CN105676692B - Generating unit excitation intelligence control system - Google Patents
Generating unit excitation intelligence control system Download PDFInfo
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- CN105676692B CN105676692B CN201610026667.8A CN201610026667A CN105676692B CN 105676692 B CN105676692 B CN 105676692B CN 201610026667 A CN201610026667 A CN 201610026667A CN 105676692 B CN105676692 B CN 105676692B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The present invention relates to generating unit excitation intelligence control system, the system includes detecting voltage unit, data processing unit, PID computing units, power amplification unit, intelligent instruction catalogue, the intelligent instruction catalogue are used for the pid parameter for determining PID computing units, multigroup instruction is stored with the intelligent instruction catalogue, every group of instruction is made up of predeterminated voltage departure and predeterminated voltage deviation variation rate and its corresponding pid parameter；Intelligent control unit, for receiving voltage departure e and voltage deviation rate of change ec information, and judge whether voltage deviation amount e and voltage deviation rate of change ec is below preset difference value rate with the predeterminated voltage departure in intelligent instruction catalogue and the difference rate of predeterminated voltage deviation variation rate, if, the pid parameter in instruction is then inputted into PID computing units, if it is not, the minimum instruction of above-mentioned two difference rate sum is then selected, and the pid parameter input PID computing units in instruction.The system has more preferable excitation con-trol effect.
Description
Technical field
The present invention relates to the excitation intelligence control system of generating set, in particular it relates to the generating set such as diesel oil, gasoline
Excitation intelligence control system.
Background technology
The construction of strong intelligent grid be unable to do without " strong " and " intelligence ", and " strong " and " intelligence " is two of modern power network
Basic development requirement." strong " is basis, and " intelligence " is instrument.Strong intelligent grid is sought on the basis of safe and stable operation
On realize the supply of electric power of high efficiency smart.Automation is the embodiment directly perceived of intelligent grid development level, by efficient information, is adopted
Collection transmission and integrated system control application, realize that the control of power network automatic running is lifted with managerial skills.
Rapid in electric power industry development, under the background that power system scale constantly expands, operation of electric power system is for reliable
The requirement of property, security and economy also more and more higher.Exciter control system is the important control unit in electricity generation system, in electricity
Vital effect is played in Force system normal operation or accident.The control task of synchronous generator excited system from maintain machine
Terminal voltage is constant and the idle output of distribution unit extend to improve Electrical Power System Dynamic and static stability, function admirable are encouraged
Magnetic control system can not only ensure that generator is reliable, stable operation, the technical indicator of system can also effectively be improved, for electricity
The electric energy of net conveying high quality.In the measures of numerous improvement synchronous generator stable operations, with modern Intelligent Control Theory,
The control performance for improving excitation system is one of generally acknowledged economic and effective means.Therefore, the quality of its performance directly affects
Synchronous generator or even whole power system.
In order to improve the quality of Synchronous generator control, many scholars propose the optimum control of excitation, become both at home and abroad
Structure control
System, the nonlinear Control of applied differential geometry control theory.Above-mentioned control mode is all built upon traditional mathematics
In Elementary Theory of Control, their control effect is all and the levels of precision of controlled device mathematical modeling that uses has very high point
System.Power system is substantially a nonlinear big system, it is very difficult to obtains accurate mathematical modeling.
The content of the invention
In order to solve the above-mentioned technical problem, one aspect of the present invention provides a kind of generating unit excitation intelligence control system,
The excitation intelligence control system is used for the electric current for controlling dynamo field coil, and the system includes：
Detecting voltage unit, for detecting generator unit stator terminal voltage in real time；
Data processing unit, for handling generator unit stator terminal voltage, according to predeterminated voltage, voltage deviation amount is calculated
E and voltage deviation rate of change ec；
PID computing units, the PID computing units use incremental timestamp algorithm, are controlled according to voltage deviation and intelligence
The pid parameter output control signal of unit input processed；
Power amplification unit, the power amplification unit are used to amplify control signal so as to realize control generator excitation
The electric current of coil；
Intelligent instruction catalogue, the intelligent instruction catalogue are used for the pid parameter for determining PID computing units, the intelligent instruction catalogue
In be stored with multigroup instruction, every group of instruction is joined by predeterminated voltage departure and predeterminated voltage deviation variation rate and its corresponding PID
Array into；
Intelligent control unit, for receiving voltage departure e and voltage deviation rate of change ec information, and judge voltage deviation
Measure e and voltage deviation rate of change ec and the predeterminated voltage departure and the difference of predeterminated voltage deviation variation rate in intelligent instruction catalogue
Whether rate is below preset difference value rate, if so, the pid parameter in instruction then is inputted into PID computing units, if it is not, then in selection
State two minimum instructions of difference rate sum, and the pid parameter input PID computing units in instruction.
The preset difference value rate is 1%-30%.
Multigroup pid parameter is adjusted to obtain by different setting methods, and described setting method is ZN empirical methods, ZN
Critical proportional band law, ISTE Optimal tunnings method, feature area-method, relay autotuner method, cohen-coon methods, GPM methods, SPMA
Method, LEAST SQUARES MODELS FITTING identification method, based on weighted error integrated square index method, maximum tangential method, approximation technique.
Multigroup pid parameter obtaining step includes：
Adjust to obtain array pid parameter；
Select the immediate pid parameter K of m groupsP、KI、KD；
In m KPIn greatest measure and minimum value between equidistantly take n KPNumerical value；
In m KIIn greatest measure and minimum value between equidistantly take n KINumerical value；
In m KDIn greatest measure and minimum value between equidistantly take n KDNumerical value；
It will reconfigure to obtain n group pid parameters in above-mentioned n KP, KI, KD numerical value.
Multigroup pid parameter obtaining step includes：
Adjust to obtain array pid parameter；
Select the immediate pid parameter K of m groupsP、KI、KD；
In m KPIn greatest measure and minimum value between equidistantly take n KPNumerical value；
Utilize m coordinate（KP, KI）Fitting obtains m-1 order polynomial functions, utilizes the polynomial function and n KPNumerical value
Obtain n KI；
Utilize m coordinate（KP, KD）Fitting obtains m-1 order polynomial functions, utilizes the polynomial function and n KPNumerical value
Obtain n KD；
It will reconfigure to obtain n group pid parameters in above-mentioned n KP, KI, KD numerical value.
The excitation intelligence control system also includes intelligent instruction catalogue generation unit, the intelligent instruction catalogue generation unit bag
Logging modle and analysis memory module are included, the logging modle is used for the voltage deviation amount e and voltage for receiving data processing unit
Deviation variation rate ec and the pid parameter of the corresponding output of intelligent control unit, it is default one that the analysis memory module is used for analysis
The control effect value of the pid parameter of the corresponding output of intelligent control unit in cycle, if control effect value reaches default value,
Array pid parameter in the predetermined period and corresponding voltage deviation amount e and voltage deviation rate of change ec are stored in intelligence
In instruction catalogue, and array PID is considered as a PID control group, if control effect value is not up to default value, nothing is deposited
Storage acts.
Described default value passes through time delay TD, rise time Tr, regulating time Ts, one kind or several in overshoot σ
Kind characterizes.
The excitation intelligent control method also includes intelligent instruction catalogue sorting module：
The intelligent instruction catalogue sorting module, for judging not groups of pid control parameter and the PID in intelligent instruction catalogue
Whether the pid parameter of control group is identical, if so, the not groups of pid control parameter is then deleted in intelligent instruction catalogue, if
It is no, then retain the not groups of pid control parameter in intelligent instruction catalogue.
Generating unit excitation intelligent control method, the excitation intelligent control method are used to control dynamo field coil
Electric current, this method comprise the following steps：
A. generator unit stator terminal voltage is detected in real time；
B. generator unit stator terminal voltage is handled, according to predeterminated voltage, voltage deviation amount e and voltage deviation change is calculated
Rate ec；
C. receiving voltage departure e and voltage deviation rate of change ec information, and judge that voltage deviation amount e and voltage deviation become
It is pre- whether rate ec is below with the predeterminated voltage departure in intelligent instruction catalogue and the difference rate of predeterminated voltage deviation variation rate
If difference rate, if so, then the pid parameter in the instruction is PID, if it is not, then selecting above-mentioned two difference rate sum
Minimum instruction, then the pid parameter in the instruction is PID, and the intelligent instruction catalogue is used to determine PID computing units
Pid parameter, be stored with multigroup instruction in the intelligent instruction catalogue, every group of instruction is inclined by predeterminated voltage departure and predeterminated voltage
Poor rate of change and its corresponding pid parameter composition；
D. incremental timestamp algorithm is used, according to voltage deviation amount e and PID output control signal；
E. control signal is amplified so as to realize the electric current of control dynamo field coil.
Multigroup pid parameter obtaining step includes：
Adjust to obtain array pid parameter；
Select the immediate pid parameter K of m groupsP、KI、KD；
In m KPIn greatest measure and minimum value between equidistantly take n KPNumerical value；
In m KIIn greatest measure and minimum value between equidistantly take n KINumerical value；
In m KDIn greatest measure and minimum value between equidistantly take n KDNumerical value；
It will reconfigure to obtain n group pid parameters in above-mentioned n KP, KI, KD numerical value.
Multigroup pid parameter obtaining step includes：
Adjust to obtain array pid parameter；
Select the immediate pid parameter K of m groupsP、KI、KD；
In m KPIn greatest measure and minimum value between equidistantly take n KPNumerical value；
Utilize m coordinate（KP, KI）Fitting obtains m-1 order polynomial functions, utilizes the polynomial function and n KPNumerical value
Obtain n KI；
Utilize m coordinate（KP, KD）Fitting obtains m-1 order polynomial functions, utilizes the polynomial function and n KPNumerical value
Obtain n KD；
It will reconfigure to obtain n group pid parameters in above-mentioned n KP, KI, KD numerical value.
The excitation intelligent control method also includes intelligent instruction catalogue generation step：
The voltage deviation amount e and voltage deviation rate of change ec and PID of data processing unit are received,
The control effect value of several PIDs in a predetermined period is analyzed, if control effect value reaches default
Numerical value, then by the array PID in the predetermined period and corresponding voltage deviation amount e and voltage deviation rate of change ec
It is stored in intelligent instruction catalogue, and array PID is considered as a PID control group, if control effect value is not up to default
Numerical value, then acted without storage.
The excitation intelligent control method also includes intelligent instruction catalogue and arranges step：
Judge not groups of pid control parameter and the whether complete phase of pid parameter of the PID control group in intelligent instruction catalogue
Together, should if it is not, then retaining in intelligent instruction catalogue if so, then deleting the not groups of pid control parameter in intelligent instruction catalogue
Not groups of pid control parameter.
Described default value passes through time delay TD, rise time Tr, regulating time Ts, one kind or several in overshoot σ
Kind characterizes.
The present invention can realize adjusting for pid parameter faster by default intelligent instruction catalogue, meanwhile, employ not
Adjust to have obtained array pid parameter with method, and new multigroup pid parameter is regenerated according to array pid parameter, with reference to not
With the pid parameter of environment so that the pid parameter adjusted can more efficiently realize the control of excitation, intelligentized realizing
It is meanwhile more efficient.
The above-mentioned of the application and other features, aspect and advantage is more readily understood with reference to described further below.
Brief description of the drawings
Fig. 1 is typical excitation system.
Fig. 2 is the structured flowchart schematic diagram of the excitation intelligence control system of the present invention.
Fig. 3 is the intelligent updating structured flowchart schematic diagram of the intelligent instruction catalogue of the present invention.
Fig. 4 is time delay TD, rise time Tr, regulating time Ts, overshoot σ computational methods schematic diagrames.
Detecting voltage unit 1
PID computing units 2
Power amplification unit 3
Intelligent instruction catalogue 4
Intelligent instruction catalogue generation unit 5
Logging modle 51
Analyze memory module 52
Intelligent instruction catalogue sorting module 6
Data processing unit 7
Intelligent control unit 8.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this hair
Bright part of the embodiment, rather than whole embodiments.Based on described embodiments of the invention, ordinary skill
All other embodiment that personnel are obtained on the premise of without creative work, belongs to the scope of protection of the invention.
Unless otherwise defined, technical term or scientific terminology used herein should be in art of the present invention and had
The ordinary meaning that the personage of general technical ability is understood.Used in present patent application specification and claims " the
One ", " second " and similar word are not offered as any order, quantity or importance, and are used only to distinguish different
Part.Equally, the similar word such as "one" or " one " does not indicate that quantity limits yet, but represents to exist at least one.
One of typical excitation system of the invention mainly includes detecting voltage unit, for detecting generator unit stator end in real time
Voltage；Data processing unit, for handling generator unit stator terminal voltage, according to predeterminated voltage, be calculated voltage deviation amount e and
Voltage deviation rate of change ec；PID computing units, the PID computing units use incremental timestamp algorithm, inclined according to voltage
Difference and the pid parameter output control signal of intelligent control unit input；Power amplification unit, the power amplification unit is used for will
Control signal amplification is so as to realize the electric current of control dynamo field coil, so as to form control circulation.
In addition, one of typical excitation system of present invention critical piece has:Exciter, voltage regulator, power cell, allusion quotation
Excitation system structure such as Fig. 1 of type：
Generator terminal voltage UtReference voltage U after measuring link with givingrefIt can make comparisons, its deviation e.Into
After voltage regulator is amplified, output voltage URAs exciter excitation voltage, the output voltage Ef of exciter is controlled, in order to
The stable operation of excitation system and improve its dynamic quality, introduce excitation system negative feedback links, and excitation system stabilizer, one
As be a soft feedback element, also known as velocity feedback.UsIt is power system stabilizer here for excitation additional control signal
Output control signal.
It is T to measure link and be expressed as a time constantRInertial element, TRAs value very little, be often omitted.Voltage
Adjuster can generally connect an inertia amplifying element to represent with a lead-lag link.Lead-lag link reflects
The phase characteristic of adjuster, wherein TB、TCValue very little, it can ignore when typically simplifying system.Inertia amplifying element multiplication factor
For KA, time constant TA.K in thyristor excitation adjusterAPer unit value is up to hundreds of, time constant TAAbout a few tens of milliseconds.Encourage
Magnetomechanical transmission function is meter and the inertial element of saturation, to separate excitation AC excitation KL=l.For static excitation system, then without
Exciter link.
PID calculators are the deviation e (t) that are formed according to desired value r (t) and system real output value y (t) to realize pair
The control of controlled device.Its control law can represent：
K in formulapFor proportionality coefficient, TIFor integration time constant, TDFor derivative time constant.Three is to system control performance
Influence:
Proportional coefficient Kp:
Ratio control is most important part in PID control, and it can linearly reflect deviation e (t).Increase Kp, can reduce steady
State error, improves the control accuracy of system, while makes that system becomes sensitive, response speed becomes faster, once KpIt is excessive, will
There is larger overshoot, and produce vibration, reduce the dynamic property of system.
Integration time constant TI:
Integration control is usually to be used for eliminating or reducing systematic steady state error, and its intensity acted on is to depend on TI.By
Knowable to formula, TIIt is more big, integral term play a part of it is weaker, therefore, increase TIThe overshoot and vibration of system can be reduced, made
System is more stable, but is so unfavorable for eliminating systematic steady state error.Reduce TI, then integral action reinforcement, be advantageous to eliminate surely
State error, once but TIIt is too small, the bad dynamic performance of system can be made.
Derivative time constant TD
The predictable variation tendency to deviate of differential control.Increase TD, then system response accelerates, and overshoot can be corresponding
Reduce, but this can cause system rejection to disturbance ability to decline.
Digital PID Controller is accompanied by the development of computer technology and arisen at the historic moment, and it is in original simulation system
On the basis of develop, realize that PID control must carry out discretization to the mathematical modeling of original continuous system on computers.
I.e.:
T is the sampling period in formula, and k is sample sequence, k=0,1,2,3 ....In order to write conveniently, e (kT) is reduced to e
(k).It can be calculated Discrete PI D expression formulas:
I.e.：
Derive to obtain incremental timestamp algorithm:
。
As shown in Fig. 2 generating unit excitation intelligence control system, the excitation intelligence control system is used to control generator
The electric current of magnet exciting coil, the system include：
Detecting voltage unit, for detecting generator unit stator terminal voltage in real time；
Data processing unit, for handling generator unit stator terminal voltage, according to predeterminated voltage, voltage deviation amount is calculated
E and voltage deviation rate of change ec；
PID computing units, the PID computing units use incremental timestamp algorithm, are controlled according to voltage deviation and intelligence
The pid parameter output control signal of unit input processed；
Power amplification unit, the power amplification unit are used to amplify control signal so as to realize control generator excitation
The electric current of coil；
Intelligent instruction catalogue, the intelligent instruction catalogue are used for the pid parameter for determining PID computing units, the intelligent instruction catalogue
In be stored with multigroup instruction, every group of instruction is joined by predeterminated voltage departure and predeterminated voltage deviation variation rate and its corresponding PID
Array into；
Intelligent control unit, for receiving voltage departure e and voltage deviation rate of change ec information, and judge voltage deviation
Measure e and voltage deviation rate of change ec and the predeterminated voltage departure and the difference of predeterminated voltage deviation variation rate in intelligent instruction catalogue
Whether rate is below preset difference value rate, if so, the pid parameter in instruction then is inputted into PID computing units, if it is not, then in selection
State two minimum instructions of difference rate sum, and the pid parameter input PID computing units in instruction.
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.
The preset difference value rate is 1%-30%.By the adjustment of preset difference value rate, can effectively reduce in intelligent instruction catalogue
Instruction quantity, with the raising of computer speed, preset difference value rate can reduce.
By setting certain preset difference value rate and adjusting pid parameter using e and ec, PID in PID calculating process
Parameter can Self-tuning System.The pid parameter automatic setting method of the present invention is simple simultaneously, easily realizes, without the logical operation of complexity.Together
When, this method is easier to realize the intelligence learning of pid parameter, realizes the intelligent control of excitation system.
Multigroup pid parameter is adjusted to obtain by different setting methods, and described setting method is ZN empirical methods, ZN
Critical proportional band law, ISTE Optimal tunnings method, feature area-method, relay autotuner method, cohen-coon methods, GPM methods, SPMA
Method, LEAST SQUARES MODELS FITTING identification method, based on weighted error integrated square index method, maximum tangential method, approximation technique.
The above method is the common method of this area, and these setting methods are respectively provided with good effect of adjusting, but
In different fields and environment, part setting method may be closer to ideal value.This reason is based on, the present invention uses
Multiple setting parameters, in the PID computing units of generator.
Multigroup pid parameter obtaining step includes：
Adjust to obtain array pid parameter；
Select the immediate pid parameter K of m groupsP、KI、KD；
In m KPIn greatest measure and minimum value between equidistantly take n KPNumerical value；
In m KIIn greatest measure and minimum value between equidistantly take n KINumerical value；
In m KDIn greatest measure and minimum value between equidistantly take n KDNumerical value；
It will reconfigure to obtain n group pid parameters in above-mentioned n KP, KI, KD numerical value.
For example, adjust the generator excitation of the present invention respectively by maximum tangential method, feature area-method and approximation technique
Systematic parameter, obtain three groups of pid parameters：
10、20、50；
14、24、40；
12、25、45；
According to 0.8 spacing, 6 numerical value 10,10.8,11.6,12.4,13.2,14 are obtained；
According to 1 spacing, 6 numerical value 20,21,22,23,24,25 are obtained；
According to 2 spacing, 6 numerical value 40,42,44,46,48,50 are obtained；
Reconfigure to 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 can also random combine.
E the and ec numerical value that will likely occur is listed, for example, e takes -3,0,3, ec to take -6,0,6.
Then e and ec combination is all listed, and matched at random with 9 groups of foregoing pid parameters.
In addition, preferably adjusting effect to obtain, such as 1024 groups even more more e and ec group can also be randomly choosed
Close and be combined into intelligent instruction catalogue with pid parameter.
Multigroup pid parameter obtaining step includes：
Adjust to obtain array pid parameter；
Select the immediate pid parameter K of m groupsP、KI、KD；
In m KPIn greatest measure and minimum value between equidistantly take n KPNumerical value；
Utilize m coordinate（KP, KI）Fitting obtains m-1 order polynomial functions, utilizes the polynomial function and n KPNumerical value
Obtain n KI；
Utilize m coordinate（KP, KD）Fitting obtains m-1 order polynomial functions, utilizes the polynomial function and n KPNumerical value
Obtain n KD；
It will reconfigure to obtain n group pid parameters in above-mentioned n KP, KI, KD numerical value.
In the present invention, shaped like f (x)=anxn+an-1xn-1+…+a1x+a0Function, be called polynomial function.Using multinomial
Formula function, more pid parameter K can be effectively obtainedP、KI、KD。
As shown in figure 3, the excitation intelligence control system also includes intelligent instruction catalogue generation unit, the intelligent instruction catalogue
Generation unit includes logging modle and analysis memory module, and the logging modle is used for the voltage deviation for receiving data processing unit
E and voltage deviation rate of change ec and the pid parameter of the corresponding output of intelligent control unit are measured, the analysis memory module is used to analyze
The control effect value of the pid parameter of the corresponding output of intelligent control unit in a predetermined period, if control effect value reaches pre-
If numerical value, then the array pid parameter in the predetermined period and corresponding voltage deviation amount e and voltage deviation rate of change ec are stored up
It is stored in intelligent instruction catalogue, and array PID is considered as a PID control group, if control effect value is not up to present count
Value, then acted without storage.
Described default value passes through time delay TD, rise time Tr, regulating time Ts, one kind or several in overshoot σ
Kind characterizes.
The time delay T of the present inventionD, rise time Tr, regulating time Ts, overshoot σ such as Fig. 4 expression by way of
It is calculated, abscissa is the time, and ordinate is voltage or electric current.
Time delay TDThe time of response is presented since excitation system input step signal to system.
Rise time TrResponse rises to the time needed for 90% from the 10% of steady-state value.
Time to peak TpResponse reaches the time needed for the first peak value more than steady-state value.
Regulating time TsResponse reaches the time required in the error range of steady-state value scholar 5%.
In response process, the definition of system overshoot is and time to peak T overshoot σ %pCorresponding system peak response
Output quantity (h (Tp) and steady-state value (h (∞)) difference, represent it is as follows：
。
Characterizing method can use time delay TD, rise time Tr, regulating time Ts, one or more in overshoot σ
Certain weight is assigned, and sums and obtains a numerical value, for example, time delay TD, rise time Tr, regulating time Ts, overshoot σ
Can be separately as sign, can also be by time delay TD, rise time Tr, regulating time Ts, identical or different weight is assigned,
And a time numerical value is calculated, the control effect value of control parameter in a period of time is analyzed, control effect value is calculated, with
Default value compares, if control effect value reaches default value, i.e., below or equal to preset value, then by the number in this time
Individual instructing combination storage.Can also be with regulating time Ts, overshoot σ carry out characterization control effect, a time standard T is setsAnd standard
Overshoot σm, calculate Ts/TsWith σ/σmSum, control effect value is obtained, compared with default value, if control effect value reaches pre-
If numerical value, i.e., below or equal to preset value, then several instructing combinations in this time are stored.Can also be by Ts/TsWith σ/
σmDifferent weights, e.g., T are set respectivelys/TsWeight be 30%, σ/σmWeight be 70%, control effect value is calculated.One
As for, foregoing a period of time is as shown in Fig. 2 time 0-16 can be used.
The excitation intelligent control method also includes intelligent instruction catalogue sorting module：
The intelligent instruction catalogue sorting module, for judging not groups of pid control parameter and the PID in intelligent instruction catalogue
Whether the pid parameter of control group is identical, if so, the not groups of pid control parameter is then deleted in intelligent instruction catalogue, if
It is no, then retain the not groups of pid control parameter in intelligent instruction catalogue.
By intelligent instruction catalogue sorting module, unnecessary instruction can be deleted, so as to 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 excitation system stable state, apply the voltage arteries and veins of negative sense 15%
Interference signal is rushed, there is the 109th, 100,880,132,555,34,870,546,90,345,432,589,901,1000 respectively,
232,478,641,478 groups of intelligence instruction catalogues are output, and intelligent instruction catalogue generation unit records above-mentioned instruction group, and analyzes above-mentioned
The control effect of instruction group, not less than 10% it is standard with overshoot σ, the control effect value is 8%, then group instruction control effect
Meet to require, by above-mentioned 109,100,880,132,555,34,870,546,90,345,432,589,901,1000,232,
478,641,478 are used as a control instruction group, enter according to the ordered storage in intelligent instruction catalogue.
And in intelligent instruction catalogue sorting module, if 880,132,555 be because instruction meets default requirement, e with
Ec does not change and stored in such as intelligent instruction catalogue, then in intelligent instruction catalogue sorting module and just in storage such as intelligent instruction catalogue
Control instruction group 880,132,555 data it is identical, so in intelligent instruction catalogue sorting module, if 880,132,
555 data do not form instruction group, then 880,132,555 unnecessary data will be deleted.In addition, the instruction for forming instruction group exists
It will not be deleted in intelligent instruction catalogue sorting module.
It is also possible to find out, except 880,132,555 groups of instructions, other are newly stored into the instruction in intelligent instruction catalogue
All it is new different instructions, by the study of mass data, can effectively eliminate instruction early stage because artificial specified band
The influence come.
Reconfigured by above-mentioned, the time that instruction is sent can be greatlyd save, improve instruction feedback speed.Meanwhile
By the study of instruction, intelligence control system will learn to obtain a series of instruction group of fixations, be met for tackling generating set
The interference signal arrived.
Generating unit excitation intelligent control method, the excitation intelligent control method are used to control dynamo field coil
Electric current, this method comprise the following steps：
A. generator unit stator terminal voltage is detected in real time；
B. generator unit stator terminal voltage is handled, according to predeterminated voltage, voltage deviation amount e and voltage deviation change is calculated
Rate ec；
C. receiving voltage departure e and voltage deviation rate of change ec information, and judge that voltage deviation amount e and voltage deviation become
It is pre- whether rate ec is below with the predeterminated voltage departure in intelligent instruction catalogue and the difference rate of predeterminated voltage deviation variation rate
If difference rate, if so, then the pid parameter in the instruction is PID, if it is not, then selecting above-mentioned two difference rate sum
Minimum instruction, then the pid parameter in the instruction is PID, and the intelligent instruction catalogue is used to determine PID computing units
Pid parameter, be stored with multigroup instruction in the intelligent instruction catalogue, every group of instruction is inclined by predeterminated voltage departure and predeterminated voltage
Poor rate of change and its corresponding pid parameter composition；
D. incremental timestamp algorithm is used, according to voltage deviation amount e and PID output control signal；
E. control signal is amplified so as to realize the electric current of control dynamo field coil.
Multigroup pid parameter obtaining step includes：
Adjust to obtain array pid parameter；
Select the immediate pid parameter K of m groupsP、KI、KD；
In m KPIn greatest measure and minimum value between equidistantly take n KPNumerical value；
In m KIIn greatest measure and minimum value between equidistantly take n KINumerical value；
In m KDIn greatest measure and minimum value between equidistantly take n KDNumerical value；
It will reconfigure to obtain n group pid parameters in above-mentioned n KP, KI, KD numerical value.
Multigroup pid parameter obtaining step includes：
Adjust to obtain array pid parameter；
Select the immediate pid parameter K of m groupsP、KI、KD；
In m KPIn greatest measure and minimum value between equidistantly take n KPNumerical value；
Utilize m coordinate（KP, KI）Fitting obtains m-1 order polynomial functions, utilizes the polynomial function and n KPNumerical value
Obtain n KI；
Utilize m coordinate（KP, KD）Fitting obtains m-1 order polynomial functions, utilizes the polynomial function and n KPNumerical value
Obtain n KD；
It will reconfigure to obtain n group pid parameters in above-mentioned n KP, KI, KD numerical value.
In the present invention, shaped like f (x)=anxn+an-1xn-1+…+a1x+a0Function, be called polynomial function.Using multinomial
Formula function, more pid parameter K can be effectively obtainedP、KI、KD。
The excitation intelligent control method also includes intelligent instruction catalogue generation step：
The voltage deviation amount e and voltage deviation rate of change ec and PID of data processing unit are received,
The control effect value of several PIDs in a predetermined period is analyzed, if control effect value reaches default
Numerical value, then by the array PID in the predetermined period and corresponding voltage deviation amount e and voltage deviation rate of change ec
It is stored in intelligent instruction catalogue, and array PID is considered as a PID control group, if control effect value is not up to default
Numerical value, then acted without storage.
The excitation intelligent control method also includes intelligent instruction catalogue and arranges step：
Judge not groups of pid control parameter and the whether complete phase of pid parameter of the PID control group in intelligent instruction catalogue
Together, should if it is not, then retaining in intelligent instruction catalogue if so, then deleting the not groups of pid control parameter in intelligent instruction catalogue
Not groups of pid control parameter.
Described default value passes through time delay TD, rise time Tr, regulating time Ts, one kind or several in overshoot σ
Kind characterizes.
By above-mentioned intelligent control, the output of field coil current can be effectively controlled so that the voltage of generating set
Output is stable, and when in face of disturbance, relative to other intelligence control systems, overall control effect is good, strong adaptability.Relatively
In other intelligence control systems, imported in advance due to data will be adjusted, rule base is more easy and effective, and processing is quick.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.It is every
The equivalent changes and modifications done according to present invention, it is encompassed by the scope of the claims of the present invention.
Claims (10)
1. generating unit excitation intelligence control system, the excitation intelligence control system is used for the electricity for controlling dynamo field coil
Stream, the system include：
Detecting voltage unit, for detecting generator unit stator terminal voltage in real time；
Data processing unit, for handling generator unit stator terminal voltage, according to predeterminated voltage, be calculated voltage deviation amount e and
Voltage deviation rate of change ec；
PID computing units, the PID computing units use incremental timestamp algorithm, according to voltage deviation and intelligent control single
The pid parameter output control signal of member input；
Power amplification unit, the power amplification unit are used to amplify control signal so as to realize control dynamo field coil
Electric current；
Intelligent instruction catalogue, the intelligent instruction catalogue are used for the pid parameter for determining PID computing units, deposited in the intelligent instruction catalogue
Multigroup instruction is contained, every group of instruction is by predeterminated voltage departure and predeterminated voltage deviation variation rate and its corresponding pid parameter group
Into；
Intelligent control unit, for receiving voltage departure e and voltage deviation rate of change ec information,
By voltage deviation amount e with the difference rate of the predeterminated voltage departure in intelligent instruction catalogue compared with preset difference value rate,
By voltage deviation rate of change ec with the difference rate of the predeterminated voltage departure in intelligent instruction catalogue compared with preset difference value rate,
And judge whether above-mentioned two difference rate is below preset difference value rate,
If so, the pid parameter in instruction is then inputted into PID computing units, if it is not, then selecting above-mentioned two difference rate sum minimum
Instruction, and by instruction pid parameter input PID computing units.
2. generating unit excitation intelligence control system according to claim 1, it is characterised in that the preset difference value rate is
1%-30%。
3. generating unit excitation intelligence control system according to claim 1, it is characterised in that the pid parameter passes through
Different setting methods is adjusted to obtain, and described setting method is ZN empirical methods, ZN critical proportional band laws, ISTE Optimal tunnings
Method, feature area-method, relay autotuner method, cohen-coon methods, GPM methods, SPMA methods, LEAST SQUARES MODELS FITTING identification method, base
In weighted error integrated square index method, maximum tangential method, approximation technique.
4. generating unit excitation intelligence control system according to claim 1, it is characterised in that the pid parameter obtains
Step includes：
Adjust to obtain array pid parameter；
Select the immediate pid parameter K of m groupsP、KI、KD；
In m KPIn greatest measure and minimum value between equidistantly take n KPNumerical value；
In m KIIn greatest measure and minimum value between equidistantly take n KINumerical value；
In m KDIn greatest measure and minimum value between equidistantly take n KDNumerical value；
By above-mentioned n KP、KI、KDReconfigure to obtain n group pid parameters in numerical value,
The KPFor the proportionality coefficient in incremental timestamp algorithm, KIFor the integral coefficient in incremental timestamp algorithm, KD
For the differential coefficient in incremental timestamp algorithm.
5. generating unit excitation intelligence control system according to claim 1, it is characterised in that the pid parameter obtains
Step includes：
Adjust to obtain array pid parameter；
Select the immediate pid parameter K of m groupsP、KI、KD；
In m KPIn greatest measure and minimum value between equidistantly take n KPNumerical value；
Utilize m coordinate（KP, KI）Fitting obtains m-1 order polynomial functions, utilizes the polynomial function and n KPNumerical value obtains n
Individual KI；
Utilize m coordinate（KP, KD）Fitting obtains m-1 order polynomial functions, utilizes the polynomial function and n KPNumerical value obtains n
Individual KD；
By above-mentioned n KP、KI、KDReconfigure to obtain n group pid parameters in numerical value,
The KPFor the proportionality coefficient in incremental timestamp algorithm, KIFor the integral coefficient in incremental timestamp algorithm, KD
For the differential coefficient in incremental timestamp algorithm.
6. generating unit excitation intelligence control system according to claim 1, it is characterised in that the excitation intelligent control
System also includes intelligent instruction catalogue generation unit, and the intelligent instruction catalogue generation unit includes logging modle and analysis storage mould
Block, the logging modle are used for the voltage deviation amount e and voltage deviation rate of change ec and intelligent control for receiving data processing unit
The pid parameter of the corresponding output of unit, the analysis memory module are used to analyze the intelligent control unit pair in a predetermined period
The control effect value for the pid parameter that should be exported, if control effect value reaches default value, by the array in the predetermined period
Pid parameter and corresponding voltage deviation amount e and voltage deviation rate of change ec are stored in intelligent instruction catalogue, and array is adjusted
Pid parameter is considered as a PID control group, if control effect value is not up to default value, no storage action.
7. generating unit excitation intelligence control system according to claim 1, it is characterised in that described default value leads to
Cross time delay TD, rise time Tr, regulating time Ts, one or more of signs in overshoot σ.
8. generating unit excitation intelligence control system according to claim 1, it is characterised in that the excitation intelligent control
Method also includes intelligent instruction catalogue sorting module：
The intelligent instruction catalogue sorting module, for judging not groups of pid control parameter and the PID control in intelligent instruction catalogue
Whether the pid parameter of group is identical, if so, the not groups of pid control parameter is then deleted in intelligent instruction catalogue, if it is not,
Then retain the not groups of pid control parameter in intelligent instruction catalogue.
9. generating unit excitation intelligent control method, the excitation intelligent control method is used for the electricity for controlling dynamo field coil
Stream, this method comprise the following steps：
A. generator unit stator terminal voltage is detected in real time；
B. generator unit stator terminal voltage is handled, according to predeterminated voltage, voltage deviation amount e and voltage deviation rate of change is calculated
ec；
C. receiving voltage departure e and voltage deviation rate of change ec information, will be default in voltage deviation amount e and intelligent instruction catalogue
The difference rate of voltage deviation amount, will be default in voltage deviation rate of change ec and intelligent instruction catalogue compared with preset difference value rate
The difference rate of voltage deviation amount judges whether above-mentioned two difference rate is below preset difference value compared with preset difference value rate
Rate, if so, then the pid parameter in the instruction is PID, if it is not, then selecting above-mentioned two difference rate sum minimum
Instruction, then the pid parameter in the instruction is PID, and the intelligent instruction catalogue is used for the PID for determining PID computing units
Parameter, multigroup instruction is stored with the intelligent instruction catalogue, and every group of instruction is become by predeterminated voltage departure and predeterminated voltage deviation
Rate and its corresponding pid parameter composition；
D. incremental timestamp algorithm is used, according to voltage deviation amount e and PID output control signal；
E. control signal is amplified so as to realize the electric current of control dynamo field coil.
10. generating unit excitation intelligent control method according to claim 9, it is characterised in that the excitation is intelligently controlled
Method processed also includes intelligent instruction catalogue generation step：
The voltage deviation amount e and voltage deviation rate of change ec and PID of data processing unit are received,
The control effect value of several PIDs in a predetermined period is analyzed, if control effect value reaches default value,
Then the array PID in the predetermined period and corresponding voltage deviation amount e and voltage deviation rate of change ec are stored
It is considered as a PID control group in intelligent instruction catalogue, and by array PID, if control effect value is not up to default value,
Then acted without storage；
The excitation intelligent control method also includes intelligent instruction catalogue and arranges step：
Judge whether not groups of pid control parameter and the pid parameter of the PID control group in intelligent instruction catalogue are identical, if
That the not groups of pid control parameter is then deleted in intelligent instruction catalogue, if it is not, then retain in intelligent instruction catalogue this not into
The pid control parameter of group.
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| CN106681136A (en) * | 2017-02-17 | 2017-05-17 | 三峡大学 | Synchronous motor excitation control system based on auto-adjusting fuzzy PID control |
| CN110212567A (en) * | 2019-07-09 | 2019-09-06 | 江苏方天电力技术有限公司 | High voltage ac/dc serial-parallel power grid numerical simulation modeling method containing large-scale phase modifier |
| KR20210074003A (en) | 2019-12-11 | 2021-06-21 | 주식회사 엘지에너지솔루션 | Apparatus and method for diagnosing degeneracy of battery |
| CN111600521B (en) * | 2020-06-15 | 2021-02-02 | 湖北师范大学 | Excitation controller control method and system |
| CN113138552B (en) * | 2021-03-31 | 2023-03-07 | 国网浙江省电力有限公司电力科学研究院 | PID parameter setting method based on step response data and critical proportionality method |
| CN113655714B (en) * | 2021-07-02 | 2023-01-06 | 中国科学院西安光学精密机械研究所 | Parameter self-tuning method for control system |
| CN114687870A (en) * | 2022-03-03 | 2022-07-01 | 沈阳航天新光集团有限公司 | Vehicle-mounted power take-off generator set control system and control method |
| CN115133823B (en) * | 2022-09-01 | 2022-12-13 | 广州擎天实业有限公司 | Control method and device of excitation system |
| 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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