastest possible speed, so that the unit can quickly reach a safe and stable new working condition, and greatly improve the success rate of the unit RB and FCB.

It should be noted that the information interaction, the execution process, and the like between the modules/units in the foregoing embodiments are based on the same concept as the foregoing method embodiments of the present invention, and the technical effects thereof are the same as the foregoing method embodiments of the present invention. For details, refer to the description in the method embodiment of the present invention, and details are not described herein again.

In addition, in the implementation manner of the device output mutation balance control system of any of the above examples, the logical division of each function module is only an example, and the actual application may be according to requirements, for example, the configuration requirements of the corresponding hardware or the convenience of software implementation. It is considered that the above function assignment is completed by different functional modules, that is, the internal structure of the device output sudden balance control system is divided into different functional modules to complete all or part of the functions described above.

In the above embodiments, the descriptions of the various embodiments are all focused, and the parts that are not detailed in a certain embodiment can be referred to the related descriptions of other embodiments.

In addition, each functional module in the foregoing various embodiments of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

The above is a description of the method and system for controlling the output force balance of the device provided by the present invention. For those skilled in the art, according to the idea of the embodiment of the present invention, there will be changes in the specific implementation manner and the application range. The contents of this specification are not to be construed as limiting the invention.

Claims

The device output mutation balance control method is characterized in that it comprises:

Obtaining the output information of the device including the rated output of the device, the current output of the device, the adjusted amount of the device, and the measured amount of the device, and obtaining the control condition for the device to override the device according to the output information of the device, wherein the device exceeds the control condition including the override Increasing conditions and overtaking conditions;

Detecting the over-expansion condition and over-subtraction condition of the output of the equipment;

If an override condition is detected, the device control command is incremented at a predetermined rate, and if an override condition is detected, the device control command is decreased at a predetermined rate.
The device output sudden change balance control method according to claim 1, wherein the detecting device outputs an override condition and an override condition, and then includes:

If an override condition is detected or an override condition is detected, a tracking instruction is sent to the upstream controller; the upstream controller receives the tracking instruction and tracks the average of the downstream device control commands to control the upstream and downstream output balance.
The device output sudden change balance control method according to claim 2, wherein said tracking the average value of the downstream device control command to control the upstream and downstream output balances, including

In the system where two downstream devices run in parallel, if the output of the upstream controller is unchanged and the output of one of the devices is changed, the output of the other device is controlled to change in the opposite direction to keep the sum of the output of the two devices unchanged.
The device output sudden change balance control method according to claim 1, wherein the device control command is increased according to a predetermined rate, and the device control command is increased according to a predetermined rate, and the method further includes:

The maximum rate of increase/decrease of the device control command is obtained according to the actual maximum rate of change of the device output;

The device control instruction is increased according to a predetermined rate, and then includes,

If it is detected that the predetermined over-achieving target value is reached, or the over-achieving-increasing condition disappears, the device control instruction stops increasing;

The device control instruction is reduced according to a predetermined rate, and then includes,

When it is detected that the predetermined overshoot reduction target value is reached, or the override reduction condition disappears, the device control command stops decreasing.
The device output force balance control method according to claim 1, further comprising:

Receiving the main device output control signal sent by the upstream controller, the downstream device output main control signal is estimated by the upstream controller according to the device output setting value and the device output measurement; according to the downstream device output main control signal, the offset operation is performed. The corresponding device control instruction is obtained.
The device output sudden balance control system is characterized in that it comprises:

The integrated computing module is configured to obtain the output information of the device including the rated output of the device, the current output of the device, the adjusted amount of the device, and the measured amount of the device, and the device output override condition is obtained according to the output information of the device, and the device outputs a power exceeding The control conditions include an override condition and an override condition;

The detecting module is configured to detect an overtaking condition and an overtaking condition of the output of the device;

The lifting control module is configured to increase the device control command according to a predetermined rate if the override condition is detected, and if the override condition is detected, the device control command is decreased according to the predetermined rate.
The device output sudden force balance control system according to claim 6, further comprising:

The tracking module is configured to send a tracking instruction to the upstream controller if the over-achieving condition is detected or the over-subtracting condition is detected, and the upstream controller receives the tracking instruction, and tracks an average value of the downstream device control instruction to control the upstream and downstream Output balance.
The device output sudden balance control system according to claim 7, wherein said tracking the average value of the downstream device control command to control the upstream and downstream output balances, including

In the system where two downstream devices run in parallel, if the output of the upstream controller is unchanged and the output of one of the devices is changed, the output of the other device is controlled to change in the opposite direction to keep the sum of the output of the two devices unchanged.
The device output sudden balance control system according to claim 6, wherein the integrated computing module is further configured to obtain a maximum rate of increase/decrease of the device control command according to an actual maximum rate of change of the device output;

The lifting control module is further configured to detect that the predetermined over-achieving target value is reached, or the over-speeding-increasing condition disappears, the device control instruction stops increasing; and detecting that the predetermined over-achieving-reduction target value is reached, or exceeds The relaxation condition disappears and the device control command stops decreasing.
The device output sudden force balance control system according to claim 6, further comprising:

a bias control module, configured to receive a downstream device output master control signal sent by the upstream controller, where the downstream device output master control signal is determined by the upstream controller according to the device output set value and the device output measurement; and according to the downstream device The output master control signal is subjected to an offset operation to obtain a corresponding device control command.