CN105204330B - A kind of design method of the Newtonian mechanics controller in thermal power plant's Steam Temperature System - Google Patents
A kind of design method of the Newtonian mechanics controller in thermal power plant's Steam Temperature System Download PDFInfo
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Abstract
A kind of design method of the Newtonian mechanics controller in thermal power plant's Steam Temperature System, this method have three big steps：Step 1：Design desired closed-loop system H (s)=1/ (cs2+ds+1)；Step 2：For G1(s)=k/ (as2+ bs+1), design controller Gc1(s)；Step 3：According to formula Kf=f (h)=c0+c1h+c2h2+c3h3+c4h4+ ... (3) calculate Kf.Invention applies the negative feedback of the acceleration in Newtonian mechanics, the operation to control system, the acceleration effect of control input, the controlled stable state and dynamic characteristic exported is directly affected so that system has satisfied Control platform and robust performance.
Description
Technical field
The present invention relates to a kind of design method of the Newtonian mechanics controller in thermal power plant's Steam Temperature System, and it is applied to thermoelectricity
Factory's heat power engineering system control, belongs to automatic control technology field.
Background technology
Thermal power plant's Steam Temperature System is critically important thermal process, and the load that it directly affects thermal power plant is contributed, economic benefit.
Thermal power plant's Steam Temperature System is a kind of long time delay time-variable parameter system (as load and operating condition change), and this system is control
The hard nut to crack of system design processed.
When motion (or change of object state parameter) speed of an object is much smaller than the light velocity, classics can be applied
Mechanical motion equation describes its characteristics of motion.In most of modern industry Process Control System, the position of such as object of which movement
(displacement, liquid level, posture etc.), tension force, volume (flow, hardness, thickness), or state parameter (temperature, concentration, the pressure of system
Power, heat content etc.) etc. physical quantity, as long as single order continuous derivative (speed) and Second Order Continuous derivative (acceleration) be present in it, it is possible to
Using the classical mechanics equation of motion to describe its characteristics of motion, and system mode is estimated according to the system information measured
Meter.
The controller of the present invention applies Newtonian mechanics principle:The position m exported by system3Y, speedWith add
SpeedNegative feedback, the output trajectory of controlled device is guided and desired closed-loop system H (s)=1/ is arrived in control
(cs2+ ds+1) output trajectory on.
The Newtonian mechanics controller of the present invention is applied to most of industrial stokeholds, improves the quality of control system.
The content of the invention
The controller of the present invention applies Newtonian mechanics principle:The position m exported by system3Y, speedWith add
SpeedNegative feedback, the output trajectory of controlled device is guided and desired closed-loop system H (s)=1/ is arrived in control
(cs2+ ds+1) output trajectory on.
The characteristics of invented controller is the negative feedback for applying the acceleration in Newtonian mechanics, it is well known that is accelerated
The size of degree change is to influence the most important factor of object of which movement.Operation to control system, the acceleration of control input are made
With directly affecting the stable state and dynamic characteristic of controlled output.
In thermal power plant's Steam Temperature System control, PID controller is most widely used controller, because its is simple in construction,
Make control system floating (integral action), and can comparatively fast overcome dynamic deviation (differential action), and have control system
There is certain robust performance, but the integral action in PID controller easily makes control system quality variation and produce to integrate to satisfy
And phenomenon.In addition, the transfer function analysis from PID controller:
GPID(s)=Kp+Ki/s+Kds/(Tds+1)
There is no control input acceleration s in PID controller2Negative feedback, when the transmission function of controlled device is
The very big system (uncertain system is very strong) of denaturation, PID controller is to be extremely difficult to the satisfied control effect (robust of system
Degradation).
Second order object is representative in Power Plant Thermal process control, and Steam Temperature System is also this kind of system, and it is transmitted
Function is：
G (s)=ke-τs/(as2+ bs+1)=G1(s)e-τs (1)
Be it is stable and when it is constant, this and without loss of generality, always can be first with a dynamically benefit because to unstable plant
Repaying device makes it stable.
Wherein：G1(s)=k/ (as2+bs+1)
The Newtonian mechanics controller G of designc(s) it is：
Gc(s)=Kr(m1s2+m2s+m3)/(n1s2+n2s+n3) (2a)
Wherein, Kr=Kfkc
Its state-space representation is:
Gc (s)=Kfkc(m1s2+m2s+m3)/(n1s2+n2s+n3)=KfGc1(s)
Gc1(s)=kc(m1s2+m2s+m3)/(n1s2+n2s+n3)
Kf=f (τ/tp)=f (h), h=τ/tp；KfIt is the monotonic decreasing function on h, 0 ＜ Kf≤ 1, (as τ=0,
Kf=1).Engineering practice proves, as coefficient h=τ/tpDuring increase, for the stabilization and quality of Guarantee control system, it is necessary to reduce
Kf。
Kf=f (τ/tp) can be obtained by the method for curve matching.
Kf=f (h)=c0+c1h+c2h2+c3h3+c4h4+ ..., (3)
kcIt is a coefficient related to system static difference.
A kind of design method of the Newtonian mechanics controller in thermal power plant's Steam Temperature System of the present invention, this method specific steps are such as
Under：
Step 1：Design desired closed-loop system：
H (s)=1/ (cs2+ds+1) (4)
Wherein c=1/w2；D=2 ζ/w；ζ is undamped coefficient, takes ζ=0.75~1；How to configure in system (formula 4)
Parameter c and d are the keys for designing controller, that is, the selection to systematic parameter w, w reflect the time scale (system of system
Transient process speed), it is necessary to make balance between the active target of system and robustness.
Step 2：For G1(s)=k/ (as2+bs+1)
Design controller Gc1(s)：
Gc1(s)=kc(m1s2+m2s+m3)/(n1s2+n2s+n3) (5)
The open-loop transfer function of system is：
Q (s)=kckm3(m1s2/m3+m2s/m3+1)/((n1s2+n2s+n3)(as2+bs+1))
A kind of simple computational methods are to take：
km3=1；m1/m3=a；m2/m3=b (6)
Then Q (s)=kc/(n1s2+n2s+n3)
The closed loop transfer function, of system is：
H (s)=(kc/(kc+n3))/(n1s2/(kc+n3)+n2s/(kc+n3)+1) (7)
K in formula (7)c/(kc+n3) represent system steady stability value.Work as n3When=0, system is floating；Work as n3=
0, kcWhen=1, Newtonian mechanics controller Gc(s) it is a PID controller.
Calculate Newtonian mechanics controller Gc(s) parameter is as follows:According to kc/(kc+n3) the steady stability value of system is determined,
Such as kc/(kc+n3)=0.999, then static error is 0.001；If take n3=0.1, kc=99.9, then in conjunction with formula (5), and
And comparison expression (7) and (4), it is easy to solve controller Gc1(s) k in (formula (5))c,m1,m2,m3,n1,n2,n3Value；
m3=1/k；m1=a/k；m2=b/k；n1=(kc+n3)c；n2=(kc+n3)d (8)
f1=1/n1；f2=-n2/n1；f3=-n3/n1； (9)
Step 3：According to formula Kf=f (h)=c0+c1h+c2h2+c3h3+c4h4+ ... (3) calculate Kf
Symbol description is as follows in formula：H=τ/tp；c0,c1,c2,c3,c4... it is to be calculated using polynomial regression method
Coefficient.
Newtonian mechanics controller Gc(s) the position m of system motion is passed through3Y, speedAnd accelerationNegative-feedback make
With the output trajectory of controlled device is guided and desired closed-loop system H (s)=1/ (cs is arrived in control2+ ds+1) output rail
On mark.
The structure of Newtonian mechanics controller is shown in Figure of description 1.
Advantage and effect：The present invention is a kind of design method of the Newtonian mechanics controller in thermal power plant's Steam Temperature System, its
Advantage is to apply the negative feedback of the acceleration in Newtonian mechanics, it is well known that the size of acceleration change is to influence thing
The most important factor of body motion.Operation to control system, the acceleration effect of control input, directly affect controlled output
Stable state and dynamic characteristic so that system has satisfied Control platform and robust performance.
Brief description of the drawings
The structural representation of Fig. 1 Newtonian mechanics controllers.
The PID controller block diagram of Fig. 2 300MW spray desuperheating systems.
Fig. 3 300MW spray desuperheating system application Newtonian mechanics controller block diagrams.
Fig. 4 300MW spray desuperheating application Newtonian mechanics controllers closed-loop system exports.
Fig. 5 300MW spray desuperheatings add Newtonian mechanics controller compensation system.
Before Fig. 6 operating modes 1 compensate, rear curve of output comparison schematic diagram.
Before Fig. 7 operating modes 2 compensate, rear curve of output comparison schematic diagram.
Embodiment：
See Fig. 1-Fig. 7, the Newtonian mechanics controller G designed by the present inventionc(s) distributing in user is needed to control system
Configuration is realized on system (DCS), then carries out real time execution control.It can also implement on industrial computer.
One, Newtonian mechanics controller is used as master controller application in 300MW spray desuperheating systems:
Accompanying drawing 2 is the PID controller system block diagram of the system conventional, and R is input set-point.
Design procedure:
1. dotted box is 300MW spray desuperheating system Newtonian mechanics controller side in Fig. 3 by equivalent transformation in Fig. 2
Block diagram；
2. by calculating, the transmission function of equivalent circuit is：
Geq(s)=0.75e-80s/(900s2+60s+1)；Controlling cycle ts=0.2s
It is 3. as follows using formula (8) and (9), the structural parameters of Newtonian mechanics controller according to the calculating in the content of the invention：
M1=600；M2=40；M3=0.6667；
F1=9.6830e-07；F2=-0.1078；F3=3.2277e-09；
Fig. 4 is the output of 300MW spray desuperheating application Newtonian mechanics controllers closed-loop system, and Control platform is superior.
The application as compensation in 300MW spray desuperheating systems of two, Newtonian mechanics controllers:
In frequency domain, if the transmission function G (s) of a second order controlled device=ke-τs/(as2+ bs+1), then y (s)=G
(s)u(s).When the parameter [k a b τ] of this second order controlled device is time-varying system, its Parameters variation causes output y (s)
Change：
Δ y (s)=Δ G (s) u (s)
WhereinPhysically it is difficult to.
The controlling cycle for taking system is ts：
Make dn(s)=(as2+bs+1) (2.5)
Δ y (s)=Δ G (s) u (s)
=Δ ky (s)/k-s2Δay(s)/dn(s)-sΔby(s)/dn(s)-sΔτy(s)/(ξtss+1) (2.6)
For formula (2.7), can be reduced to application model depression of order：
Parameter identification is carried out using gradient steepest descent method, if object function is J (x), search direction di=-▽ J
(xi)。
Second-order system needs the parameter θ recognizedt=[kt τt at bt]；If second order nominal system parameter is
θ0=[k0 τ0 a0 b0], output corresponding to it is y0, et=yt-y0, object function is set
According to gradient steepest descent method, in order toThe identification equation of adaptive law should meet：
Wherein：C (t) is the gain coefficient diagonal matrix for needing to optimize.
C (t)=diag { ck(t),cτ(t),ca(t),cb(t)}
Wherein L-1Inverse Laplace transform is represented, formula (2.1)~(2.7) are substituted into, had
ft(t)=[L-1(y(s)/k),L-1(-sy(s)/(ξtss+1)),L-1(-s2y(s)/(as2+bs+1)),L-1(-sy
(s)/(as2+bs+1))]T
Similar, inverse Laplace transform is calculated to formula (2.7)：
L-1(▽ Gu)=L-1(y(s)/k-s2y(s)/dn(s)-sy(s)/dn(s)-sy(s)/(ξtss+1))
Remember L-1(▽ Gu)=[L-1(y(s)/k),L-1(-s2y(s)/dn(s)),L-1(-sy(s)/dn(s)),L-1(-sy
(s)/(ξtss+1))]T
Using gain coefficient C1=[ck,ca,cb,cτ],
Note
In the case where formula (2.7) depression of order is formula (2.9), inverse Laplace transform is carried out to it：
Δft=L-1(▽ Gu)=[L-1((p1s2+p2s+p3)y(s)/(q1s2+q2s+q3))]
Pass through gain coefficient C2=[c1,c2,c3]
Remember Δ yt=C2Δft
=L-1(h1s2y(s)/(q1s2+q2s+q3))+L-1(h2sy(s)/(q1s2+q2s+q3))+L-1(h3y(s)/(q1s2+
q2s+q3))
=L-1((h1s2+h2s+h3)y(s)/(q1s2+q2s+q3)) (2.10b)
In formula (2.10b)：h1=c1p1,h2=c2p2,h3=c3p3。
Wherein：[h1,h2,h3,q1,q2,q3] it is the parameter for needing to optimize；ΔytIt is that object parameters change is caused
Disturbance compensation item, it is by recognizing second-order system parameter θt=[kt τt at bt] change, calculate Δ y (s)=Δ G (s) u
(s) (formula 2.6), by being reduced to formula (2.9), then this conversion obtains Δ y by reverse drawingtApproximate evaluation.
[Opt optimisation strategies] based on formula (2.10b) design can apply the structure (state of Newtonian mechanics controller above
Space form) realize, in the structure (state space form) of Fig. 1 Newtonian mechanics controllers, its corresponding parameter and signal
It should be calculated according to formula (2.10b), the general purpose controller of [Opt optimisation strategies] and FIG. 2 below has identical mechanical meaning.
Parameter [h in [Opt optimisation strategies]1,h2,h3,q1,q2,q3] can also be adjusted and be debugged at the scene.
[Opt optimisation strategies] is acted on by negative feedback control, can be disappeared and be taken Δ y caused by parameter uncertaintytInfluence, have
Effect improves the quality of control system.
Because thermal power plant's Steam Temperature System is a kind of long time delay time-variable parameter system (as load and operating condition change),
In order to ensure Steam Temperature System system under different operating modes, there is good control performance, in traditional 300MW spray desuperheatings system
Compensated in (Fig. 1) plus Newtonian mechanics controller.As shown in Figure 5.
Controlled device inertia block transitive function：
G (s)=ke-τs/(as2+bs+1)；Controlling cycle ts=0.2s
Original system pid parameter：
PID1=1+1/40s+5s/ (12s+1)；
PID2=4+0.01/45s；
According to the calculating in the content of the invention, the parameter of Newtonian mechanics controller is as follows by correcting：
The parameter of Newtonian mechanics controller：[f1,f2,f3]=[0.0056,0.1,0.0056]
Under this preset parameter, compare plus Newtonian mechanics controller before (original system) and plus Newtonian mechanics controller after,
Steam Temperature System closed loop curve of output.
Operating mode 1:Image parameter [k a b τ]=[0.25,710,53,60]；
Operating mode 2:Image parameter [k a b τ]=[0.75,900,60,80]；
Fig. 6 is that rear curve of output compares before operating mode 1 compensates.
Fig. 7 is that rear curve of output compares before operating mode 2 compensates.
From Fig. 6 and Fig. 7 curve comparative descriptions：The compensating action of Newtonian mechanics controller be it will be apparent that under operating mode 2,
Due to compensating action, system output overshoot reduces, and process is stablized quickly.
Claims (1)
- A kind of 1. design method of the Newtonian mechanics controller in thermal power plant's Steam Temperature System, it is characterised in that：This method specifically walks It is rapid as follows：Step 1：Design desired closed-loop system：H (s)=1/ (cs2+ds+1) (4)Wherein c=1/w2；D=2 ζ/w；ζ is undamped coefficient, takes ζ=0.75~1；W reflects the time scale of system, is selecting , it is necessary to make balance between the active target of system and robustness when selecting systematic parameter w；Step 2：For G1(s)=k/ (as2+ bs+1), design controller Gc1(s)：Gc1(s)=kc(m1s2+m2s+m3)/(n1s2+n2s+n3) (5)The open-loop transfer function of system is：Q (s)=kckm3(m1s2/m3+m2s/m3+1)/((n1s2+n2s+n3)(as2+bs+1))A kind of simple computational methods are to take：km3=1；m1/m3=a；m2/m3=b (6)Then Q (s)=kc/(n1s2+n2s+n3)The closed loop transfer function, of system is：H1(s)=(kc/(kc+n3))/(n1s2/(kc+n3)+n2s/(kc+n3)+1) (7)K in formula (7)c/(kc+n3) represent system steady stability value；Work as n3When=0, system is floating；Work as n3=0, kc When=1, Newtonian mechanics controller Gc(s) it is a PID controller；Calculate Newtonian mechanics controller Gc(s) parameter is as follows:According to kc/(kc+n3) determine the steady stability value of system, kc/(kc +n3)=0.999, then static error is 0.001；If take n3=0.1, kc=99.9, then in conjunction with formula (5), and comparison expression (7) controller G and (4), is solvedc1(s) k in formula (5)c,m1,m2,m3,n1,n2,n3Value；m3=1/k；m1=a/k；m2=b/k；n1=(kc+n3)c；n2=(kc+n3)d (8)f1=1/n1；f2=-n2/n1；f3=-n3/n1； (9)Step 3：According to formula Kf=f (h)=c0+c1h+c2h2+c3h3+c4h4+ ... (3) calculate KfSymbol description is as follows in formula：H=τ/tp；c0,c1,c2,c3,c4... it is to be using what polynomial regression method was calculated Number；Newtonian mechanics controller Gc(s) the position m of system motion is passed through3Y, speedAnd accelerationNegative feedback, Desired closed-loop system H (s)=1/ (cs is arrived in the output trajectory guiding and control of controlled device2+ ds+1) output trajectory on.
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