CN105676692A - Intelligent excitation control system for generator set - Google Patents
Intelligent excitation control system for generator set Download PDFInfo
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- CN105676692A CN105676692A CN201610026667.8A CN201610026667A CN105676692A CN 105676692 A CN105676692 A CN 105676692A CN 201610026667 A CN201610026667 A CN 201610026667A CN 105676692 A CN105676692 A CN 105676692A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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Abstract
The invention relates to an intelligent excitation control system for a generator set. The system includes a voltage detection unit, a data processing unit, a PID calculation unit, a power amplification unit and an intelligent instruction list, wherein the intelligent instruction list is used for determining PID parameters of the PID calculation unit and stores a plurality of sets of instructions, and each set of instruction consists of a preset voltage deviation value, a preset voltage deviation change rate and corresponding PID parameters; and an intelligent control unit is used for receiving information of a voltage deviation value e and a voltage deviation change rate ec, and judging whether difference value rates of the voltage deviation value e and the voltage deviation change rate ec and the preset voltage deviation value and the preset voltage deviation change rate in the intelligent instruction list are lower than preset different value rates, if yes, the PID parameters in the instruction are input to the PID calculation unit, and if no, an instruction with the sum of the abovementioned two difference value rates being minimum is selected, and the PID parameters in the instruction are input to the PID calculation unit. The system has a relatively good excitation control effect.
Description
Technical field
The present invention relates to the excitation intelligence control system of generating set, particularly, relate to the excitation intelligence control system of the generating set such as diesel oil, gasoline.
Background technology
The construction of strong intelligent grid be unable to do without " strong " and " intelligence ", and " strong " and " intelligence " is two basic development requirements of modern power network. " strong " is basis, and " intelligence " is instrument. Strong intelligent grid is exactly the supply of electric power that will realize high efficiency smart on the basis of safe and stable operation. Automation is the embodiment directly perceived of intelligent grid development level, relies on efficient information, gathers transmission and integrated system control application, realizes the automatic train operation control and management level of electrical network and promotes.
Rapid in electric power industry development, under the background that power system scale constantly expands, operation of electric power system is also more and more higher for the requirement of reliability, security and economy. Exciter control system is the important control assembly in electricity generation system, in the normal operation of power system or accident, plays vital effect. The control task of synchronous generator excited system from maintain set end voltage constant and distribute unit idle exert oneself to have expanded to improve Electrical Power System Dynamic and static stability, the exciter control system of function admirable not only can ensure that generator is reliable, stable operation, the effectively technical indicator of raising system, for electrical network is carried high-quality electric energy. In numerous measures that improve synchronous generator stable operation, use modern Intelligent Control Theory, improve the control performance of excitation system and be the economy of generally acknowledging and effective one of means. Therefore, the quality of its performance directly affects synchronous generator unit and even whole power system.
In order to improve the quality of synchronous generator unit control, many scholars have proposed optimum control, the control of change structure of excitation both at home and abroad
The nonlinear Control of system, applied differential geometry control theory. Above-mentioned control mode is to be all based upon in traditional mathematics Elementary Theory of Control, and their control effect all has much relations with the levels of precision of the controlled device Mathematical Modeling adopting. Power system is a nonlinear large system in essence, is difficult to obtain accurate Mathematical Modeling.
Summary of the invention
In order to solve the problems of the technologies described above, one aspect of the present invention provides a kind of generating unit excitation intelligence control system, and described excitation intelligence control system is for controlling the electric current of dynamo field coil, and this system comprises:
Detecting voltage unit, for detecting in real time generator unit stator terminal voltage;
Data processing unit, for the treatment of generator unit stator terminal voltage, according to predeterminated voltage, calculates voltage deviation amount e and voltage deviation rate of change ec;
PID computing unit, described PID computing unit adopts increment type PID control algolithm, according to the pid parameter output control signal of voltage deviation and intelligent control unit input;
Power amplification unit, thus described power amplification unit is for amplifying control signal to realize the electric current of controlling dynamo field coil;
Intelligent instruction catalogue, described intelligent instruction catalogue, for determining the pid parameter of PID computing unit, stores the instructions of many groups in described intelligent instruction catalogue, and every group of instruction is made up of the pid parameter of predeterminated voltage departure and predeterminated voltage deviation variation rate and correspondence thereof;
Intelligent control unit, for receiver voltage departure e and voltage deviation rate of change ec information, and whether the difference rate that judges predeterminated voltage departure in voltage deviation amount e and voltage deviation rate of change ec and intelligent instruction catalogue and predeterminated voltage deviation variation rate is all lower than preset difference value rate, if, by the pid parameter input PID computing unit in instruction, if not, select the minimum instruction of above-mentioned two difference rate sums, and pid parameter in instruction input PID computing unit.
Described preset difference value rate is 1%-30%.
Described many group pid parameters are adjusted and are obtained by different setting methods, and described setting method is ZN empirical method, ZN critical proportional band law, the optimum Tuning of ISTE, feature area-method, relay from Tuning, cohen-coon method, GPM method, SPMA method, LEAST SQUARES MODELS FITTING identification method, based on weighted error integrated square index method, maximum tangential method, approximation technique.
Described many group pid parameter obtaining steps comprise:
Adjust and obtain array pid parameter;
Select m to organize immediate pid parameter KP、KI、KD；
At m KPIn greatest measure and minimum value between equidistantly get n KPNumerical value;
At m KIIn greatest measure and minimum value between equidistantly get n KINumerical value;
At m KDIn greatest measure and minimum value between equidistantly get n KDNumerical value;
Obtain n group pid parameter by reconfiguring in a said n KP, KI, KD numerical value.
Described many group pid parameter obtaining steps comprise:
Adjust and obtain array pid parameter;
Select m to organize immediate pid parameter KP、KI、KD；
At m KPIn greatest measure and minimum value between equidistantly get n KPNumerical value;
Utilize m coordinate (KP，KI) matching obtains m-1 order polynomial function, utilizes this polynomial function and n KPNumerical value obtains n KI；
Utilize m coordinate (KP，KD) matching obtains m-1 order polynomial function, utilizes this polynomial function and n KPNumerical value obtains n KD；
Obtain n group pid parameter by reconfiguring in a said n KP, KI, KD numerical value.
Described excitation intelligence control system also comprises intelligent instruction catalogue generation unit, described intelligent instruction catalogue generation unit comprises logging modle and analyzing stored module, described logging modle is for receiving the voltage deviation amount e of data processing unit and the pid parameter of voltage deviation rate of change ec and the corresponding output of intelligent control unit, described analyzing stored module is for analyzing the control effect value of the corresponding pid parameter of exporting of intelligent control unit in a predetermined period, reach default value if control effect value, the array pid parameter in this predetermined period and corresponding voltage deviation amount e and voltage deviation rate of change ec are stored in intelligent instruction catalogue, and array PID is considered as to a PID control group, do not reach default value if control effect value, without storage action.
Described default value is by T time delayD, rise time Tr, regulate time Ts, one or more signs in overshoot σ.
Described excitation intelligent control method also comprises intelligent instruction catalogue sorting module:
Described intelligent instruction catalogue sorting module, whether identical with the pid parameter of the PID control group of intelligent instruction catalogue for judging not pid control parameter in groups, if, in intelligent instruction catalogue, delete this not pid control parameter in groups, if not, in intelligent instruction catalogue, retain this not pid control parameter in groups.
Generating unit excitation intelligent control method, described excitation intelligent control method is for controlling the electric current of dynamo field coil, and the method comprises the following steps:
A. detect in real time generator unit stator terminal voltage;
B. process generator unit stator terminal voltage, according to predeterminated voltage, calculate voltage deviation amount e and voltage deviation rate of change ec;
C. receiver voltage departure e and voltage deviation rate of change ec information, and whether the difference rate that judges predeterminated voltage departure in voltage deviation amount e and voltage deviation rate of change ec and intelligent instruction catalogue and predeterminated voltage deviation variation rate is all lower than preset difference value rate, if, the pid parameter in this instruction is PID, if not, select the minimum instruction of above-mentioned two difference rate sums, the pid parameter in this instruction is PID, described intelligent instruction catalogue is for determining the pid parameter of PID computing unit, in described intelligent instruction catalogue, store the instruction of many groups, every group of instruction is made up of the pid parameter of predeterminated voltage departure and predeterminated voltage deviation variation rate and correspondence thereof,
D. adopt increment type PID control algolithm, according to voltage deviation amount e and PID output control signal;
E. thereby control signal is amplified and realized the electric current of controlling dynamo field coil.
Described many group pid parameter obtaining steps comprise:
Adjust and obtain array pid parameter;
Select m to organize immediate pid parameter KP、KI、KD；
At m KPIn greatest measure and minimum value between equidistantly get n KPNumerical value;
At m KIIn greatest measure and minimum value between equidistantly get n KINumerical value;
At m KDIn greatest measure and minimum value between equidistantly get n KDNumerical value;
Obtain n group pid parameter by reconfiguring in a said n KP, KI, KD numerical value.
Described many group pid parameter obtaining steps comprise:
Adjust and obtain array pid parameter;
Select m to organize immediate pid parameter KP、KI、KD；
At m KPIn greatest measure and minimum value between equidistantly get n KPNumerical value;
Utilize m coordinate (KP，KI) matching obtains m-1 order polynomial function, utilizes this polynomial function and n KPNumerical value obtains n KI；
Utilize m coordinate (KP，KD) matching obtains m-1 order polynomial function, utilizes this polynomial function and n KPNumerical value obtains n KD；
Obtain n group pid parameter by reconfiguring in a said n KP, KI, KD numerical value.
Described excitation intelligent control method also comprises that intelligent instruction catalogue generates step:
Receive voltage deviation amount e and voltage deviation rate of change ec and the PID of data processing unit,
Analyze the control effect value of the several PIDs in a predetermined period, reach default value if control effect value, the array PID in this predetermined period and corresponding voltage deviation amount e and voltage deviation rate of change ec are stored in intelligent instruction catalogue, and array PID is considered as to a PID control group, do not reach default value if control effect value, without storage action.
Described excitation intelligent control method also comprises that intelligent instruction catalogue arranges step:
Whether judgement not pid control parameter is in groups identical with the pid parameter of the PID control group in intelligent instruction catalogue, if, in intelligent instruction catalogue, delete this not pid control parameter in groups, if not, in intelligent instruction catalogue, retain this not pid control parameter in groups.
Described default value is by T time delayD, rise time Tr, regulate time Ts, one or more signs in overshoot σ.
The present invention is by default intelligent instruction catalogue, can realize faster adjusting of pid parameter, simultaneously, adopt distinct methods to adjust and obtained array pid parameter, and regenerate new many groups pid parameter according to array pid parameter, with reference to the pid parameter of varying environment, make the pid parameter of adjusting can more effectively realize the control of excitation, realizing the intelligentized while, efficiency is higher.
Be easier to understand the above-mentioned of the application and other features, aspect and advantage with reference to following detailed description in detail.
Brief description of the drawings
Fig. 1 is typical excitation system.
Fig. 2 is the structured flowchart schematic diagram of excitation intelligence control system of the present invention.
Fig. 3 is the intelligent updating structured flowchart schematic diagram of intelligent instruction catalogue of the present invention.
Fig. 4 is T time delayD, rise time Tr, regulate time Ts, overshoot σ computational methods schematic diagram.
Detecting voltage unit 1
PID computing unit 2
Power amplification unit 3
Intelligence instruction catalogue 4
Intelligence instruction catalogue generation unit 5
Logging modle 51
Analyzing stored module 52
Intelligence instruction catalogue sorting module 6
Data processing unit 7
Intelligent control unit 8.
Detailed description of the invention
For making object, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the accompanying drawing of the embodiment of the present invention, the technical scheme of the embodiment of the present invention is clearly and completely described. Obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiment. Based on described embodiments of the invention, all other embodiment that those of ordinary skill in the art obtain under the prerequisite without creative work, belong to the scope of protection of the invention.
Unless otherwise defined, technical term used herein or scientific terminology should be and in field, have the ordinary meaning that the personage of general technical ability understands under the present invention. " first ", " second " and the similar word that in patent application specification of the present invention and claims, use do not represent any order, quantity or importance, and are just used for distinguishing different parts. Equally, the similar words such as " " or " " do not represent restricted number yet, but represent to exist at least one.
One of typical excitation system of the present invention mainly comprises detecting voltage unit, for detecting in real time generator unit stator terminal voltage; Data processing unit, for the treatment of generator unit stator terminal voltage, according to predeterminated voltage, calculates voltage deviation amount e and voltage deviation rate of change ec; PID computing unit, described PID computing unit adopts increment type PID control algolithm, according to the pid parameter output control signal of voltage deviation and intelligent control unit input; Power amplification unit, thus described power amplification unit is controlled the electric current of dynamo field coil for control signal is amplified to realization, thus formation control circulation.
In addition, one of typical excitation system of the present invention critical piece has: exciter, voltage regulator, power cell, and typical excitation system structure is as Fig. 1:
Generator terminal voltage UtThrough measuring after link and given reference voltage UrefCan make comparisons, its deviation e. After entering voltage regulator and amplifying, output voltage URAs exciter excitation voltage, control the output voltage Ef of exciter, for the stable operation of excitation system and improve its dynamic quality, introduce excitation system negative feedback links, and excitation system stabilizer, be generally a soft feedback element, again title speed feedback. UsFor the additional control signal of excitation, be the output control signal of power system stabilizer here.
It is T that measurement link is expressed as a time constantRInertial element, TRAs value very little, often ignored. Voltage regulator can represent with an inertia amplifying element of a lead-lag link series connection conventionally. Lead-lag link has reflected the phase characteristic of adjuster, wherein TB、TCValue is very little, while generally simplifying system, can ignore. Inertia amplifying element multiplication factor is KA, time constant is TA. K in thyristor excitation adjusterAPer unit value can reach hundreds of, time constant TABe about a few tens of milliseconds. Exciter transfer function is to take into account the inertial element of saturation, to separate excitation AC excitation KL=l. For static excitation system, exclterless link.
PID calculator is to realize the control to controlled device according to the deviate e (t) of desired value r (t) and system real output value y (t) formation. Its control law can represent:
K in formulapFor proportionality coefficient, TIFor integration time constant, TDFor derivative time constant. The impact of three on system control performance:
Proportional coefficient Kp:
Proportion control is topmost part during PID controls, and it can linear reflection deviation e (t). Strengthen Kp, can reduce steady-state error, improve the control accuracy of system, make system become sensitive, response speed simultaneously and become faster, once KpExcessive, will there will be larger overshoot, and produce vibration, reduce the dynamic property of system.
Integration time constant TI:
Integration control is generally used for eliminating or reducing systematic steady state error, and the intensity of its effect is to depend on TI. From formula, TIThe effect that larger integration item plays is more weak, therefore, strengthens TICan reduce overshoot and the vibration of system, make system more stable, but be unfavorable for like this eliminating systematic steady state error. Reduce TI, integral action is strengthened, and is conducive to eliminate steady-state error, once but TIToo small, can make the dynamic property variation of system.
Derivative time constant TD
The measurable variation tendency deviating of differential control. Strengthen TD, system responses accelerates, and overshoot can correspondingly reduce, but this can make system rejection to disturbance ability decline.
Digital PID Controller is accompanied by the development of computer technology and arises at the historic moment, and it is to develop on the basis of original simulation system, realizes on computers PID and controls and must carry out discretization to the Mathematical Modeling of original continuous system. That is:
In formula, T is the sampling period, and k is sample sequence, k=0, and 1,2,3 ... In order to write conveniently, e (kT) is reduced to e (k). Can be calculated Discrete PI D expression formula:
That is:
The increment type PID control algolithm of deriving to obtain:
。
As shown in Figure 2, generating unit excitation intelligence control system, described excitation intelligence control system is for controlling the electric current of dynamo field coil, and this system comprises:
Detecting voltage unit, for detecting in real time generator unit stator terminal voltage;
Data processing unit, for the treatment of generator unit stator terminal voltage, according to predeterminated voltage, calculates voltage deviation amount e and voltage deviation rate of change ec;
PID computing unit, described PID computing unit adopts increment type PID control algolithm, according to the pid parameter output control signal of voltage deviation and intelligent control unit input;
Power amplification unit, thus described power amplification unit is for amplifying control signal to realize the electric current of controlling dynamo field coil;
Intelligent instruction catalogue, described intelligent instruction catalogue, for determining the pid parameter of PID computing unit, stores the instructions of many groups in described intelligent instruction catalogue, and every group of instruction is made up of the pid parameter of predeterminated voltage departure and predeterminated voltage deviation variation rate and correspondence thereof;
Intelligent control unit, for receiver voltage departure e and voltage deviation rate of change ec information, and whether the difference rate that judges predeterminated voltage departure in voltage deviation amount e and voltage deviation rate of change ec and intelligent instruction catalogue and predeterminated voltage deviation variation rate is all lower than preset difference value rate, if, by the pid parameter input PID computing unit in instruction, if not, select the minimum instruction of above-mentioned two difference rate sums, and pid parameter in instruction input PID computing unit.
Preset difference value rate of the present invention=| (voltage deviation amount-predeterminated voltage departure)/predeterminated voltage departure * 100%|; Or preset difference value rate=| (voltage deviation rate of change-predeterminated voltage deviation variation rate)/predeterminated voltage deviation variation rate * 100%|. Preset difference value rate is positive number.
Described preset difference value rate is 1%-30%. By the adjustment of preset difference value rate, can effectively reduce the quantity of the instruction in intelligent instruction catalogue, along with the raising of computer speed, preset difference value rate can reduce.
By certain preset difference value rate being set and adopting e and ec to adjust pid parameter, in PID computational process, pid parameter can be adjusted certainly. Pid parameter automatic setting method of the present invention is simple simultaneously, easily realizes, and there is no complicated logical operation. Meanwhile, the method more easily realizes the intelligence learning of pid parameter, has realized the Based Intelligent Control of excitation system.
Described many group pid parameters are adjusted and are obtained by different setting methods, and described setting method is ZN empirical method, ZN critical proportional band law, the optimum Tuning of ISTE, feature area-method, relay from Tuning, cohen-coon method, GPM method, SPMA method, LEAST SQUARES MODELS FITTING identification method, based on weighted error integrated square index method, maximum tangential method, approximation technique.
Said method is all common methods of this area, and these setting methods all have the good effect of adjusting, but in different fields and environment, part setting method may more approach ideal value. Based on this reason, the present invention has adopted multiple setting parameters just, for the PID computing unit of generator.
Described many group pid parameter obtaining steps comprise:
Adjust and obtain array pid parameter;
Select m to organize immediate pid parameter KP、KI、KD；
At m KPIn greatest measure and minimum value between equidistantly get n KPNumerical value;
At m KIIn greatest measure and minimum value between equidistantly get n KINumerical value;
At m KDIn greatest measure and minimum value between equidistantly get n KDNumerical value;
Obtain n group pid parameter by reconfiguring in a said n KP, KI, KD numerical value.
For example, by maximum tangential method, feature area-method and the approximation technique generator excited system parameter of the present invention of adjusting respectively, obtain three groups of pid parameters:
10、20、50；
14、24、40；
12、25、45；
According to 0.8 spacing, obtain 6 numerical value 10,10.8,11.6,12.4,13.2,14;
According to 1 spacing, obtain 6 numerical value 20,21,22,23,24,25;
According to 2 spacing, obtain 6 numerical value 40,42,44,46,48,50;
Reconfigure and obtain 6 groups of pid parameters:
10、20、40；
10.8、21、42；
11.6、22、44；
12.4、23、46；
13.2、24、48；
14、25、50。
Certainly, above-mentioned data also can random combine.
The e that may occur and ec numerical value are listed, and for example, e gets-3,0,3, and ec gets-6,0,6.
The combination of e and ec is all listed, and random and aforesaid 9 groups of pid parameters pairing.
In addition,, in order to obtain the effect of better adjusting, for example also can select at random combination and the pid parameter of 1024 groups of even more e and ec to be combined into intelligent instruction catalogue.
Described many group pid parameter obtaining steps comprise:
Adjust and obtain array pid parameter;
Select m to organize immediate pid parameter KP、KI、KD；
At m KPIn greatest measure and minimum value between equidistantly get n KPNumerical value;
Utilize m coordinate (KP，KI) matching obtains m-1 order polynomial function, utilizes this polynomial function and n KPNumerical value obtains n KI；
Utilize m coordinate (KP，KD) matching obtains m-1 order polynomial function, utilizes this polynomial function and n KPNumerical value obtains n KD；
Obtain n group pid parameter by reconfiguring in a said n KP, KI, KD numerical value.
In the present invention, shape is as f (x)=anxn+an-1xn-1+…+a1x+a0Function, be called polynomial function. Utilize polynomial function, can effectively obtain more pid parameter KP、KI、KD。
As shown in Figure 3, described excitation intelligence control system also comprises intelligent instruction catalogue generation unit, described intelligent instruction catalogue generation unit comprises logging modle and analyzing stored module, described logging modle is for receiving the voltage deviation amount e of data processing unit and the pid parameter of voltage deviation rate of change ec and the corresponding output of intelligent control unit, described analyzing stored module is for analyzing the control effect value of the corresponding pid parameter of exporting of intelligent control unit in a predetermined period, reach default value if control effect value, the array pid parameter in this predetermined period and corresponding voltage deviation amount e and voltage deviation rate of change ec are stored in intelligent instruction catalogue, and array PID is considered as to a PID control group, do not reach default value if control effect value, without storage action.
Described default value is by T time delayD, rise time Tr, regulate time Ts, one or more signs in overshoot σ.
Time delay of the present invention TD, rise time Tr, regulate time Ts, overshoot σ pass through calculate as the mode that Fig. 4 represents, abscissa is the time, ordinate is voltage or electric current.
Time delay TDStart to present the time of response to system from excitation system input step signal.
Rise time TrResponse rose to for 90% required time from 10% of steady-state value.
Time to peak TpResponse exceedes steady-state value and reaches the required time of the first peak value.
Regulate time TsResponse reaches the required time in steady-state value scholar 5% error range.
Overshoot σ % is in response process, and system overshoot is defined as and time to peak TpCorresponding system peak response output quantity (h (Tp) and steady-state value (h (∞)) is poor, is expressed as follows:
。
Characterizing method can adopt T time delayD, rise time Tr, regulate time Ts, one or more in overshoot σ give certain weight, and summation obtains a numerical value, for example, time delay TD, rise time Tr, regulate time Ts, overshoot σ can be separately as sign, also can be by T time delayD, rise time Tr, regulate time TsGive identical or different weight, and calculate a time numerical value, analyze the control effect value of controlling parameter in a period of time, calculate and control effect value, with default value comparison, reach default value if control effect value, lower than or equal preset value, the several packings of orders in this period are stored. Also can be to regulate time Ts, overshoot σ carrys out characterization control effect, and a time standard T is setsWith standard overshoot σm, calculate Ts/TsWith σ/σmAnd, controlled effect value, with default value comparison, reaches default value if control effect value, lower than or equal preset value, the several packings of orders in this period are stored. Also can be by Ts/TsWith σ/σmDifferent weights is set respectively, as, Ts/TsWeight be 30%, σ/σmWeight be 70%, calculate and control effect value. In general, aforesaid a period of time as shown in Figure 2, can adopt time 0-16.
Described excitation intelligent control method also comprises intelligent instruction catalogue sorting module:
Described intelligent instruction catalogue sorting module, whether identical with the pid parameter of the PID control group of intelligent instruction catalogue for judging not pid control parameter in groups, if, in intelligent instruction catalogue, delete this not pid control parameter in groups, if not, in intelligent instruction catalogue, retain this not pid control parameter in groups.
By intelligent instruction catalogue sorting module, unnecessary instruction can be deleted, thereby control the quantity of intelligent instruction catalogue, reduce the delay that instruction is sent.
For example, there is intelligent instruction catalogue to contain 1024 groups of instructions, in the time of excitation system stable state, apply the potential pulse interfering signal of negative sense 15%, have respectively the 109th, 100, 880, 132, 555, 34, 870, 546, 90, 345, 432, 589, 901, 1000, 232, 478, 641, 478 groups of intelligence instruction catalogues are output, intelligence instruction catalogue generation unit records above-mentioned instruction group, and analyze the control effect of above-mentioned instruction group, do not exceed 10% as standard taking overshoot σ, this control effect value is 8%, this group instruction control effect meets the demands, by above-mentioned ground 109, 100, 880, 132, 555, 34, 870, 546, 90, 345, 432, 589, 901, 1000, 232, 478, 641, 478 as a control instruction group, be stored in intelligent instruction catalogue according to this order.
And in intelligent instruction catalogue sorting module, if 880,132, the 555th, because instruction meets default requirement, e and ec do not change and store as in intelligent instruction catalogue, in intelligent instruction catalogue sorting module, store as 880 of the control instruction group in intelligent instruction catalogue with firm, 132,555 data are identical, so in intelligent instruction catalogue sorting module, if 880,132,555 data do not form instruction group, and unnecessary 880,132,555 data are by deleted. In addition, the instruction of formation instruction group can be not deleted in intelligent instruction catalogue sorting module.
, also can find out meanwhile, except 880,132,555 groups of instructions, other instructions that are newly stored in intelligent instruction catalogue are all new different instructions, through the study of mass data, can effectively eliminate the impact bringing because of artificial appointment of instruction in early stage.
By above-mentioned reconfiguring, can greatly save the time that instruction is sent, improve instruction feedback speed. Meanwhile, by the study of instruction, intelligence control system will learn to obtain a series of fixing instruction groups, with dealing with the interfering signal that generating set runs into.
Generating unit excitation intelligent control method, described excitation intelligent control method is for controlling the electric current of dynamo field coil, and the method comprises the following steps:
A. detect in real time generator unit stator terminal voltage;
B. process generator unit stator terminal voltage, according to predeterminated voltage, calculate voltage deviation amount e and voltage deviation rate of change ec;
C. receiver voltage departure e and voltage deviation rate of change ec information, and whether the difference rate that judges predeterminated voltage departure in voltage deviation amount e and voltage deviation rate of change ec and intelligent instruction catalogue and predeterminated voltage deviation variation rate is all lower than preset difference value rate, if, the pid parameter in this instruction is PID, if not, select the minimum instruction of above-mentioned two difference rate sums, the pid parameter in this instruction is PID, described intelligent instruction catalogue is for determining the pid parameter of PID computing unit, in described intelligent instruction catalogue, store the instruction of many groups, every group of instruction is made up of the pid parameter of predeterminated voltage departure and predeterminated voltage deviation variation rate and correspondence thereof,
D. adopt increment type PID control algolithm, according to voltage deviation amount e and PID output control signal;
E. thereby control signal is amplified and realized the electric current of controlling dynamo field coil.
Described many group pid parameter obtaining steps comprise:
Adjust and obtain array pid parameter;
Select m to organize immediate pid parameter KP、KI、KD；
At m KPIn greatest measure and minimum value between equidistantly get n KPNumerical value;
At m KIIn greatest measure and minimum value between equidistantly get n KINumerical value;
At m KDIn greatest measure and minimum value between equidistantly get n KDNumerical value;
Obtain n group pid parameter by reconfiguring in a said n KP, KI, KD numerical value.
Described many group pid parameter obtaining steps comprise:
Adjust and obtain array pid parameter;
Select m to organize immediate pid parameter KP、KI、KD；
At m KPIn greatest measure and minimum value between equidistantly get n KPNumerical value;
Utilize m coordinate (KP，KI) matching obtains m-1 order polynomial function, utilizes this polynomial function and n KPNumerical value obtains n KI；
Utilize m coordinate (KP，KD) matching obtains m-1 order polynomial function, utilizes this polynomial function and n KPNumerical value obtains n KD；
Obtain n group pid parameter by reconfiguring in a said n KP, KI, KD numerical value.
In the present invention, shape is as f (x)=anxn+an-1xn-1+…+a1x+a0Function, be called polynomial function. Utilize polynomial function, can effectively obtain more pid parameter KP、KI、KD。
Described excitation intelligent control method also comprises that intelligent instruction catalogue generates step:
Receive voltage deviation amount e and voltage deviation rate of change ec and the PID of data processing unit,
Analyze the control effect value of the several PIDs in a predetermined period, reach default value if control effect value, the array PID in this predetermined period and corresponding voltage deviation amount e and voltage deviation rate of change ec are stored in intelligent instruction catalogue, and array PID is considered as to a PID control group, do not reach default value if control effect value, without storage action.
Described excitation intelligent control method also comprises that intelligent instruction catalogue arranges step:
Whether judgement not pid control parameter is in groups identical with the pid parameter of the PID control group in intelligent instruction catalogue, if, in intelligent instruction catalogue, delete this not pid control parameter in groups, if not, in intelligent instruction catalogue, retain this not pid control parameter in groups.
Described default value is by T time delayD, rise time Tr, regulate time Ts, one or more signs in overshoot σ.
By above-mentioned Based Intelligent Control, can effectively control the output of magnet exciting coil electric current, make the Voltage-output of generating set stable, when in the face of disturbance, with respect to other intelligence control systems, entirety is controlled effective, strong adaptability. With respect to other intelligence control systems, because the data in advance of adjusting imports, rule base is more effectively simple, processes fast.
The above, be only preferred embodiment of the present invention, is not intended to limit protection scope of the present invention. Every equalization that content is done according to the present invention changes and modifies, and is all encompassed in the scope of the claims of the present invention.
Claims (10)
1. generating unit excitation intelligence control system, described excitation intelligence control system is for controlling the electric current of dynamo field coil, and this system comprises:
Detecting voltage unit, for detecting in real time generator unit stator terminal voltage;
Data processing unit, for the treatment of generator unit stator terminal voltage, according to predeterminated voltage, calculates voltage deviation amount e and voltage deviation rate of change ec;
PID computing unit, described PID computing unit adopts increment type PID control algolithm, according to the pid parameter output control signal of voltage deviation and intelligent control unit input;
Power amplification unit, thus described power amplification unit is for amplifying control signal to realize the electric current of controlling dynamo field coil;
Intelligent instruction catalogue, described intelligent instruction catalogue, for determining the pid parameter of PID computing unit, stores the instructions of many groups in described intelligent instruction catalogue, and every group of instruction is made up of the pid parameter of predeterminated voltage departure and predeterminated voltage deviation variation rate and correspondence thereof;
Intelligent control unit, for receiver voltage departure e and voltage deviation rate of change ec information, and whether the difference rate that judges predeterminated voltage departure in voltage deviation amount e and voltage deviation rate of change ec and intelligent instruction catalogue and predeterminated voltage deviation variation rate is all lower than preset difference value rate, if, by the pid parameter input PID computing unit in instruction, if not, select the minimum instruction of above-mentioned two difference rate sums, and pid parameter in instruction input PID computing unit.
2. generating unit excitation intelligence control system according to claim 1, is characterized in that, described preset difference value rate is 1%-30%.
3. generating unit excitation intelligence control system according to claim 1, it is characterized in that, described many group pid parameters are adjusted and are obtained by different setting methods, and described setting method is ZN empirical method, ZN critical proportional band law, the optimum Tuning of ISTE, feature area-method, relay from Tuning, cohen-coon method, GPM method, SPMA method, LEAST SQUARES MODELS FITTING identification method, based on weighted error integrated square index method, maximum tangential method, approximation technique.
4. generating unit excitation intelligence control system according to claim 1, is characterized in that, described many group pid parameter obtaining steps comprise:
Adjust and obtain array pid parameter;
Select m to organize immediate pid parameter KP、KI、KD；
At m KPIn greatest measure and minimum value between equidistantly get n KPNumerical value;
At m KIIn greatest measure and minimum value between equidistantly get n KINumerical value;
At m KDIn greatest measure and minimum value between equidistantly get n KDNumerical value;
Obtain n group pid parameter by reconfiguring in a said n KP, KI, KD numerical value.
5. generating unit excitation intelligence control system according to claim 1, is characterized in that, described many group pid parameter obtaining steps comprise:
Adjust and obtain array pid parameter;
Select m to organize immediate pid parameter KP、KI、KD；
At m KPIn greatest measure and minimum value between equidistantly get n KPNumerical value;
Utilize m coordinate (KP，KI) matching obtains m-1 order polynomial function, utilizes this polynomial function and n KPNumerical value obtains n KI；
Utilize m coordinate (KP，KD) matching obtains m-1 order polynomial function, utilizes this polynomial function and n KPNumerical value obtains n KD；
Obtain n group pid parameter by reconfiguring in a said n KP, KI, KD numerical value.
6. generating unit excitation intelligence control system according to claim 1, it is characterized in that, described excitation intelligence control system also comprises intelligent instruction catalogue generation unit, described intelligent instruction catalogue generation unit comprises logging modle and analyzing stored module, described logging modle is for receiving the voltage deviation amount e of data processing unit and the pid parameter of voltage deviation rate of change ec and the corresponding output of intelligent control unit, described analyzing stored module is for analyzing the control effect value of the corresponding pid parameter of exporting of intelligent control unit in a predetermined period, reach default value if control effect value, the array pid parameter in this predetermined period and corresponding voltage deviation amount e and voltage deviation rate of change ec are stored in intelligent instruction catalogue, and array PID is considered as to a PID control group, do not reach default value if control effect value, without storage action.
7. generating unit excitation intelligence control system according to claim 1, is characterized in that, described default value is by T time delayD, rise time Tr, regulate time Ts, one or more signs in overshoot σ.
8. generating unit excitation intelligence control system according to claim 1, is characterized in that, described excitation intelligent control method also comprises intelligent instruction catalogue sorting module:
Described intelligent instruction catalogue sorting module, whether identical with the pid parameter of the PID control group of intelligent instruction catalogue for judging not pid control parameter in groups, if, in intelligent instruction catalogue, delete this not pid control parameter in groups, if not, in intelligent instruction catalogue, retain this not pid control parameter in groups.
9. generating unit excitation intelligent control method, described excitation intelligent control method is for controlling the electric current of dynamo field coil, and the method comprises the following steps:
A. detect in real time generator unit stator terminal voltage;
B. process generator unit stator terminal voltage, according to predeterminated voltage, calculate voltage deviation amount e and voltage deviation rate of change ec;
C. receiver voltage departure e and voltage deviation rate of change ec information, and whether the difference rate that judges predeterminated voltage departure in voltage deviation amount e and voltage deviation rate of change ec and intelligent instruction catalogue and predeterminated voltage deviation variation rate is all lower than preset difference value rate, if, the pid parameter in this instruction is PID, if not, select the minimum instruction of above-mentioned two difference rate sums, the pid parameter in this instruction is PID, described intelligent instruction catalogue is for determining the pid parameter of PID computing unit, in described intelligent instruction catalogue, store the instruction of many groups, every group of instruction is made up of the pid parameter of predeterminated voltage departure and predeterminated voltage deviation variation rate and correspondence thereof,
D. adopt increment type PID control algolithm, according to voltage deviation amount e and PID output control signal;
E. thereby control signal is amplified and realized the electric current of controlling dynamo field coil.
10. generating unit excitation intelligent control method according to claim 1, is characterized in that, described excitation intelligent control method also comprises that intelligent instruction catalogue generates step:
Receive voltage deviation amount e and voltage deviation rate of change ec and the PID of data processing unit,
Analyze the control effect value of the several PIDs in a predetermined period, reach default value if control effect value, the array PID in this predetermined period and corresponding voltage deviation amount e and voltage deviation rate of change ec are stored in intelligent instruction catalogue, and array PID is considered as to a PID control group, do not reach default value if control effect value, without storage action;
Described excitation intelligent control method also comprises that intelligent instruction catalogue arranges step:
Whether judgement not pid control parameter is in groups identical with the pid parameter of the PID control group in intelligent instruction catalogue, if, in intelligent instruction catalogue, delete this not pid control parameter in groups, if not, in intelligent instruction catalogue, retain this not pid control parameter in groups.
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| CN115488991A (en) * | 2022-11-02 | 2022-12-20 | 广州极东机械有限公司 | Closed-loop control system of edge bonding machine and control method thereof |
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