CN105673094B - Turbine rotating speed control method based on active-disturbance-rejection control - Google Patents
Turbine rotating speed control method based on active-disturbance-rejection control Download PDFInfo
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- CN105673094B CN105673094B CN201610098297.9A CN201610098297A CN105673094B CN 105673094 B CN105673094 B CN 105673094B CN 201610098297 A CN201610098297 A CN 201610098297A CN 105673094 B CN105673094 B CN 105673094B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
- F01D17/00—Regulating or controlling by varying flow
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2220/00—Application
- F05D2220/30—Application in turbines
- F05D2220/31—Application in turbines in steam turbines
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2270/00—Control
- F05D2270/01—Purpose of the control system
- F05D2270/02—Purpose of the control system to control rotational speed (n)
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2270/00—Control
- F05D2270/30—Control parameters, e.g. input parameters
- F05D2270/306—Mass flow
- F05D2270/3061—Mass flow of the working fluid
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2270/00—Control
- F05D2270/40—Type of control system
- F05D2270/42—Type of control system passive or reactive, e.g. using large wind vanes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2270/00—Control
- F05D2270/70—Type of control algorithm
- F05D2270/702—Type of control algorithm differential
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Turbines (AREA)
Abstract
The invention provides a turbine rotating speed control method based on active-disturbance-rejection control. The turbine rotating speed control method is characterized by comprising the following steps that firstly, the transition process of the rotating speed of a turbine is optimized through a second-order tracking differentiator, and an input signal and a differential signal of the input signal are tracked; secondly, an expanding state observer is used for observing an output signal and a differential signal of the output signal; thirdly, the nonlinear state error feedback control quantity is obtained through the calculation on the error between the tracked input signal and the observed output signal and the error between the tracked differential signal of the input signal and the observed differential signal of the output signal based on a nonlinear state error feedback control law; and fourthly, the final control quantity, namely the steam flow is obtained through the obtained nonlinear state error feedback control quantity and a disturbance estimation value obtained through expanding of the expanding state observer, wherein the input signal is the given rotating speed, and the output signal is the actual rotating speed.
Description
Technical field
The present invention relates to reheating turbine control field, more particularly to a kind of steam turbine based on Active Disturbance Rejection Control
Method for controlling number of revolution.
Background technology
In the production process of thermal power plant, turbine speed control is the major part of core technology.For a long time, carry
High steam turbine accuracy, rapidity and stability are always the focus of steam turbine control research.Because Boiler Steam passes through high pressure
Valve is entered after high pressure cylinder, and reheating turbine has huge resuperheat volume, and the part that high pressure cylinder steam discharge increases is simultaneously
Intermediate pressure cylinder is not immediately entered, but is trapped in reheater, in making, low pressure (LP) cylinder steam discharge time lag, cause Reheat-type vapour
Turbine has large dead time characteristic, causes steam turbine low-response；In addition the uncertainty of electric load change also results in steam turbine
Rotating speed it is unstable.In order to meet the requirement of thermal power plant reheating turbine quick response and stable operation, having must
The rapidity of steam turbine reaction and the stability of operating are improved, the economical and safety of unit is so just can guarantee that.
Patents are found in literature search：The invention of 2 months Application No.s 201310533169.9 disclosed in 5 days in 2014 is special
Profit《A kind of turbine speed control method based on Adaptive inverse control》, there is provided a kind of steam turbine based on Adaptive inverse control
Method for controlling number of revolution, the method for Adaptive inverse control is combined with nerual network technique, is obtained using RBF neural on-line identification
Object model, inversion model and Disturbance canceling control device are obtained, given rotating speed signal and external disturbance are respectively controlled, make both
Simultaneously Optimal Control effect is reached, without the need for trading off therebetween.
But above-mentioned patent existing defects：Although the accurate model of steam turbine speed control object need not be known in advance, can
Tracking velocity instruction well, and effectively suppress interference, but the method needs to separate the effect that disturbing signal is produced,
Then self adaptation is built online for this disturbance effect eliminate controller, under conditions of object dynamic performance is not changed, ability
Disturbance suppression.
The content of the invention
The present invention is carried out to solve the above problems, it is therefore intended that provide a kind of parameter adaptation strong, it is ensured that high
The turbine speed control method based on Active Disturbance Rejection Control of precision controlling.
The present invention provide the turbine speed control method based on Active Disturbance Rejection Control, have the feature that, including with
Lower step：
Step one, the transient process of the rotating speed of second order Nonlinear Tracking Differentiator optimization steam turbine, tracking input signal and input letter
Number differential signal；
Step 2, by extended state observer the differential signal of output signal and output signal is observed；
Step 3, by by the error between the input signal for tracing into and the output signal for observing, and trace into
Error between the differential signal of the differential signal of input signal and the output signal for observing, it is anti-by nonlinear state error
Feedback control law is calculated a nonlinear state error feedback control amount；And
Step 4, by disturbing that the nonlinear state error feedback control amount and extended state observer that obtain are expanded out
Dynamic estimated value draws final controlled quentity controlled variable, i.e. steam flow,
Wherein, input signal is given rotating speed, and output signal is actual speed.
The turbine speed control method based on Active Disturbance Rejection Control that the present invention is provided, also has the feature that：Wherein,
The computing formula of the rotating speed transient process of the steam turbine of Nonlinear Tracking Differentiator is
V for steam turbine given rotating speed, x1Quick non-overshoot tracking is carried out to input signal v (t), while x2Tracking input
The differential signal of signalE is the error between the given rotating speed value and given rotating speed for tracing into, and sign () is symbol letter
Number, r, d are the parameter of the Nonlinear Tracking Differentiator for needing setting.
The turbine speed control method based on Active Disturbance Rejection Control that the present invention is provided, also has the feature that：Wherein,
The computing formula of extended state observer is
In formula
Y for steam turbine reality output rotating speed, z1To estimate the actual speed of the steam turbine for tracing into, e0To estimate tracking
The actual speed for arriving and the error of reality output rotating speed, z2The rate of change of the actual speed of the steam turbine traced into for estimation, z3For
The rotating speed disturbance estimated value of steam turbine, α1, α2, δ, β1, β2, β3To need the parameter of the extended state observer of setting.
The turbine speed control method based on Active Disturbance Rejection Control that the present invention is provided, also has the feature that：Wherein,
The computing formula of nonlinear state error Feedback Control Laws is
v1The given rotating speed of the steam turbine to trace into, v2The rate of change of the given rotating speed of steam turbine to trace into, z1For
The actual speed of the steam turbine that estimation is traced into, z2The rate of change of the actual speed of the steam turbine traced into for estimation, z3For steamer
The rotating speed disturbance estimated value of machine, e1For steam turbine actual speed and the error of given rotating speed, e2For the change of the actual speed of steam turbine
The error of the rate of change of rate and given rotating speed, u0For nonlinear state error feedback control amount, u is control high pressure valve regulation vapour
The final controlled quentity controlled variable of turbine, α3, α4, β4, β5, δ is the parameter of the nonlinear state error Feedback Control Laws for needing setting,
The turbine speed control method based on Active Disturbance Rejection Control that the present invention is provided, also has the feature that：Wherein,
Transient process can make system be input into smooth input signal, and extract the differential signal of input signal, it is to avoid because setting value is dashed forward
Change causes the acute variation of the input signal for tracing into and produces overshoot.
The turbine speed control method based on Active Disturbance Rejection Control that the present invention is provided, also has the feature that：Wherein,
Extended state observer is all equivalent to phylogenetic disturbance nonlinear uncertain controlled device and external interference factor, then
Estimated and compensated, nonlinear system is changed into into line integral tandem type system, realized LINEARIZATION WITH DYNAMIC COMPENSATION, while protecting
Card system has good inhibiting effect to interference.
The turbine speed control method based on Active Disturbance Rejection Control that the present invention is provided, also has the feature that：Wherein,
The rate of change of the error and actual speed of actual speed and given rotating speed and the error of the rate of change of given rotating speed are carried out into non-thread
Property state error feedback processing, enable a system to quickly enter stable state.
Invention effect and effect
According to the turbine speed control method based on Active Disturbance Rejection Control involved in the present invention, using second order differential is tracked
Device optimizes turbine speed transient process, and by nonlinear state error Feedback Control Laws controlled device is controlled, and is seen by expansion
State surveys device and turbine speed disturbance is estimated and compensated, and internal system uncertain factor and external disturbance are all equivalent to
Phylogenetic disturbance, and nonlinear system is changed into into line integral tandem type system, so as to realize the dynamical feedback line of system
Property；So, no matter being to determine property of controlled device or it is probabilistic, linear or nonlinear, time-varying is still
When it is constant, through extended state observer estimate and compensation just can be controlled with unified method.
Description of the drawings
Fig. 1 is the flow chart of turbine speed control method based on Active Disturbance Rejection Control of the present invention in embodiment；
Fig. 2 is the structural representation of reheating turbine of the present invention in embodiment；
Fig. 3 is the transmission function block diagram between steam turbine torque and steam flow of the present invention in embodiment；
Fig. 4 is steam turbine active disturbance rejection rotating speed control simulation architecture figure of the present invention in embodiment；
Fig. 5 is steam turbine PID rotating speed simulation architecture figure of the present invention in embodiment；
Fig. 6 is the song of steam turbine Active Disturbance Rejection Control and traditional PID control speed dynamic response of the present invention in embodiment
Line chart；
Fig. 7 is the curve of impact (square-wave signal) of electric load fluctuation of the present invention in embodiment to stabilization of speed
Figure；And
Fig. 8 is the curve of impact (white noise signal) of electric load fluctuation of the present invention in embodiment to stabilization of speed
Figure.
Specific embodiment
Referring to the drawings and embodiment is to the turbine speed controlling party based on Active Disturbance Rejection Control involved in the present invention
Method is explained in detail.
Fig. 1 is the flow chart of turbine speed control method based on Active Disturbance Rejection Control of the present invention in embodiment.
As shown in figure 1, being had steps of based on the turbine speed control method of Active Disturbance Rejection Control：
Step one：Optimize the transient process of the rotating speed of steam turbine, tracking input signal and defeated using second order Nonlinear Tracking Differentiator
Enter the differential signal of signal.
Wherein, input signal is given rotating speed, is represented with step signal in simulation example.
The computing formula of the rotating speed transient process of the steam turbine of Nonlinear Tracking Differentiator is
V for steam turbine given rotating speed, x1Quick non-overshoot tracking is carried out to input signal v (t), while x2Tracking input
The differential signal of signalE is the error between the given rotating speed value and given rotating speed for tracing into, and sign () is symbol letter
Number, r, d are the parameter of the Nonlinear Tracking Differentiator for needing setting.
Optimize turbine speed transient process using second order Nonlinear Tracking Differentiator, system can be made to be input into smooth input signal
V (t), and extract the differential signal of primary signalSo it is avoided that because setting the input signal that value mutation causes to trace into
Acute variation and produce overshoot.
Step 2：The differential signal of output signal and output signal is observed by extended state observer.
Wherein, output signal is the actual speed of steam turbine.
The computing formula of extended state observer is
In formula
Y is the reality output rotating speed of steam turbine,
z1To estimate the actual speed of the steam turbine for tracing into,
e0To estimate the error of the actual speed and reality output rotating speed for tracing into,
z2The rate of change of the actual speed of the steam turbine traced into for estimation,
z3Rotating speed for steam turbine disturbs estimated value,
α1, α2, δ, β1, β2, β3To need the parameter of the extended state observer of setting.
Non-linear switching part in from the expression formula of nonlinear extension state observer, when actual speed error e0
When larger, carrying out evolution by its absolute value reduces its handoff gain, overshoot is prevented, when actual speed error e0It is less
When, make its handoff gain increase, plus rapid convergence by carrying out evolution to its absolute value.
Extended state observer is all equivalent to nonlinear uncertain controlled device and external interference factor phylogenetic
Disturbance, is then estimated and is compensated, and nonlinear system is become into line integral tandem type system, realizes that dynamic compensation is linear
Change, while guarantee system has good inhibiting effect to interference.
Step 3：By by the error between the input signal for tracing into and the output signal for observing, and trace into
Error between the differential signal of the differential signal of input signal and the output signal for observing, it is anti-by nonlinear state error
Feedback control law is calculated a nonlinear state error feedback control amount.
Step 4：The disturbance for expanding out by the nonlinear state error feedback control amount and expansion observer that obtain is estimated
Evaluation draws final controlled quentity controlled variable, i.e. steam flow.
The computing formula of nonlinear state error Feedback Control Laws is
v1The given rotating speed of the steam turbine to trace into,
v2The rate of change of the given rotating speed of steam turbine to trace into,
z1To estimate the actual speed of the steam turbine for tracing into,
z2The rate of change of the actual speed of the steam turbine traced into for estimation,
z3Rotating speed for steam turbine disturbs estimated value,
e1For the error of steam turbine actual speed and given rotating speed,
e2The error of the rate of change of rate of change and given rotating speed for the actual speed of steam turbine,
u0For nonlinear state error feedback control amount,
U is the final controlled quentity controlled variable for controlling high pressure valve regulation steam turbine,
α3, α4, β4, β5, δ is the parameter of the nonlinear state error Feedback Control Laws for needing setting.
δ is identical with above-mentioned extended state observer.
Nonlinear state error Feedback Control Laws are the error es according to actual speed and given rotating speed1With actual speed
The error e of the rate of change of rate of change and given rotating speed2The control law of the integration tandem type controlled device to determine.By non-thread
Property state error Feedback Control Laws are calculated nonlinear state error feedback control amount u0, then to error feedback control amount
u0And disturbance estimated value z that extended state observer is expanded out3To determine final controlled quentity controlled variable, i.e. steam flow u.
The error e of actual speed and given rotating speed1With the error e of the rate of change of the rate of change and given rotating speed of actual speed2
Nonlinear state error feedback processing is carried out, enables a system to quickly enter stable state.
It is established below reheating turbine mathematical model, the volume effect of reheating turbine each cylinder is public
Formula is：
Fig. 2 is the structural representation of reheating turbine of the present invention in embodiment.
Fig. 3 is the transmission function block diagram between steam turbine torque and steam flow of the present invention in embodiment.
As shown in Figures 2 and 3, steam turbine has multiple cylinders to drive an electromotor, and each cylinder is according to working steam
Pressure is divided into high pressure cylinder (HP), intermediate pressure cylinder (IP) and low pressure (LP) cylinder (LP).In order to improve the thermal efficiency, modern steam turbine also has middle
Reheating link.
Boiler high temperature high steam enters high pressure cylinder by porthole and steam chest in Fig. 2.The steam feeding for flowing out high pressure cylinder adds again
Hot device heat temperature raising, steam enters intermediate pressure cylinder after heating up, and the steam Jing connecting pipes for flowing out intermediate pressure cylinder are directly entered low pressure (LP) cylinder.Will
To the part between high pressure cylinder, the volume effect time is designated as T for porthole and steam chestHR, high pressure cylinder is to the part between intermediate pressure cylinder, volume
Effect time is designated as TRH, intermediate pressure cylinder to the duct coupling between low pressure (LP) cylinder, the volume effect time is designated as TCO.Reheat-type vapour
Turbine makes high pressure cylinder steam discharge to the intermediate pressure cylinder delayed τ seconds due to there is huge resuperheat volume.If THP、TIP、TLPIt is respectively
The power factor of high, medium and low cylinder pressure, meets KHP+KIP+KLP=1.TmH、TmI、TmLIt is respectively the output turn of high, medium and low cylinder pressure
Square, then as shown in figure 3, can be obtained by function block diagram：
Due to TCO<<TRH, typically do not consider that low pressure (LP) cylinder is exerted oneself, then can simplify the transmission obtained between torque and steam flow
Function is：
Turbine rotor is considered as integral element, and the transmission function between steam turbine torque and rotating speed is：
In formula, TαFor rotor time constant.
It is right to being carried out with traditional PID control based on the turbine speed control method of Active Disturbance Rejection Control to cite an actual example below
Than.
In certain electricity generating corporation, Ltd 340MW steam turbines, steam turbine high-pressure cylinder power factor KHP=0.3, but volume is imitated
T between seasonableHR、TRHThere are uncertainty, general THRBetween the 0.2-0.3 seconds, TRHBetween the 5-10 seconds,
T is taken for 340MW Steam TurbinesHP=0.3 second, TRH=8 seconds, τ=2 second, Tα=10 seconds, then steam turbine torque and steam flow it
Between transmission function and the transmission function between steam turbine torque and rotating speed be respectively:
Fig. 4 is steam turbine active disturbance rejection rotating speed control simulation architecture figure of the present invention in embodiment.
Fig. 5 is steam turbine PID rotating speed simulation architecture figure of the present invention in embodiment.
As shown in figs. 4 and 5, Control System of Rotational Speed of Steam Turbine is modeled using Simulink instruments, by system
Simulation experiment is optimized to model parameter, wherein electric load fluctuation is considered as into system disturbance.
(1) automatic disturbance rejection controller parameter setting
The suggestion selection range of each parameter of automatic disturbance rejection controller：R is 0.01～0.1；D is 50～100；β1For 50～200；
β2For 200～350；β3For 800～1500；β4For 400～600；β5For 19～23；The selection of parameter alpha is according to α1：α2=2:1 and
α4：α:3=2:1, wherein 0 ＜ α2＜ α1The ＜ α of ＜ 1,03The ＜ α of ＜ 14。
Conventional PID controller and the optimized parameter of automatic disturbance rejection controller below in done emulation experiment is by testing tune
Acquisition of adjusting is tried, wherein conventional PID controller parameter is respectively：kp=50, ki=5, kd=100；(immediately epimere, without point
OK) automatic disturbance rejection controller parameter is respectively：R=0.01, d=50, β1=100, β2=300, β3=1000, β4=500, β5=
20, α1=0.5, α2=0.25, α3=0.75, α4=1.5, δ=0.0025, (wherein 0 ＜ α2＜ α1The ＜ α of ＜ 1,03The ＜ α of ＜ 14)。
(2) emulation experiment of the steam turbine red switch to given rotating speed
Fig. 6 is the song of steam turbine Active Disturbance Rejection Control and traditional PID control speed dynamic response of the present invention in embodiment
Line chart.
In the simulation architecture figure of Fig. 4 and Fig. 5, first do not consider that electric load is disturbed, do steam turbine output speed reach it is given
Rotating speed simultaneously maintains rotating speed to rotate emulation experiment, and Active Disturbance Rejection Control is contrasted with the PID control time, takes simulation time 250 seconds,
Although simulation result is as shown in fig. 6, PID control can reach quickly given rotating speed, overshoot to 3280rpm, Active Disturbance Rejection Control
Shallower, only 3008rpm less than PID overshoot is reacted, while Active Disturbance Rejection Control output speed reaches 3000rpm (± 2rpm)
Time be 16.3 seconds, PID control need 20.3 seconds.Its reason is that automatic disturbance rejection controller optimizes vapour using Nonlinear Tracking Differentiator
The transient process of turbine rotating speed, transient process can make system be input into smooth input signal, and extract the differential of input signal
Signal, it is to avoid overshoot is produced because of the acute variation that setting value mutation causes the input signal for tracing into, while will export and defeated
The error of the error for entering and the rate of change of output and the rate of change of input carries out nonlinear state error feedback processing, so that
System can faster enter stable state.
(3) system stability performance emulation experiment
Fig. 7 is the curve of impact (square-wave signal) of electric load fluctuation of the present invention in embodiment to stabilization of speed
Figure.
As shown in Figure 7, it is considered to which electric load is disturbed, simulation time is set to 250 seconds, wherein electric load disturbs module bag
Containing user, electromotor and constant module, user and generator module adopt the parameter amplitude of pulse signal, line module to arrange
For 50, frequency configuration is 0.03, and generator module parameter amplitude is set to 100, and frequency configuration is 0.003, and constant module is arranged
100, to the fluctuation for simulating electric load, output speed curve is obtained, by stable part partial enlargement.
Fig. 8 is the curve of impact (white noise signal) of electric load fluctuation of the present invention in embodiment to stabilization of speed
Figure.
As shown in figure 8, simulation time is set to 250 seconds, electric load disturbance module adopts white noise signal, by white noise
Signal power is 10000, and the sampling time is set to 1, is really fluctuated to simulate electric load, obtains output speed curve,
By stable part partial enlargement.
Fig. 7 and Fig. 8 are the turbine speed control systems of the automatic disturbance rejection controller based on electric load fluctuation and PID controller
System stability experiment.Simulation result shows that Active Disturbance Rejection Control turbine speed receives electric load fluctuation ratio PID control steam turbine
Rotating speed is fluctuated little 3-4 times by electric load.Its reason is that observer is expanded in automatic disturbance rejection controller to nonlinear uncertain quilt
Control object and all equivalent into phylogenetic disturbance of external interference factor, are then estimated and are compensated, and nonlinear system is become
Linear integration tandem type system, realizes LINEARIZATION WITH DYNAMIC COMPENSATION, while guarantee system has good inhibiting effect to interference.
Simulation result shows that Active Disturbance Rejection Control effect is better than regulatory PID control.Relative to the control algolithm of Traditional PID,
Active Disturbance Rejection Control algorithm significantly improves steam turbine low-response and electric load fluctuation causes the fixed problem of rotary speed unstabilization, improves
The quick response of turbine speed control and stable operation.
The parameter that this example is adopted is merely illustrative, the turbine speed controlling party based on Active Disturbance Rejection Control of the present invention
Method compares PID control method and the result of relative optimization can be obtained under given parameters.
The effect of embodiment and effect
Turbine speed control method according to involved by the present embodiment based on Active Disturbance Rejection Control, using second order differential is tracked
Device optimizes the transient process of turbine speed, and by nonlinear state error Feedback Control Laws controlled device is controlled, by expanding
Sight state surveys device and is estimated and compensated, and into phylogenetic disturbs internal system uncertain factor and external disturbance are all equivalent
It is dynamic, and nonlinear system is changed into into line integral tandem type system, so as to realize the dynamic feedback linearization of system；So, nothing
It is linear or nonlinear by being to determine property of controlled device or probabilistic, time-varying or when it is constant, pass through
Extended state observer is estimated and compensation just can be controlled with unified method.
Above-mentioned embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (4)
1. a kind of turbine speed control method based on Active Disturbance Rejection Control, for controlling the rotating speed of steam turbine, it is characterised in that
Comprise the following steps：
Step one, second order Nonlinear Tracking Differentiator optimizes the transient process of the rotating speed of the steam turbine, tracking input signal and described defeated
Enter the differential signal of signal；
Step 2, by extended state observer the differential signal of output signal and the output signal is observed；
Step 3, by by the error between the input signal for tracing into and the output signal for observing, and tracking
To the differential signal of the input signal and the differential signal of the output signal for observing between error, by non-thread
Property state error Feedback Control Laws are calculated a nonlinear state error feedback control amount；And
Step 4, is expanded out by the nonlinear state error feedback control amount and the extended state observer that obtain
Disturbance estimated value draw final controlled quentity controlled variable, i.e. steam flow,
Wherein, the input signal is given rotating speed,
The output signal is actual speed,
The computing formula of the rotating speed transient process of the steam turbine of the Nonlinear Tracking Differentiator is
V is the given rotating speed of steam turbine,
x1Quick non-overshoot tracking is carried out to input signal v (t), while x2Track the differential signal of the input signalE is the error between the given rotating speed value and the given rotating speed for tracing into, and sign () is sign function, and r, d are
The parameter of the Nonlinear Tracking Differentiator of setting is needed,
The computing formula of the extended state observer is
In formula
Y is the reality output rotating speed of the steam turbine,
z1To estimate the actual speed of the steam turbine for tracing into,
e0To estimate the error of the actual speed and reality output rotating speed for tracing into,
z2The rate of change of the actual speed of the steam turbine traced into for estimation,
z3Rotating speed for the steam turbine disturbs estimated value,
α1, α2, δ, β1, β2, β3To need the parameter of the extended state observer of setting,
The computing formula of the nonlinear state error Feedback Control Laws is
v1The given rotating speed of the steam turbine to trace into,
v2The rate of change of the given rotating speed of the steam turbine to trace into,
z1To estimate the actual speed of the steam turbine for tracing into,
z2The rate of change of the actual speed of the steam turbine traced into for estimation,
z3Rotating speed for the steam turbine disturbs estimated value,
e1The error of actual speed and the given rotating speed described in the steam turbine,
e2For the error of rate of change and the rate of change of the given rotating speed of the actual speed of the steam turbine,
u0For the nonlinear state error feedback control amount,
U is the described final controlled quentity controlled variable for controlling steam turbine described in high pressure valve regulation,
α3, α4, β4, β5, δ is the parameter of the nonlinear state error Feedback Control Laws for needing setting.
2. the turbine speed control method based on Active Disturbance Rejection Control according to claim 1, it is characterised in that：
Wherein, the transient process can make system be input into the smooth input signal, and extract the institute of the input signal
State differential signal, it is to avoid produce overshoot because of the acute variation that setting value mutation causes the input signal for tracing into.
3. the turbine speed control method based on Active Disturbance Rejection Control according to claim 1, it is characterised in that：
Wherein, the extended state observer is all equivalent to system nonlinear uncertain controlled device and external interference factor
Raw disturbance, is then estimated and is compensated, and nonlinear system is changed into into line integral tandem type system, realizes dynamic compensation
Linearisation, while guarantee system has good inhibiting effect to interference.
4. the turbine speed control method based on Active Disturbance Rejection Control according to claim 1, existing method it is characterized in that：
Wherein, it is the actual speed is given with described with the rate of change of the error of the given rotating speed and the actual speed
The error of the rate of change of rotating speed carries out nonlinear state error feedback processing, enables a system to quickly enter stable state.
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| CN201610098297.9A CN105673094B (en) | 2016-02-23 | 2016-02-23 | Turbine rotating speed control method based on active-disturbance-rejection control |
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| CN111188784B (en) * | 2019-10-09 | 2022-03-22 | 浙江中控技术股份有限公司 | Anti-surge self-adaptive control method |
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| CN101977010A (en) * | 2010-10-19 | 2011-02-16 | 天津理工大学 | Brushless double-fed wind driven generator decoupling method based on active-disturbance-rejection control (ADRC) technology |
| CN103697454A (en) * | 2013-12-12 | 2014-04-02 | 广东电网公司电力科学研究院 | Method and device for controlling direct-current generator set of coal-fired boiler |
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| CN101977010A (en) * | 2010-10-19 | 2011-02-16 | 天津理工大学 | Brushless double-fed wind driven generator decoupling method based on active-disturbance-rejection control (ADRC) technology |
| CN103697454A (en) * | 2013-12-12 | 2014-04-02 | 广东电网公司电力科学研究院 | Method and device for controlling direct-current generator set of coal-fired boiler |
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| 新型控制算法在火电厂中的应用研究;郑贵文;《中国优秀硕士学位论文全文数据库工程科技II辑》;20070715;第6页、第18-29页 * |
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