CN102437809A - Method for controlling speed regulating system of hydroelectric unit in island mode - Google Patents
Method for controlling speed regulating system of hydroelectric unit in island mode Download PDFInfo
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Abstract
The invention discloses a method for controlling a speed regulating system of a hydroelectric unit in an island mode. The speed regulating system of the hydroelectric unit is adjusted by using double-integral links. The method is characterized in that: according to the operating state of the hydroelectric unit, parameters in an integral formula are adjusted; when the hydroelectric unit normally operates, Ex in the formula is 0.5 Hz, and Bp is 4 percent; when the hydroelectric unit steadily operates in the island mode, the Ex in the formula is 0.5 Hz, and the Bp is equal to 1 percent; and when the hydroelectric unit dynamically operates in the island mode, the Ex in the formula is 0.1 Hz, and the Bp is less than or equal to 0.001 percent. Various kinds of regulation modes are connected in parallel; when a load of a system electric network highly fluctuates to cause high frequency fluctuation, a high-frequency proportion integration differentiation (PID) controller is adopted for closed-loop control; and when the hydroelectric unit steadily operates, the aim of micro and slow adjustment of the system is fulfilled by using a small integral mode. The method has the advantages that: the states and the parameters can be automatically switched without manual interference; automatic regulation is perfect; and a regulation effect is better.
Description
Technical field
The invention belongs to electric power system automatic technique field, be specifically related to a kind of control method that is applicable to the Hydropower Unit governing system under the isolated island pattern.
Background technology
At present; The water turbine governing system of Hydropower Unit realizes that machine class frequency and power control have three kinds of control methods: frequency mode; Meaning is that speed regulator is given as desired value with certain frequency, with the frequency feedback control logic of feedback unit the most, realizes that finally the machine class frequency reaches to provisioning request.Under Light Condition, speed regulator will be kept unit to the frequency set-point, and frequency dead band Ex and difference coefficient BP are all 0; Such as generating state, system frequency surpasses Ex, and the frequency modulation action is participated in regulating.Aperture pattern, meaning are that speed regulator is given as desired value with certain guide vane opening, with the guide vane opening feedback control logic as feedback unit, realize that finally guide vane opening adjusts to provisioning request.Under generating state, speed regulator will be kept guide vane opening to given aperture, and it is meritorious to keep certain unit with this, and at this moment, Ex and BP have certain numerical value.Power mode, promptly speed regulator is a desired value with the given Pgv of certain active power, as feeding back, realizes finally that the power of the assembling unit adjusts to provisioning request with the meritorious feedback of unit.Under generating state, speed regulator is accepted monitoring and is issued Pgv numerical value, and self arrives target value through given with the feedback holding power, and at this moment, Ex and BP have certain numerical value.
The isolated island pattern is a kind of abnormal operational mode under the at present big network system, and each power station can often exist because of various factors (the band water resistance is with local island load etc. for distant place load rejection, band station service) at home.The Hydropower Unit of moving under this operating mode tends to because lack in the above-mentioned control method and cause adjusting function poor to the isolated island controlled function of governing system or function imperfection, even unit is uncontrollable at all.
The isolated island pattern also can be divided into the steady operation of isolated island pattern and two kinds of patterns of isolated island pattern dynamic operation: unit have certain load or frequency at 50 ± 0.5 Hz with interior and do not receive isolated island load rejection signal, belong to isolated island pattern steady state mode of operation; External load that unit is with gets rid of moment, and to stablize this section period be isolated island pattern dynamic operational to regulating.
Domestic each specialized factory all has certain experience to the speed regulator control method under the isolated island system with practicing at present, and common processing scheme is:
At first, the condition of judgement isolated island generally has two: one is the size of unit frequency departure 50Hz, and one is the rate of change of machine class frequency.When the two is big, be considered to little net operating mode, at this moment, under the prerequisite that oil switch closes, be the treating method of adjuster:
1), when the unit frequency f
MachineDuring＞52Hz, putting Ypid (control output) value is 0, and Pgv puts 0, and Ynld (no-load opening) remains unchanged, and lets unit close back at full speed; And prevented because the Pgv item causes the unit action rapid inadequately too greatly the problem that the rotating speed behind the set steady is too high.
2), as
＞0.5Hz; Put E=0, bp=0; Put unloaded parameter, let the unit fast and stable.
3), as
≤0.5Hz; Parameter when reduction is netted greatly; Letting unit get into has difference to regulate steady load normally.
Processing target for isolated island is: fast and stable is to being with the isolated island load, and frequency change is not too big, and transient process is not too long.Technique scheme can meet the demands as far as system of short duration, no high requirement basically.But such scheme does not have special isolated island discriminating gear to signal to speed regulator, and the parameter under the isolated island pattern is not set separately, for the target of isolated island normalization operation, has bigger gap.Simultaneously, it is worthy of note that current intelligent grid is according to the generator operation situation of unit; Stable device can be accomplished cutter or cutting load automatically according to high frequency or low frequency; Still rely on external technical measures to a great extent and accomplish the control of frequency and burden with power, technique scheme utilizes speed regulator autoscopy frequency change as criterion, judges whether to get into isolated island and accomplishes unloaded attitude and some conversions of generating attitude; Not too reasonable, there is certain risk.In addition, this technical scheme can't solve many units and is connected in parallel on the bus and moves the power oscillation of existence and phase modulation problem.
If isolated little load of unit band; Present processing policy generally is directly to get rid of the signal that is incorporated into the power networks, and lets speed regulator be in idle mode, and there is serious manual intervention in this mode; Run counter to the automatic operation principle of power plant; And can only under the operating mode of unit on-load, use, can't solve many units and be connected in parallel on the bus and move the power oscillation of existence and phase modulation problem.Also have other a kind of mode, knowing in advance under the prerequisite that will get into little net pattern exactly, artificially switch the handle of big net/little net at the speed regulator terrain; Program inside is that Bp (difference coefficient) is called a smaller numerical value, do so more coarse, and because the existence of the given Pgv of active power; According to transferring the difference characteristic, unit will be kept the effect that a higher frequency could be offset Pgv, and frequency can be unstable; Outside the critical point of dead band; Having a kind ofly (just has a kind of trend, can controlled effect pull back, but frequency fluctuation is big to the high frequency direction fluctuation tendency; Fluctuation size and Pgv are proportional).
Summary of the invention
The present invention is for addressing the above problem, provide a kind of need not human intervention, fully can realize automatically the switching of state and parameter, regulate and put in place and regulating effect is used for the control method of the Hydropower Unit governing system under the isolated island pattern preferably automatically.
Technical scheme of the present invention provides the control method of the Hydropower Unit governing system that is used under the isolated island pattern; It is characterized in that: its control of adopting the double integrator formula of little integral element and big integral element to calculate guide vane opening is exported Ypid with adjustment Hydropower Unit governing system, wherein:
The integral formula of little integral element is: Yi '=Yi '+KI ' * X ', and its X '=X '-Bp ' * Yi ', X '=(fg-fs)-Ex ',
The control output Ypid '=Yp '+Yi '+Yd ' of the guide vane opening of little integral element; And Yp '=-KP ' * X '; Yi '=-KI ' *
, YD '=-KD ' * (dX '/dt ');
The integral formula of big integral element is: Yi=Yi+KI*X, and X=X-Bp* Yi wherein, X=(fg-fs)-Ex,
The control output Ypid=Yp+ Yi+ Yd of the guide vane opening of big integral element, and
Yp?=?-KP*?X，Yi=?-KI*
，YD?=?-?KD?*(?dX?/?dt)；
In the formula, Fg is that frequency is given, and fs is a system frequency; Yi ' and Yi are that the guide vane opening of integration conversion is given, Ex ' and Ex are that frequency dead band, KI ' and KI are storage gain, and KP ' and KP are proportional gain, and KD ' and KD are the differential gain; X ' and X are frequency departure, and Yp ' and Yp are for given for the guide vane opening of ratio conversion, and Yi ' and Yi are given for the guide vane opening of converting for integration; Yd ' and Yd are given for the guide vane opening of converting for integration, and dt ' and dt are differential.
Preferably, it adjusts the parameter in this integral formula in real time according to the running status of Hydropower Unit:
When Hydropower Unit was in the normal state operation, little integral element was never called, and the Ex in the integral formula of big integral element is that 0.5Hz, Bp are 4%, KP=4, KI=3, KD=1;
When Hydropower Unit was in the steady operation of isolated island pattern, little integral element was called with big integral element simultaneously, the Ex in the setting formula be 0.5Hz, Bp smaller or equal to 1%, KP=4, KI=0.3, KD=1, Ex ' are 0.05Hz, KI '=0.1,
When Hydropower Unit was in isolated island pattern dynamic operation, little integral element was called with big integral element simultaneously, the Ex in the setting formula be 0.1Hz, Bp smaller or equal to 0.01%, KP=4, KI=0.3, KD=1, Ex ' are 0.05Hz, KI '=0.1.
Preferably; When Hydropower Unit is in the steady operation of isolated island pattern; After the system frequency of Hydropower Unit governing system is less than 0.05Hz, give power given Pgv with the given transfer of Yi ' that integration produces, keep given Gv_Give of original guide vane opening and guide vane opening Gv_Fdbk in the transfer process.
Preferably, when said Hydropower Unit governing system receives isolated island load rejection signal and Hydropower Unit frequency when 50.5 Hz are above, the parameter of adjusting said big integral element is: Bp is smaller or equal to 0.01%, Ex=0.1Hz, power given Pgv=0.
Preferably, after 3 minutes, the parameter of adjusting in the said integral formula is after said Hydropower Unit governing system receives isolated island load rejection signal: Ex is that 0.5Hz, Bp are smaller or equal to 1%.
The control method that is used for the Hydropower Unit governing system under the isolated island pattern of the present invention adopts the combination that is in parallel of multiple adjusting pattern; In case the load fluctuation of system's electrical network is bigger; So that when causing big frequency fluctuation; Adopt big frequency PID to participate in closed-loop control rapidly, under the effect of big integration, regulate highly beneficial the great fluctuation process of system frequency great fluctuation process (relative) and waterpower transient process; When stable state, adopt little integral mode to reach the purpose of trace, slow Adjustment System.The present invention have need not human intervention, fully can realize automatically the switching of state and parameter, automatically regulate and put in place and advantage such as regulating effect is better.
Description of drawings
Fig. 1 is the functional schematic that is used for the control method of the Hydropower Unit governing system under the isolated island pattern of the present invention;
Fig. 2 be the Hydropower Unit governing system under the isolated island pattern, load the increase and decrease schematic diagram;
Fig. 3 is that the Hydropower Unit governing system is at isolated island pattern lower frequency adjustment schematic diagram;
Fig. 4 is the load rejection under the isolated island pattern of Hydropower Unit governing system, frequency and aperture adjustment schematic diagram.
Embodiment
Following specific embodiments of the invention is described in further detail.
Like Fig. 1, the control method that is used for the Hydropower Unit governing system under the isolated island pattern of the present invention, the strategy that frequency modulation pattern under the employing normal power generation state and the little integral mode under the isolated island pattern combine.Ex under the frequency modulation pattern is 0.5Hz, and Bp is 1%, and the Ex ' under little integral mode is 0.05Hz, promptly big frequency PID (important parameter in the control system) link.Big at home capacity, large-scale isolated island system; The function of frequency adjustment is not only born by governing system; For balanced load; At a jumbo frequency limitation device of current conversion station operated by rotary motion (FLC) load of isolated island system is carried out balance, and then the stability of frequency of maintenance, so the present invention adopts 0.5Hz as Ex (dead band).
The characteristics of little integral mode are quoted an integral element separately, and the storage gain of integral element to be wanted remarkable storage gain less than big frequency link; The frequency dead band of this link is less than the Ex of frequency modulation pattern; In addition, little integral element is an open loop, promptly; If the aperture that the result of integration causes changes and to have made system frequency reduce with variable power or be elevated in the little dead band, this result of calculation will keep the effect of current calculated value on total guide vane opening is given, to reach change system loading and frequency like " stepping "; Rather than quote feedback (Bp*Yi); In a single day regulate getting into the dead band, aperture turns back to initial value again, so that have frequency departure.
These two kinds of adjusting patterns are in parallel and combine the advantage of strategy to be; In case the load fluctuation of system's electrical network is bigger; So that when causing big frequency fluctuation; Big frequency PID link is participated in closed-loop control rapidly, under the effect of big integration, regulates highly beneficial to the great fluctuation process of system frequency great fluctuation process (relative) and waterpower transient process.When tending towards stability; Because big frequency integrator link is to have difference to regulate; If (automatic generation control: automatic generation control of hydropower station) do not participate in " interference ", system frequency must may not meet the demands in the critical point fluctuation of Ex AGC.At this moment, introduce the little integral element of an open loop, system frequency is carried out integration " repairing ", reach the purpose of trace, slow Adjustment System active power.Simultaneously, in case adjust in the little dead band of frequency, the numerical value that this adjustment process calculates through an initialization, is transferred to this value on the Pgv, and purpose is to let Yi ' (little integration output) clear 0.In the initialization procedure or two links when not participating in regulating, keep current stator given constant, and carry out initial preparation, impacted with the accumulation numerical value that prevents original maintenance for following calculating with the aperture result.
The isolated island system, some the units in single power station are not with external any load, and unit only depends on circuit to connect, and the unit of the unit band phase modulation of unit band station service or generating is called " absolute isolated island system ".The generation of this pattern generally is on the basis of " relatively isolated island system " load rejection to take place to cause.
If " absolute isolated island system " takes place, restive is the frequency and meritorious control in generating process.This moment, governing system was after the order of receiving distant place load rejection; The parameter constant of the PID link of big frequency, and the dead band of this moment becomes 0.1 Hz by 0.5 Hz, Bp becomes a minimum by 1%; Remove the Pgv that added up originally simultaneously, and the control of locking monitoring AGC.This load rejection order generally is a moving pulsed quantity of a wink.When absolute isolated island pattern is eliminated, outside do not judge this give governing system, can not be incorporated into the power networks again again within 3 minutes but similar phenomenon rule of thumb generally takes place, and governing system can have been stablized generating unit speed in 2 minutes.So inner in governing system, done a time-delay, after three minutes, control logic automatically restores to " isolated island system relatively " pattern, thinks that the back on-load that is incorporated into the power networks prepares.
As shown in Figure 2, under the isolated island pattern, normal increasing and decreasing load, if this mode possesses normalization, General System will be provided with frequency regulation arrangement.FLC is exactly a kind of means.If governing system is under networking (big net) state at present, system dead band not overfrequency is provided with the dead band, and speed regulator just is in a kind of aperture closed loop mode.Because it is all very reliable that the tremendous development of Along with computer technology, software still are hardware,, so more help collection control, scheduling realization better, the effect of bigger performance AGC so domestic present power closed-loop control function generally is made in computer supervisory control system.So speed governing is carried out link as one; When receiving that monitoring increases merit (increase and make); Be accompanied by the monitoring increase and make the step-length of pulse and the length of interpulse period, do the accumulation of corresponding power given Pgv, given with increasing stator; And then carry out corresponding stator closed-loop adjustment to reach the purpose that increases unit output, monitoring receives that the meritorious variation of unit is as feedback introducing its power closed-loop system and then adjusting.This and normal the United Nations General Assembly net do not have essential distinction.Even if this function under the isolated island pattern, also should keep.The Reduction of Students' Study Load lotus roughly the same.
Suppose under the isolated island pattern that in case load fluctuation causes that frequency surpasses the dead band, governing system will be regulated according to as shown in Figure 3.Suppose that the isolated island pid parameter is: KP=3, KI=0.3, KD=1; The isolated island dead band is 0.5Hz, transfers difference Bp=1%; Little integration dead band is 0.05Hz, storage gain Ki '=0.1.No-load opening=10%.Stator generating attitude, frequency is stable in the dead band, and aperture is 40%.Power given Pgv=30%.Suppose that this moment, frequency was suddenlyd change to 50.7Hz (actual impossible and shown in Figure 3, as for the ease of describing, to plot vertical line) by 50 Hz suddenly, surpassed the 0.5Hz dead band that is provided with, according to transferring poor characteristic, 0.2Hz is calculated, Ypid can be by the aperture of 0% downward modulation 4%.Simultaneously, because the dead band has surpassed 0.05 Hz of little integral element, this integration is also participated in regulating and is calculated.Suppose that 8 seconds system frequencies returned to 50Hz, according to the meaning of integration, integration was carried out to 0.65Hz in storage gain Ki '=0.1 in 8 seconds, can calculate the downward modulation amount of YI '=1.04%.An integration accumulation like this; At system restoration at 49.95-50.05 Hz with after interior, program is inner rapidly through initialization, and this value is transferred on the Pgv; Pgv becomes 28.94% by 30%, keeps the adjusted aperture of little integration constant but total stator is given with guide vane opening.These two kinds of patterns combine, and have just very ideally overcome intrasystem power of fragile isolated island and frequency size fluctuation problem.
In case when running into the isolated island load rejection (" absolute isolated island system ", dynamically), like Fig. 3, governing system is received isolated island load rejection signal, simultaneously determination frequency when 50.5 Hz are above, immediately with Bp=0, dead band Ex=0.1Hz, power given Pgv=0.Transfer difference to put 0 purpose and be, simulate and a kind ofly advance the same environment of unloaded attitude just like the net load rejection of normal the United Nations General Assembly to one of stator adjusting range significantly; The dead band purpose that diminishes is rapidly machine to be retracted frequently specified, and suppresses the meritorious concussion of each machine; The Pgv=0 purpose is to let the given equalization of stator of each unit, occur to prevent the degree of depth phase modulation phenomenon after the stable state, and Pgv clear 0 has also guaranteed the rapid ShiShimonoseki of unit guide vane opening, prevents that the unit raising speed is too high.
Like Fig. 4, at the frequency building up transient, the quick complete shut-down of guide vane opening, generating unit speed rises to certain numerical value because inertia continues to rise, and frequency begins to descend, and when the machine class frequency dropped to the 50Hz left and right sides, because speed regulator PID characteristic, stator lifted once more.Near rated speed, stable until the unit frequency stabilization.
Above embodiment is merely the present invention's a kind of execution mode wherein, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the present invention's design, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with accompanying claims.
Claims (5)
1. be used for the control method of the Hydropower Unit governing system under the isolated island pattern, it is characterized in that: its control of adopting the double integrator formula of little integral element and big integral element to calculate guide vane opening is exported Ypid with adjustment Hydropower Unit governing system, wherein:
The integral formula of little integral element is: Yi '=Yi '+KI ' * X ', and its X '=X '-Bp ' * Yi ', X '=(fg-fs)-Ex ',
The control output Ypid '=Yp '+Yi '+Yd ' of the guide vane opening of little integral element; And Yp '=-KP ' * X '; Yi '=-KI ' *
, YD '=-KD ' * (dX '/dt ');
The integral formula of big integral element is: Yi=Yi+KI*X, and X=X-Bp* Yi wherein, X=(fg-fs)-Ex,
The control output Ypid=Yp+ Yi+ Yd of the guide vane opening of big integral element, and
Yp?=?-KP*?X，Yi=?-KI*
，YD?=?-?KD?*(?dX?/?dt)；
In the formula, Fg is that frequency is given, and fs is a system frequency; Yi ' and Yi are that the guide vane opening of integration conversion is given, Ex ' and Ex are that frequency dead band, KI ' and KI are storage gain, and KP ' and KP are proportional gain, and KD ' and KD are the differential gain; X ' and X are frequency departure, and Yp ' and Yp are for given for the guide vane opening of ratio conversion, and Yi ' and Yi are given for the guide vane opening of converting for integration; Yd ' and Yd are given for the guide vane opening of converting for integration, and dt ' and dt are differential.
2. the control method that is used for the Hydropower Unit governing system under the isolated island pattern according to claim 1 is characterized in that: it adjusts the parameter in this integral formula in real time according to the running status of Hydropower Unit:
When Hydropower Unit was in the normal state operation, little integral element was never called, and the Ex in the integral formula of big integral element is that 0.5Hz, Bp are 4%, KP=4, KI=3, KD=1;
When Hydropower Unit was in the steady operation of isolated island pattern, little integral element was called with big integral element simultaneously, the Ex in the setting formula be 0.5Hz, Bp smaller or equal to 1%, KP=4, KI=0.3, KD=1, Ex ' are 0.05Hz, KI '=0.1,
When Hydropower Unit was in isolated island pattern dynamic operation, little integral element was called with big integral element simultaneously, the Ex in the setting formula be 0.1Hz, Bp smaller or equal to 0.01%, KP=4, KI=0.3, KD=1, Ex ' are 0.05Hz, KI '=0.1.
3. the control method that is used for the Hydropower Unit governing system under the isolated island pattern according to claim 2; It is characterized in that: when Hydropower Unit is in the steady operation of isolated island pattern; After the system frequency of Hydropower Unit governing system is less than 0.05Hz; Give power given Pgv with the given transfer of Yi ' that integration produces, keep given Gv_Give of original guide vane opening and guide vane opening Gv_Fdbk in the transfer process.
4. the control method that is used for the Hydropower Unit governing system under the isolated island pattern according to claim 2; It is characterized in that: when said Hydropower Unit governing system receives isolated island load rejection signal and Hydropower Unit frequency when 50.5 Hz are above; The parameter of adjusting said big integral element is: Bp is smaller or equal to 0.01%; Ex=0.1Hz, power given Pgv=0.
5. the control method that is used for the Hydropower Unit governing system under the isolated island pattern according to claim 4; It is characterized in that: after 3 minutes, the parameter of adjusting in the said integral formula is after said Hydropower Unit governing system receives isolated island load rejection signal: Ex is that 0.5Hz, Bp are smaller or equal to 1%.
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Address after: Nan Shui Road Gulou District of Nanjing city of Jiangsu Province, No. 8 210003 Patentee after: State Grid Electric Power Research Insititute Patentee after: Huaneng Group Lancang River hydropower limited company Address before: Nan Shui Road Gulou District of Nanjing city of Jiangsu Province, No. 8 210003 Patentee before: State Grid Electric Power Research Insititute Patentee before: Huaneng Lancang River Hydropower Co., Ltd. |