CN102789824A - Debugging method and system for closed-loop control system of nuclear power plant - Google Patents
Debugging method and system for closed-loop control system of nuclear power plant Download PDFInfo
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Abstract
The invention discloses a debugging method and system for a closed-loop control system of a nuclear power plant. The debugging method comprises the following steps: A, a parameter design value input in an off-line checking table by a user is received to generate a checking message; B, a control parameter of a PID (Proportion Integration Differentiation) controller is verified and adjusted according to the checking message; C, the verified and adjusted control parameter is optimized under a disturbance operating condition; D, the control parameter of the PID controller and/or the logic and related constant value of the PID controller are/is modified under an instantaneous condition so as to ensure the normal response of the closed-loop control system under the instantaneous condition. According to the technical scheme disclosed by the invention, the debugging risk of the closed-loop control system is reduced, the debugging cycle of the closed-loop control system is shortened, the operation quality of a unit is improved, and good economic benefits are obtained.
Description
Technical field
The present invention relates to the nuclear power field, relate in particular to the adjustment method and the system of a kind of nuclear power plant closed-loop control system.
Background technology
Control system (comprising nuclear island control system and conventional island control system) is the nervous centralis of nuclear power plant, and closed-loop control system then is the core of nervous centralis.During the unit steady-state operation, closed-loop control system makes power plant's major parameter as far as possible near the optimal value of nuclear power plant's designing requirement, and the output power of power plant is remained in the desired scope, and amplitude peak improves the economical and stable of unit; When operation transient or equipment failure, closed-loop control system keeps power plant's major parameter in the scope that is allowed, and reduces the action of generator protection system as far as possible, weakens the influence of unexpected operating mode to unit operation and equipment, improves the security of unit.
The debugging of closed-loop control system is as the core content of unit debugging, and risk is high, difficulty is big, the cycle is long.It is low that nuclear power plant's closed-loop control system debugging faces nuclear island auxiliary system design parameter availability; Conventional island technology change significantly the logical and definite value availability that (the nuclear island part basically identical of same technology path nuclear power plant, and the conventional island part often differs greatly) bring low, do not have the design controlled variable, can not reference parameter and the problem of logic.And adopt nuclear power plant's closed-loop control system of digitizer control system (Digital Control System) to debug, also face the complicated huge challenge of software configuration that Digitizing And Control Unit causes.
For a long time; Take the on-the-spot debugging technique that places one's entire reliance upon in large power plant closed-loop control system debugging field always; The throwing first of promptly after unit has been set up the dynamic operation condition of band working medium, carrying out control system is automatic; And parameter tuning and logic optimization, this also is that present conventional thermoelectricity, chemical industry or other process industry field are by the closed-loop control system debugging mode that extensively adopts.But this debud mode that depends on the scene has following shortcoming:
Shortcoming one is because directly carrying device action or test under actual condition; Problem because of control configuration parameters setting or control strategy causes the unstable or vibration of system easily; The relevant control system of nuclear island particularly; Be prone to cause the unit operation unscheduled event, risk is bigger, and not being suitable for has the closed-loop control system debugging of the nuclear power plant of nuclear safety specific (special) requirements.
Shortcoming two is long in time limit, because closed-loop control system debugging is the critical path of unit debugging, the improper or policing issue of any configuration all can cause the delay of the whole debugging progress of unit, has increased the time of unit single system and uniting and adjustment stage repetition test and adjustment.
Summary of the invention
The technical matters that the present invention will solve is; The defective that on-line debugging has a big risk, debug time is long is adopted in debugging to the above-mentioned nuclear power plant closed-loop control system of prior art; The adjustment method of a kind of nuclear power plant closed-loop control system is provided; Reduce the risk of debugging, shortened the cycle of debugging, obtained good economic benefit.
The technical solution adopted for the present invention to solve the technical problems is: the adjustment method of constructing a kind of nuclear power plant closed-loop control system; Said nuclear power plant closed-loop control system comprises a plurality of closed loops; And each closed loop comprises at least one PID (Proportion Integration Differentiation; PID) controller, said adjustment method comprises:
A. receive the parameter designing value that the user imports in the off-line checklist, to generate check information;
B. according to said check information, the controlled variable of PID controller is verified or adjusted;
C. under the disturbance operating mode to the checking or adjust after controlled variable be optimized;
D. under transient condition, revise the controlled variable of PID controller and/or the logic and relevant definite value of modification PID controller, to guarantee the normal response of closed-loop control system under transient condition.
In the adjustment method of nuclear power plant of the present invention closed-loop control system, said step B comprises:
B1. if include the design load of the controlled variable of PID controller in the said check information, then use the open-loop test method that the configuration and the controlled variable of PID controller are verified;
B2. if do not include the design load of the controlled variable of PID controller in the said check information, then service test method of trial and error or test empirical method are adjusted to the controlled variable of PID controller.
In the adjustment method of nuclear power plant of the present invention closed-loop control system, said step B1 comprises:
B11. use the open loop step response method, calculate the theoretical output valve of this PID controller under given disturbance according to the design load of the controlled variable of PID controller, to obtain the ideal response curve of PID controller;
B12. according to the characteristics of PID controller the design load of the controlled variable of PID controller is carried out matching treatment, form the matching value of the controlled variable of PID controller;
B13. the matching value with the controlled variable of PID controller is set in the PID controller, adds step disturbance behind the operation PID controller, and the test response curve of record PID controller;
B14. the test response curve and the ideal response curve of PID controller are compared, thereby the configuration and the controlled variable of PID controller are verified.
In the adjustment method of nuclear power plant of the present invention closed-loop control system, in said step B2, the step that the service test method of trial and error is adjusted to the controlled variable of PID controller comprises:
B21. be set to 0 respectively integral time, the derivative time with the PID controller; The scale-up factor of PID controller is increased since 0.5 gradually; Until the overshoot of the response curve of PID controller less than 30% and attenuation ratio less than 1/4, and the current scale-up factor of record PID controller, whether the steady-state error of response curve of judging the PID controller then less than 5%; If, execution in step C then; If not, execution in step B22 then;
B22. the PID controller is current scale-up factor is reduced to original 50-80%, is set to 60s-120s again integral time, and reduces integral time gradually; And corresponding resize ratio coefficient, until steady-state error less than 5%, and record PID controller current scale-up factor, integral time; Whether the overshoot of response curve of judging the PID controller then is less than 30%; And whether attenuation ratio less than 1/4, if, execution in step C then; If not, execution in step B23 then;
B23. increase gradually starting from scratch the derivative time of PID controller; And correspondingly adjust current scale-up factor of PID controller and integral time; Repeatedly examination gather until the overshoot of the response curve of PID controller less than 30%, attenuation ratio less than 1/4 and steady-state error less than 5%, and record PID controller current scale-up factor, integral time, derivative time.
In the adjustment method of nuclear power plant of the present invention closed-loop control system, in said step B2, the step that the service test empirical method is adjusted to the controlled variable of PID controller comprises:
B25. confirm sampling period that the output valve and the setting value of PID controller are sampled in advance;
B26. the integral time of PID controller, derivative time are set to 0; And the scale-up factor of PID controller is increased since 0.5 gradually; Until this PID controller threshold oscillation is appearred in the response of input step signal, and write down current scale-up factor and threshold oscillation cycle;
B27. with continuously-time controller is the benchmark controller, and the controlled variable of this benchmark controller is identical with the controlled variable of this PID controller, calculates the degree of control of this PID controller according to following formula:
Wherein, e is the output valve of this PID controller and the error of setting value, and e ' is the output valve of benchmark controller and the error of setting value;
B28. according among said degree of control and the step B26 the scale-up factor that writes down and threshold oscillation cycle scale-up factor, integral time, derivative time of calculating the PID controller through the control parameter list of PID controller; Wherein, the control parameter list of said PID controller is in advance according to expanding critical proportion zone method and definite.
In the adjustment method of nuclear power plant of the present invention closed-loop control system, after said step B28, also comprise:
Set into the scale-up factor that B29. will obtain, integral time, derivative time the PID controller through searching; Operation PID controller; And to adjusting accordingly scale-up factor, integral time, the derivative time of PID controller; So that the overshoot of the response curve of PID controller less than 30%, attenuation ratio less than 1/4 and steady-state error less than 5%, and record PID controller current scale-up factor, integral time, derivative time.
In the adjustment method of nuclear power plant of the present invention closed-loop control system, said step C comprises:
C1. through revising the setting value of PID controller, introduce the step signal of ± 10% range respectively;
C2. calculate attenuation ratio, overshoot and the steady-state error of the closed loop at this PID controller place;
C3. judge attenuation ratio whether less than 1/4, overshoot whether less than 30% and steady-state error whether less than 5%; If then carry out step D; If not, then carry out step B2, carry out suboptimization again with controlled variable to the PID controller.
In the adjustment method of nuclear power plant of the present invention closed-loop control system, said step D comprises at least one in following:
Through in the PID controller, increasing transient condition monitoring logic so that the PID controller is monitored the generation of transient condition in real time;
The PID controller through corresponding controlled variable under the increase transient condition in the PID controller, and when transient condition takes place, the controlled variable under the steady state condition switched to the controlled variable under the transient condition, so that all can be worked under steady state condition and transient condition;
Through revising the logic of PID controller, so that topworks moves in advance under the transient condition;
Through revising the definite value of PID controller, to guarantee under transient condition, the not causing protection system action.
The present invention also constructs the debug system of a kind of nuclear power plant closed-loop control system, and said nuclear power plant closed-loop control system comprises a plurality of closed loops, and each closed loop comprises at least one PID controller, and said debug system comprises:
Receiver module is used for receiving the parameter designing value that the user imports at the off-line checklist, to generate check information;
The checking or the module of adjusting are used for according to check information, and the controlled variable of PID controller is verified or adjusted;
Optimal module, be used under the disturbance operating mode to the checking or adjust after controlled variable be optimized;
Modified module is used for logic and relevant definite value at the controlled variable of under transient condition, revising the PID controller and/or modification PID controller, to guarantee the normal response of closed-loop control system under transient condition.
In the debug system of nuclear power plant of the present invention closed-loop control system, the said checking or the module of adjusting comprise:
Authentication unit is used for then using the open-loop test method that the configuration and the controlled variable of PID controller are verified if check information includes the design load of the controlled variable of PID controller;
The unit of adjusting is used for if check information does not include the design load of the controlled variable of PID controller, and then service test method of trial and error or test empirical method are adjusted to the controlled variable of PID controller.
The technical scheme of embodiment of the present invention; Owing under the off-line operating mode, in advance configuration and controlled variable are verified; Under band working medium operating mode, parameter and logic are adjusted and optimize, reduced the risk of closed-loop control system debugging, shortened the cycle that closed-loop control system is debugged through standardized means; Improve the running quality of unit, obtained good economic benefit.
Description of drawings
To combine accompanying drawing and embodiment that the present invention is described further below, in the accompanying drawing:
Fig. 1 is the process flow diagram of the adjustment method embodiment one of nuclear power plant of the present invention closed-loop control system;
Fig. 2 is the process flow diagram of step B embodiment one among Fig. 1;
Fig. 3 is the process flow diagram of step B1 embodiment one among Fig. 2;
Fig. 4 is the process flow diagram of step B2 embodiment one among Fig. 2;
Fig. 5 is the process flow diagram of step B2 embodiment two among Fig. 2;
Fig. 6 is the process flow diagram of step C embodiment one among Fig. 1;
Fig. 7 is the logical diagram of the debug system embodiment one of nuclear power plant of the present invention closed-loop control system.
Embodiment
Nuclear power plant's closed-loop control system often runs into following problem when adopting non-at-scene debugging:
1) software module of digitizer control system is compared with rack/plate that traditional analog is regulated, and stability is high, and it is many parameter to be set, and selectable punction is strong.But describe owing to often only control system is carried out principle in the design document; Can not cover whole parameters of each module in the digitizer control system yet; Cause quantity of parameters in configuration and setting, not have unified standard; And software configuration side (design side outer independent third party) often do not understand the details of nuclear power plant's closed-loop control system fully, can not consider the difference of digitizer control system software module, to above-mentioned parameter that otherness is set is very big; And in the unit debugged program system that adopts digitizer control system; All do not comprise the link (but not in the debugging of digitized control system each PID controller all being had a corresponding check information) that above-mentioned whole parameters are checked and verified; Cause above-mentioned parameter before system throws automatically, can't check, and any parameter be provided with improper all will be to the control effect of control system even the big influence of safety generation of unit.
2) compare with the reference unit of constructed route; Core control system (loop that reactor control is directly related); Parameter designing value availability is higher; But relevant supplementary controlled system is because variations such as process aspect lectotype selection, pipeline aperture, valve are bigger, and it is low that its parameter designing value changes applicability, need carry out parameter optimization with the long time.
3) compare with the reference unit of constructed route, conventional island system equipment and technique change are often very big, and relevant control system does not have design parameter and reference parameter, require in the actual debugging of unit, correlation parameter to be adjusted.In addition, a large amount of logics and definite value are inapplicable in the design, are prone to cause the jumping machine and jump the heap incident, need be optimized these logics and definite value according to the transient condition demand.
Controlled variable to nuclear island system in the debugging of nuclear power plant closed-loop control system is not proofreaied and correct, the conventional island system does not have design controlled variable, parameter and logic need be optimized significantly and problem such as modification; When closed-loop control system was debugged, need adjust to the controlled variable of nuclear power plant's closed-loop control system was optimized with control strategy.
Fig. 1 is the process flow diagram of the adjustment method embodiment one of nuclear power plant of the present invention closed-loop control system; At first explanation is; Nuclear power plant's closed-loop control system comprises a plurality of closed loops; And each closed loop comprises at least one PID controller, and, the debug process of nuclear power plant's closed-loop control system is PID controller to each closed loop carries out the process that controlled variable is adjusted and optimized with control strategy.In this embodiment, the adjustment method of this nuclear power plant's closed-loop control system comprises:
A. receive the parameter designing value that the user imports in the off-line checklist; To generate check information; In this step; What need explanation is; The parameter designing value that the user imported is according to analytic system technology/control flow under the off-line operating mode and steering logic, consult relevant handbook, confirm controlled plant static characteristics, decorrelation primary instrument and the performance of topworks, the configuration verification file that forms each controller, analytic system disturbance risk that native system and other interconnected systems are brought obtain, the standardization off-line check information table of the controller of certain closed loop as shown in table 1 is behind the off-line analysis; Write the relevant informations such as type, range, topworks's type, design parameter of controlled quentity controlled variable, generate the parameter designing value in the check information;
Table 1
B. according to check information, the controlled variable of PID controller is verified or is adjusted in this step, what need explanation is, through in the last step to the off-line analysis of controller, confirmed the numerical value and the meaning of each parameter, guaranteed the key property of control system.But in the unit that adopts digitizer control system, complicated because the parameter of closed-loop control module is many, must effectively verify these parameters or adjust through effective method.According to the correlation parameter in the table 1; If what the closed loop at this controller place was corresponding is the nuclear island control system, then the controlled variable of the controller in the table 1 (pid parameter comprises scale-up factor, integral time, derivative time, the differential gain) design side generally can provide; Promptly; Will comprise the design load of the controlled variable of user's input in the check information, then in this case, only need verify the controlled variable of this controller when this controller is debugged; If what the closed loop at this controller place was corresponding is the conventional island control system; Then the controlled variable design side of the controller in the table 1 generally can not provide; Promptly; The design load that just can not comprise the controlled variable of user's input in the check information, then in this case, the controlled variable that need adjust this controller when this controller is debugged;
C. under the disturbance operating mode to the checking or adjust after controlled variable be optimized; In this step; Logic and definite value to control poor effect in the upset test have been carried out the specific aim modification, have realized the stable operation of closed-loop control system and to effective control of disturbance;
D. under transient condition, revise the controlled variable of PID controller and/or the logic and relevant definite value of modification PID controller, to guarantee the normal response of closed-loop control system under transient condition.
Fig. 2 is the process flow diagram of step B embodiment one among Fig. 1, and in this embodiment, step B comprises:
B1. if include the design load of the controlled variable of PID controller in the check information, then use the open-loop test method that the configuration and the controlled variable of PID controller are verified, can verify the correctness of parameter and configuration so in advance;
B2. if do not include the design load of the controlled variable of PID controller in the check information, then service test method of trial and error or test empirical method are adjusted to the controlled variable of PID controller, can improve the efficient and the accuracy of parameter tuning like this.
Open-loop test method among the step B1 of Fig. 2 specifies below in conjunction with Fig. 3, and the step of using the open-loop test method that the configuration and the controlled variable of PID controller are verified specifically comprises:
B11. use the open loop step response method, calculate the theoretical output valve of this PI D controller under given disturbance according to the design load of the controlled variable of PID controller, to obtain the ideal response curve of PID controller;
B12. according to the characteristics of PID controller the design load of the controlled variable of PID controller is carried out matching treatment, form the matching value of the controlled variable of PID controller, in this step, for example, and associative list 1, matching factor=(D2-D1)/(A2-A1); Scale-up factor=K* after the coupling (A2-A1)/(B2-B1); Integral time=Ti after the coupling; Derivative time=TD after the coupling; The differential gain=KD after the coupling;
B13. the matching value with the controlled variable of PID controller sets in the PID controller, adds step disturbance behind the operation PID controller, and the test response curve of record PID controller;
B14. the test response curve and the ideal response curve of PID controller are compared, thereby the configuration and the controlled variable of PID controller are verified.
According to the correlation parameter in the table 1; Reply nuclear island control system (control system that design load has been arranged) is based on the theoretical output valve of open loop step response method computing system under given disturbance; Obtain the ideal response curve of this system; Again the working control device is carried out step disturbance, test result and theoretical curve are compared, the function of its control system configuration and parameter is confirmed thereby accomplish.
Test method of trial and error to the step B2 of Fig. 2 specifies below in conjunction with Fig. 4, and the step that the service test method of trial and error is adjusted to the controlled variable of PID controller specifically comprises:
B21. the proportional control of adjusting: with being set to integral time, derivative time of PID controller 0 (promptly closing the integral action and the differential action) respectively; The scale-up factor of PID controller is increased since 0.5 gradually; Until the overshoot of the response curve of PID controller less than 30% and attenuation ratio less than 1/4, and the current scale-up factor of record PID controller, whether the steady-state error of response curve of judging the PID controller then less than 5%; If, execution in step C then; If not, execution in step B22 then;
B22. the integration control of adjusting: the scale-up factor that the PID controller is current is reduced to original 50-80%, is set to 60s-120s again integral time, and reduces integral time gradually; And corresponding resize ratio coefficient, until steady-state error less than 5%, and record PID controller current scale-up factor, integral time; Whether the overshoot of response curve of judging PI D controller then is less than 30%; And whether attenuation ratio less than 1/4, if, execution in step C then; If not, execution in step B23 then;
B23. the differential of adjusting control: increase gradually with starting from scratch the derivative time of PID controller; And correspondingly adjust current scale-up factor of PID controller and integral time; Repeatedly examination gather until the overshoot of the response curve of PID controller less than 30%, attenuation ratio less than 1/4 and steady-state error less than 5%, and record PID controller current scale-up factor, integral time, derivative time.
Test empirical method to the step B2 of Fig. 2 specifies below in conjunction with Fig. 5, and the step that the service test empirical method is adjusted to the controlled variable of PID controller specifically comprises:
B25. definite in advance sampling period TS that the output valve and the setting value of PID controller are sampled, TS should be less than 1/10th (digitizer control system satisfies this requirement fully) of controll plant pure delay time;
B26. are set to the integral time of PID controller, derivative time 0 (promptly closing the integral action and the differential action); And the scale-up factor KP of PID controller is increased since 0.5 gradually; Until this PID controller threshold oscillation (stabilised edge) is appearred in the response of input step signal; At this moment scale-up factor is designated as Kr, and the threshold oscillation cycle is designated as Tr, and writes down current scale-up factor and threshold oscillation cycle;
B27. with continuously-time controller is the benchmark controller, and the controlled variable of this benchmark controller is identical with the controlled variable of this PID controller, calculates the degree of control of this PID controller according to following formula:
Wherein, e is the output valve of this PID controller and the error of setting value, and e ' is the output valve of benchmark controller and the error of setting value.Should be noted that at this length of sampling period TS can influence this quality based on the PID controller of sampling-data, is that the best is adjusted equally, and the controlling performance of this PID controller will be lower than the benchmark controller.Thereby degree of control is always greater than 1, and degree of control is big more, and is poor more based on the quality of the PID controller of sampling-data accordingly;
B28. according among said degree of control and the B26 the scale-up factor that writes down and threshold oscillation cycle scale-up factor, integral time, derivative time of calculating the PID controller through the control parameter list of PID controller; Wherein, The control parameter list of this PID controller (for example, table 2) is in advance according to expanding critical proportion zone method and definite.
Table 2
In addition, preferably, after step B28, also comprise:
Set into the scale-up factor that B29. will obtain, integral time, derivative time the PID controller through searching; Operation PID controller; And to adjusting accordingly scale-up factor, integral time, the derivative time of PID controller; So that the overshoot of the response curve of PID controller less than 30%, attenuation ratio less than 1/4 and steady-state error less than 5%, and record PID controller current scale-up factor, integral time, derivative time.
After the controlled variable of controller having been carried out checking or having adjusted, carry out the optimization of controlled variable under the disturbance operating mode, the process flow diagram of step C embodiment one as shown in Figure 6, the step C of this embodiment specifically comprises:
C1. through revising the setting value of PID controller, introduce the step signal of ± 10% range respectively;
C2. calculate attenuation ratio, overshoot and the steady-state error of the closed loop at this PID controller place;
C 3. judge attenuation ratio whether less than 1/4, overshoot whether less than 30% and steady-state error whether less than 5%; If then carry out step D; If not, then carry out step B2, carry out suboptimization again with controlled variable to the PID controller.
After accomplishing the optimization of controlled variable under the disturbance operating mode, can the controlled variable after optimizing be inserted the parameter optimization result in the table 1.Then, under transient condition, revise the controlled variable of PID controller and/or the logic and relevant definite value of modification PID controller, to guarantee control system correct response under unusual service condition and transient condition.At first suitably revise controlled variable to satisfy the demand; Regulate Determination of Parameters and need the response condition of system under different operating mode/transient states of considering as much as possible; More fixed repeatedly optimal result; When simple modification pid parameter is not enough to obtain the control corresponding effect, then logic is made amendment with relevant definite value.Wherein, the logic of under transient condition, revising the controlled variable of PID controller and/or revising the PID controller and relevant definite value comprise at least one in following:
(1) through in the PID controller, increasing transient condition monitoring logic, for example, detects the action of key equipment, the generation of important warning so that the PID controller is monitored the generation of transient condition in real time;
(2) through in the PID controller, increasing controlled variable corresponding under the transient condition; And when transient condition takes place, the controlled variable under the steady state condition is switched to the controlled variable under the transient condition; So that the PID controller all can work under steady state condition and transient condition, like this, through being controller configuration two cover controlled variable; Corresponding steady state condition of difference and transient condition; And can between two cover controlled variable, switch as the case may be, so both guarantee the control effect under the transient working, under stable state, not produce concussion again because of controlled variable causes system too by force;
(3) through revising the logic of PID controller, so that topworks moves in advance under the transient condition,, thereby guarantee that key parameter is in safe range under the transient working operating mode;
(4) when make topworks shift to an earlier date action effect when not obvious through the logic of revising the PID controller, also can be through revising the definite value of PID controller, to guarantee under transient condition, the not causing protection system action.
Fig. 7 is the logical diagram of the debug system embodiment one of nuclear power plant of the present invention closed-loop control system; This debug system comprises receiver module 10, verify or adjust module 20, optimal module 30 and the module 40 of adjusting that connects successively; Wherein, Receiver module 10 is used for receiving the parameter designing value that the user imports at the off-line checklist, to generate check information; The checking or the module 20 of adjusting are used for according to check information, and the controlled variable of PID controller is verified or adjusted; Optimal module 30 be used under the disturbance operating mode to the checking or adjust after controlled variable be optimized; Modified module 40 is used for the logic and relevant definite value at the controlled variable of under transient condition, revising the PID controller and/or modification PID controller, to guarantee the normal response of closed-loop control system under transient condition.
Preferably; The checking or the module 20 of adjusting comprise authentication unit and adjust the unit; And authentication unit is used for then using the open-loop test method that the configuration and the controlled variable of PID controller are verified if check information includes the design load of the controlled variable of PID controller; Adjusting, the unit is used for if check information does not include the design load of the controlled variable of PID controller, and then service test method of trial and error or test empirical method are adjusted to the controlled variable of PID controller.In addition, should be noted that also the preferred embodiment in the adjustment method is equally applicable to debug system, do not give unnecessary details at this.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within the claim scope of the present invention.
Claims (10)
1. the adjustment method of nuclear power plant's closed-loop control system, said nuclear power plant closed-loop control system comprises a plurality of closed loops, and each closed loop comprises at least one PID controller, it is characterized in that said adjustment method comprises:
A. receive the parameter designing value that the user imports in the off-line checklist, to generate check information;
B. according to said check information, the controlled variable of PID controller is verified or adjusted;
C. under the disturbance operating mode to the checking or adjust after controlled variable be optimized;
D. under transient condition, revise the controlled variable of PID controller and/or the logic and relevant definite value of modification PID controller, to guarantee the normal response of closed-loop control system under transient condition.
2. the adjustment method of nuclear power plant according to claim 1 closed-loop control system is characterized in that, said step B comprises:
B1. if include the design load of the controlled variable of PID controller in the said check information, then use the open-loop test method that the configuration and the controlled variable of PID controller are verified;
B2. if do not include the design load of the controlled variable of PID controller in the said check information, then service test method of trial and error or test empirical method are adjusted to the controlled variable of PID controller.
3. the adjustment method of nuclear power plant according to claim 2 closed-loop control system is characterized in that, said step B1 comprises:
B11. use the open loop step response method, calculate the theoretical output valve of this PID controller under given disturbance according to the design load of the controlled variable of PID controller, to obtain the ideal response curve of PID controller;
B12. according to the characteristics of PID controller the design load of the controlled variable of PID controller is carried out matching treatment, form the matching value of the controlled variable of PID controller;
B13. the matching value with the controlled variable of PID controller is set in the PID controller, adds step disturbance behind the operation PID controller, the test response curve of record PID controller;
B14. the test response curve and the ideal response curve of PID controller are compared, thereby the configuration and the controlled variable of PID controller are verified.
4. the adjustment method of nuclear power plant according to claim 2 closed-loop control system is characterized in that, in said step B2, the step that the service test method of trial and error is adjusted to the controlled variable of PID controller comprises:
B21. be set to 0 respectively integral time, the derivative time with the PID controller; The scale-up factor of PID controller is increased since 0.5 gradually; Until the overshoot of the response curve of PID controller less than 30% and attenuation ratio less than 1/4, and the current scale-up factor of record PID controller, whether the steady-state error of response curve of judging the PID controller then less than 5%; If, execution in step C then; If not, execution in step B22 then;
B22. the PID controller is current scale-up factor is reduced to original 50-80%, is set to 60s-120s again integral time, and reduces integral time gradually; And corresponding resize ratio coefficient, until steady-state error less than 5%, and record PID controller current scale-up factor, integral time; Whether the overshoot of response curve of judging the PID controller then is less than 30%; And whether attenuation ratio less than 1/4, if, execution in step C then; If not, execution in step B23 then;
B23. increase gradually starting from scratch the derivative time of PID controller; And correspondingly adjust current scale-up factor of PID controller and integral time; Repeatedly examination gather until the overshoot of the response curve of PID controller less than 30%, attenuation ratio less than 1/4 and steady-state error less than 5%, and record PID controller current scale-up factor, integral time, derivative time.
5. the adjustment method of nuclear power plant according to claim 2 closed-loop control system is characterized in that, in said step B2, the step that the service test empirical method is adjusted to the controlled variable of PID controller comprises:
B25. confirm sampling period that the output valve and the setting value of PID controller are sampled in advance;
B26. the integral time of PID controller, derivative time are set to 0; And the scale-up factor of PID controller is increased since 0.5 gradually; Until this PID controller threshold oscillation is appearred in the response of input step signal, and write down current scale-up factor and threshold oscillation cycle;
B27. with continuously-time controller is the benchmark controller, and the controlled variable of this benchmark controller is identical with the controlled variable of this PID controller, calculates the degree of control of this PID controller according to following formula:
Wherein, e is the output valve of this PID controller and the error of setting value, and e ' is the output valve of benchmark controller and the error of setting value;
B28. according among said degree of control and the step B26 the scale-up factor that writes down and threshold oscillation cycle scale-up factor, integral time, derivative time of calculating the PID controller through the control parameter list of PID controller; Wherein, the control parameter list of said PID controller is in advance according to expanding critical proportion zone method and definite.
6. the adjustment method of nuclear power plant according to claim 5 closed-loop control system is characterized in that, after said step B28, also comprises:
Set into the scale-up factor that B29. will obtain, integral time, derivative time the PID controller through searching; Operation PID controller; And to adjusting accordingly scale-up factor, integral time, the derivative time of PID controller; So that the overshoot of the response curve of PID controller less than 30%, attenuation ratio less than 1/4 and steady-state error less than 5%, and record PID controller current scale-up factor, integral time, derivative time.
7. the adjustment method of nuclear power plant according to claim 2 closed-loop control system is characterized in that, said step C comprises:
C1. through revising the setting value of PID controller, introduce the step signal of ± 10% range respectively;
C2. calculate attenuation ratio, overshoot and the steady-state error of the closed loop at this PID controller place;
C3. judge attenuation ratio whether less than 1/4, overshoot whether less than 30% and steady-state error whether less than 5%; If then carry out step D; If not, then carry out step B2, carry out suboptimization again with controlled variable to the PID controller.
8. the adjustment method of nuclear power plant according to claim 1 closed-loop control system is characterized in that, said step D comprises at least one in following:
Through in the PID controller, increasing transient condition monitoring logic so that the PID controller is monitored the generation of transient condition in real time;
The PID controller through corresponding controlled variable under the increase transient condition in the PID controller, and when transient condition takes place, the controlled variable under the steady state condition switched to the controlled variable under the transient condition, so that all can be worked under steady state condition and transient condition;
Through revising the logic of PID controller, so that topworks moves in advance under the transient condition;
Through revising the definite value of PID controller, to guarantee under transient condition, the not causing protection system action.
9. the debug system of nuclear power plant's closed-loop control system, said nuclear power plant closed-loop control system comprises a plurality of closed loops, and each closed loop comprises at least one PID controller, it is characterized in that said debug system comprises:
Receiver module is used for receiving the parameter designing value that the user imports at the off-line checklist, to generate check information;
The checking or the module of adjusting are used for according to check information, and the controlled variable of PID controller is verified or adjusted;
Optimal module, be used under the disturbance operating mode to the checking or adjust after controlled variable be optimized;
Modified module is used for logic and relevant definite value at the controlled variable of under transient condition, revising the PID controller and/or modification PID controller, to guarantee the normal response of closed-loop control system under transient condition.
10. the debug system of nuclear power plant according to claim 9 closed-loop control system is characterized in that, the said checking or the module of adjusting comprise:
Authentication unit is used for then using the open-loop test method that the configuration and the controlled variable of PID controller are verified if check information includes the design load of the controlled variable of PID controller;
The unit of adjusting is used for if check information does not include the design load of the controlled variable of PID controller, and then service test method of trial and error or test empirical method are adjusted to the controlled variable of PID controller.
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