CN104196639B - Gas turbine control method and device - Google Patents
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- CN104196639B CN104196639B CN201410386612.9A CN201410386612A CN104196639B CN 104196639 B CN104196639 B CN 104196639B CN 201410386612 A CN201410386612 A CN 201410386612A CN 104196639 B CN104196639 B CN 104196639B
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Abstract
The invention discloses a kind of gas turbine control method and device, methods described includes：The state parameter of gas turbine is taken, and state-space model is established according to the state parameter；Control parameter is determined according to the state-space model；The gas turbine is controlled according to the control parameter.The embodiment of the present invention is by obtaining the state parameter of gas turbine, and state-space model is established according to the state parameter, control parameter is determined according to the state-space model, the gas turbine is controlled according to the control parameter, so as to reduce system robustness requirement, the controllability of gas turbine is improved.
Description
Technical field
The present invention relates to gas turbine control field, more particularly to a kind of gas turbine control method and device.
Background technology
The working environment of gas turbine is severe, and gas turbine control device is required in gas turbine component performance degradation
With the work that gas turbine safety and stability is remained in that under certain interference noise.
Currently used gas turbine control device be PID (proportion, integration,
Differentiation, ratio, integration, differential) controller, it has, and simple in construction, easily designed, amount of calculation is few and is firing
The advantages that gas-turbine is debugged and maintenance phase is easy to adjust, still generally made in the control system of current major gas turbine
With.
It is higher to the robustness requirement of controller parameter design but PID controller to gas turbine when being controlled.
The content of the invention
The embodiment of the present invention provides a kind of gas turbine control method and device, it is possible to increase the control of gas turbine is controllable
Property.
The embodiment of the present invention adopts the following technical scheme that：
A kind of gas turbine control method, including：
The state parameter of gas turbine is taken, and state-space model is established according to the state parameter；
Control parameter is determined according to the state-space model；
The gas turbine is controlled according to the control parameter.
Optionally, the state parameter for obtaining gas turbine includes：
State parameter of the gas turbine in default bistable design point is obtained, the state parameter includes quantity of state x,
Controlled quentity controlled variable u, control targe y；
Accordingly, it is described state-space model is established according to the state parameter to include：
According to the quantity of state x, the controlled quentity controlled variable u and the control targe y establish above-mentioned state-space model, the shape
State space model is：
Y=Cx.
Optionally, it is described to determine that control parameter includes according to the state-space model：
The control parameter Kc is determined according to following formula：
Wherein, θ and r is preset value, is determined according to θ and r using-θ as the center of circle, the circle domain using r as radius, according to above-mentioned
MATRIX INEQUALITIES obtains positive definite matrix P, matrix M and N, Kc=NM-1。
Optionally, the bistable design point is the gas turbine full speed no-load running state, or the bistable design
Point is the power output running status of gas turbine 50%, or bistable design point is the gas turbine rated power
Running status.
Optionally, the quantity of state x is one in the gas turbine rotary speed, compressor pressure ratio, turbine outlet temperature
The vector of individual or multiple parameters composition, the controlled quentity controlled variable u are one in fuel quantity, compressor inlet guide vane angle, anti-asthma vent valve
The vector of individual or multiple parameters composition, the control targe y are the rotating speed and/or the combustion gas wheel with the gas turbine rotor
Machine load.
A kind of gas turbine control device, including：
Acquisition module, state space mould is established for obtaining the state parameter of gas turbine, and according to the state parameter
Type；
Determining module, for determining control parameter according to the state-space model；
Control module, for being controlled according to the control parameter to the gas turbine.
Optionally, the acquisition module is specifically used for：
State parameter of the gas turbine in default bistable design point is obtained, the state parameter includes quantity of state x,
Controlled quentity controlled variable u, control targe y；
The acquisition module is additionally operable to：
According to the quantity of state x, the controlled quentity controlled variable u and the control targe y establish above-mentioned state-space model, the shape
State space model is：
Y=Cx.
Optionally, the determining module is specifically used for determining the control parameter Kc according to following formula：
Wherein, θ and r is preset value, is determined according to θ and r using-θ as the center of circle, the circle domain using r as radius, according to above-mentioned
MATRIX INEQUALITIES obtains positive definite matrix P, matrix M and N, Kc=NM-1。
Optionally, the bistable design point is the gas turbine full speed no-load running state, or the bistable design
Point is the power output running status of gas turbine 50%, or bistable design point is the gas turbine rated power
Running status.
Optionally, the quantity of state x is one in the gas turbine rotary speed, compressor pressure ratio, turbine outlet temperature
The vector of individual or multiple parameters composition, the controlled quentity controlled variable u are one in fuel quantity, compressor inlet guide vane angle, anti-asthma vent valve
The vector of individual or multiple parameters composition, the control targe y are the rotating speed and/or the combustion gas wheel with the gas turbine rotor
Machine load.
Based on above-mentioned technical proposal, the embodiment of the present invention is by obtaining the state parameter of gas turbine, and according to the shape
State parameter establishes state-space model, control parameter is determined according to the state-space model, according to the control parameter to institute
State gas turbine to be controlled, so as to reduce system robustness requirement, improve the controllability of gas turbine.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the flow chart of the gas turbine control method of the embodiment of the present invention；
Fig. 2 is the attachment structure schematic diagram of the control of gas turbine of the embodiment of the present invention and gas turbine control device；
Fig. 3 is the rotating speed step response schematic diagram in the control test of single argument of the embodiment of the present invention；
Fig. 4 is the rotating speed step response schematic diagram in the test of multivariable Control of the embodiment of the present invention；
Fig. 5 is that the load step in multivariable Control emulation experiment of the embodiment of the present invention responds schematic diagram；
Fig. 6 is the structure chart of the gas turbine control device of the embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is explicitly described, it is clear that described embodiment be the present invention
Part of the embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of creative work is made, belongs to the scope of protection of the invention.
Embodiment 1
As shown in figure 1, the embodiment of the present invention provides a kind of gas turbine control method, including：
11st, the state parameter of gas turbine is obtained, and state-space model is established according to the state parameter；
12nd, control parameter is determined according to the state-space model；
13rd, the gas turbine is controlled according to the control parameter.
The embodiment of the present invention can be controlled according to the control parameter to the gas turbine in several ways, such as
The control parameter is inputted to the control device of the gas turbine, the gas turbine is controlled by control device,
The embodiment of the present invention does not limit.
Optionally, the state parameter for obtaining gas turbine includes：
State parameter of the gas turbine in default bistable design point is obtained, the state parameter includes quantity of state x,
Controlled quentity controlled variable u, control targe y；
Accordingly, it is described state-space model is established according to the state parameter to include：
According to the quantity of state x, the controlled quentity controlled variable u and the control targe y establish above-mentioned state-space model, the shape
State space model is：
Y=Cx.
Optionally, it is described to determine that control parameter includes according to the state-space model：
The control parameter Kc is determined according to following formula：
Wherein, θ and r is preset value, is determined according to θ and r using-θ as the center of circle, the circle domain using r as radius, according to above-mentioned
MATRIX INEQUALITIES obtains positive definite matrix P, matrix M and N, Kc=NM-1.Above-mentioned MATRIX INEQUALITIES, which is solved, can obtain positive definite matrix
P, matrix M and N, and Kc=-NM-1.Contain equality constraint in above-mentioned LMI group, Stanford University can be used
The support of CVX kits peer-to-peer constraint solves to calculate.θ and r therein value also with control performance and can numerical value ask
Decorrelation, θ determine the position of poles region, and its value is bigger, and poles region is more remote from negative semiaxis, and controller robust stability is got over
By force, the solvability of LMI group is weaker.R determines the size and overshoot of poles region, and its value is bigger, linear moment
The solvability of battle array inequality group is stronger.
In the embodiment of the present invention, if matrix M is irreversible, M-1Representing matrix M generalized inverse, generalized inverse are calculated and can adopted
Calculated with Matlab pinv functions.Because current most gas turbine control system is using single argument, because
In this real process, Kc=-NM-1Solve easy.
Wherein, the bistable design point can be state set in advance, and the bistable design point can use traditional
Solved along number method, classical system identifying method can also be used to determine.Such as the bistable design point is the combustion gas
Turbine full speed no-load running state, or bistable design point are the power output running status of gas turbine 50%, or
Bistable design point described in person is the gas turbine rated power operation state.
Wherein, θ and r needs artificial given, and they determine that Pole Assignment Region is using-θ as the center of circle, using r as radius
Circle domain.
Optionally, the quantity of state x is one in the gas turbine rotary speed, compressor pressure ratio, turbine outlet temperature
The vector of individual or multiple parameters composition, the controlled quentity controlled variable u are one in fuel quantity, compressor inlet guide vane angle, anti-asthma vent valve
The vector of individual or multiple parameters composition, the control targe y are the rotating speed and/or the combustion gas wheel with the gas turbine rotor
Machine load.
The gas turbine of the embodiment of the present invention is the pure proportional control apparatus of droop control, then the pure ratio control dress of droop control
The scale parameter put is control parameter Kc；The gas turbine of the embodiment of the present invention is non differential regulation proportional plus integral control device, then
The scale parameter of non differential regulation proportional plus integral control device is control parameter Kc, and integral parameter is before load is loaded
It is after loading load
The method of the embodiment of the present invention can be realized by gas turbine control device, and the gas turbine control device can be with
For PID controller etc., the embodiment of the present invention does not limit.
The method of the embodiment of the present invention, established by obtaining the state parameter of gas turbine, and according to the state parameter
State-space model, control parameter is determined according to the state-space model, according to the control parameter to the gas turbine
It is controlled, so as to reduce system robustness requirement, improves the controllability of gas turbine.
Embodiment 2
The embodiment of the present invention is by taking heavy single shift gas turbine as an example, and its framework is as shown in Fig. 2 pass through heavy duty gas turbine
The sensor of body installation obtains the quantity of state of heavy duty gas turbine, and calculating output by controller obtains specific controlled quentity controlled variable ginseng
Number, carries out corresponding control and regulation valve, and the parameter setting of the controller is as follows：
Selection rotor speed (TNH) and compressor delivery pressure (P2) are quantity of state x, Fuel Consumption (FSR) is control
Measure u, rotor speed (TNH) is control targe y.It is design point to choose unloaded lower state extraction normalization linear model at full speed：
θ=5 and r=4 are chosen, following MATRIX INEQUALITIES is being solved using CVX tool boxes：
Choose θ=5 and r=4, using CVX tool boxes solution matrix inequality group, obtain matrix M=[- 0.2925-
0.2348] and matrix N=[0.0826 0.0004], obtained using MATLAB pinv functions：Kc=-N × pinv (M)-1=
3.5549.Gas turbine is accelerated into 100% rated speed from dropout rotating speed 82%, obtains control performance as shown in figure 3, from figure
It can be seen that the rotating speed control process is quite steady in 3, regulating time is within 5 seconds, almost without overshoot, control performance compared with
It is good.
Embodiment 3
The embodiment of the present invention is by taking the linear model of heavy single shift gas turbine as an example, and its framework is as shown in Fig. 2 pass through weight
The sensor of type gas turbine body installation obtains the quantity of state of heavy duty gas turbine, is specifically controlled by calculating output
Parameter is measured, carries out corresponding control and regulation valve, the parameter setting of the controller is as follows：
Choose rotor speed (TNH) and compressor delivery pressure (P2) is quantity of state x, Fuel Consumption (FSR) and calmed the anger
Machine inlet guide vane angle (IGV) is controlled quentity controlled variable u, rotor speed (TNH) and gas turbine load (PW) are controlled volume y.
Comprise the following steps that：1) unloaded lower state extraction linear model at full speed is chosen first designs controller for design point,
The speed/load for being applied to heavy duty gas turbine with the controller of this patent is controlled again；2) gas turbine operation is being chosen
7 typical states of journey：Dropout rotating speed (84%TNH), the minimum speed that is incorporated into the power networks (95%TNH), rated speed (100%
TNH), maximum (top) speed (110%TNH), full sub-load (30%PW), premix minimum load (50%PW), rated load
It is test point that (100%PW), which extracts 7 normalization linear models, and the controller designed with design point controls the model of test point,
Closed loop step response is done, the control performance and antijamming capability controlled with the speed/load controlled designed by checking.
Test point and the relation of design point under the running state of gas turbine of extraction as shown in figure 4, it can be seen that
Design point and test point under zero load at full speed are to overlap, and the point is the state of initial designs control performance, wherein design point
Spatial model parameter is as follows：
θ=5 and r=3 are chosen, controller parameter is obtained such as using the controller design method described in this patent and flow
Under：
The speed/load control of gas turbine, according to the operating standard of certain heavy single shift gas turbine, the gas turbine
Running speed (TNH) can be started to more than 95% in the case of not grid-connected, then keep rotating speed 95%~110% first
In traffic coverage, variable parameter operation is carried out.Therefore combine typical control system step response to test, front and rear can be seen grid-connected
Make two instruction step response processes：Startup stage, keep load PW constant, rotating speed TNH instruction Spline smoothings；The grid-connected stage,
Keep rotating speed TNH constant, instruct load PW Spline smoothings, obtain the simulation result of each test point as shown in Figure 4 and Figure 5.Figure
Middle black dotted lines represent the control performance of design point.From the point of view of Fig. 4 rotation speed change, the rotating speed step response of all test points is bent
Line Relatively centralized, show that the controller of design does not have and big performance exhaustion occurs because of the change of gas turbine state.From
From the point of view of rotating speed TNH response speed, its regulating time is about 6 seconds, and the rotor inertia of the gas turbine is big, and rotor inertia is high
Up to 1800kg*m2, usual regulating time allows up to 20 seconds.In addition, rotating speed TNH non-overshoots amount as can see from Figure 4, shows
In speed regulation process, rotor is not in that acceleration in short-term transfinites and rotor overspeed, also complies with the rotating speed control of gas turbine
Device design requirement.Equally, keep rotating speed constant, carry out spatial load forecasting and obtain test result as shown in figure 5, can be with from test result
Find out, control performance is preferable.
Embodiment 4
As shown in fig. 6, the embodiment of the present invention provides a kind of gas turbine control device, including：
Acquisition module 61, state space is established for obtaining the state parameter of gas turbine, and according to the state parameter
Model；
Determining module 62, for determining control parameter according to the state-space model；
Control module 63, for being controlled according to the control parameter to the gas turbine.
Optionally, the acquisition module 61 is specifically used for：
State parameter of the gas turbine in default bistable design point is obtained, the state parameter includes quantity of state x,
Controlled quentity controlled variable u, control targe y；
The acquisition module 61 is additionally operable to：
According to the quantity of state x, the controlled quentity controlled variable u and the control targe y establish above-mentioned state-space model, the shape
State space model is：
Y=Cx.
Optionally, the determining module 62 is specifically used for determining the control parameter Kc according to following formula：
Wherein, θ and r is preset value, is determined according to θ and r using-θ as the center of circle, the circle domain using r as radius, according to above-mentioned
MATRIX INEQUALITIES obtains positive definite matrix P, matrix M and N, Kc=NM-1。
Optionally, the bistable design point is the gas turbine full speed no-load running state, or the bistable design
Point is the power output running status of gas turbine 50%, or bistable design point is the gas turbine rated power
Running status.
Optionally, the quantity of state x is one in the gas turbine rotary speed, compressor pressure ratio, turbine outlet temperature
The vector of individual or multiple parameters composition, the controlled quentity controlled variable u are one in fuel quantity, compressor inlet guide vane angle, anti-asthma vent valve
The vector of individual or multiple parameters composition, the control targe y are the rotating speed and/or the combustion gas wheel with the gas turbine rotor
Machine load.
The device of the embodiment of the present invention can realize above method embodiment, and the function of the device comprising modules is only brief
Description, detailed implementation refer to above method embodiment, not repeated herein.
The device of the embodiment of the present invention, established by obtaining the state parameter of gas turbine, and according to the state parameter
State-space model, control parameter is determined according to the state-space model, according to the control parameter to the gas turbine
It is controlled, so as to reduce system robustness requirement, improves the controllability of gas turbine.
Those skilled in the art can to the present invention carry out it is various change and modification without departing from the present invention spirit and
Scope.So, if these modifications and variations of the present invention belong within the scope of the claims in the present invention and its equivalent technologies,
Then the present invention is also intended to comprising including these changes and modification.
Claims (4)
- A kind of 1. gas turbine control method, it is characterised in that including：State parameter of the gas turbine in default bistable design point is obtained, including：The state parameter includes quantity of state x, controlled quentity controlled variable u, control targe y, and establishes state space according to the state parameter Model, including：According to the quantity of state x, the controlled quentity controlled variable u and the control targe y establish above-mentioned state-space model, and the state is empty Between model be：<mrow> <mover> <mi>x</mi> <mo>&CenterDot;</mo> </mover> <mo>=</mo> <mi>A</mi> <mi>x</mi> <mo>+</mo> <mi>B</mi> <mi>u</mi> </mrow>Y=Cx；Wherein, described A, B and C are constant；The bistable design point is gas turbine full speed no-load running state, or bistable design point is gas turbine 50% Power output running status, or bistable design point are gas turbine rated power operation state；Control parameter is determined according to the state-space model, including：The control parameter Kc is determined according to following formula：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msup> <mi>r</mi> <mn>2</mn> </msup> <mi>P</mi> </mrow> </mtd> <mtd> <mrow> <mi>A</mi> <mi>P</mi> <mo>+</mo> <mi>B</mi> <mi>N</mi> <mi>C</mi> <mo>+</mo> <mi>&theta;</mi> <mi>P</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msup> <mi>PA</mi> <mi>T</mi> </msup> <mo>+</mo> <msup> <mi>C</mi> <mi>T</mi> </msup> <msup> <mi>N</mi> <mi>T</mi> </msup> <msup> <mi>B</mi> <mi>T</mi> </msup> <mo>+</mo> <mi>&theta;</mi> <mi>P</mi> </mrow> </mtd> <mtd> <mi>P</mi> </mtd> </mtr> </mtable> </mfenced> <mo>></mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>P</mi> <mo>></mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>M</mi> <mi>C</mi> <mo>=</mo> <mi>C</mi> <mi>P</mi> </mrow> </mtd> </mtr> </mtable> </mfenced>Wherein, θ and r is preset value, is determined according to θ and r with (- θ, 0) as the center of circle, the circle domain using r as radius, according to above-mentioned MATRIX INEQUALITIES obtains positive definite matrix P, matrix M and N, Kc=NM-1；The gas turbine is controlled according to the control parameter.
- 2. according to the method for claim 1, it is characterised in that the quantity of state x is gas turbine rotary speed, compressor pressure Than the vector of one or more of, turbine outlet temperature parameter composition, the controlled quentity controlled variable u is that fuel quantity, compressor inlet are led The vector of one or more parameter compositions in leaf angle, the aperture of anti-asthma vent valve, the control targe y is the gas turbine Rotating speed and/or gas turbine load.
- A kind of 3. gas turbine control device, it is characterised in that including：Acquisition module, for obtaining state parameter of the gas turbine in default bistable design point, the state parameter bag Quantity of state x, controlled quentity controlled variable u, control targe y are included, and state-space model is established according to the state parameter, according to the quantity of state X, the controlled quentity controlled variable u and the control targe y establish above-mentioned state-space model, and the state-space model is：<mrow> <mover> <mi>x</mi> <mo>&CenterDot;</mo> </mover> <mo>=</mo> <mi>A</mi> <mi>x</mi> <mo>+</mo> <mi>B</mi> <mi>u</mi> </mrow>Y=Cx；Wherein, described A, B and C are constant；The bistable design point is gas turbine full speed no-load running state, or bistable design point is gas turbine 50% Power output running status, or bistable design point are gas turbine rated power operation state；Determining module, for determining control parameter according to the state-space model, specifically for determining the control according to following formula Parameter Kc processed：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msup> <mi>r</mi> <mn>2</mn> </msup> <mi>P</mi> </mrow> </mtd> <mtd> <mrow> <mi>A</mi> <mi>P</mi> <mo>+</mo> <mi>B</mi> <mi>N</mi> <mi>C</mi> <mo>+</mo> <mi>&theta;</mi> <mi>P</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msup> <mi>PA</mi> <mi>T</mi> </msup> <mo>+</mo> <msup> <mi>C</mi> <mi>T</mi> </msup> <msup> <mi>N</mi> <mi>T</mi> </msup> <msup> <mi>B</mi> <mi>T</mi> </msup> <mo>+</mo> <mi>&theta;</mi> <mi>P</mi> </mrow> </mtd> <mtd> <mi>P</mi> </mtd> </mtr> </mtable> </mfenced> <mo>></mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>P</mi> <mo>></mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>M</mi> <mi>C</mi> <mo>=</mo> <mi>C</mi> <mi>P</mi> </mrow> </mtd> </mtr> </mtable> </mfenced>Wherein, θ and r is preset value, is determined according to θ and r with (- θ, 0) as the center of circle, the circle domain using r as radius, according to above-mentioned MATRIX INEQUALITIES obtains positive definite matrix P, matrix M and N, Kc=NM-1；Control module, for being controlled according to the control parameter to the gas turbine.
- 4. device according to claim 3, it is characterised in that the quantity of state x is gas turbine rotary speed, compressor pressure Than the vector of one or more of, turbine outlet temperature parameter composition, the controlled quentity controlled variable u is that fuel quantity, compressor inlet are led The vector of one or more parameter compositions in leaf angle, the aperture of anti-asthma vent valve, the control targe y is the gas turbine Rotating speed and/or gas turbine load.
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| CN104696078B (en) * | 2015-01-14 | 2019-02-01 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | The control method and device of fuel quantity for gas turbines |
| CN104698833B (en) * | 2015-01-28 | 2020-01-03 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | Redundancy control method and system |
| CN106321251B (en) * | 2015-07-08 | 2018-02-09 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | heavy duty gas turbine compressor pressure ratio control method, controller and control system |
| CN105545507B (en) * | 2015-12-18 | 2018-08-28 | 清华大学 | The control method of combined engine |
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