CN106327059A - System and method for calculating theoretical motion electric quantity of primary frequency modulation of hydroelectric generating set - Google Patents

System and method for calculating theoretical motion electric quantity of primary frequency modulation of hydroelectric generating set Download PDF

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CN106327059A
CN106327059A CN201610648356.5A CN201610648356A CN106327059A CN 106327059 A CN106327059 A CN 106327059A CN 201610648356 A CN201610648356 A CN 201610648356A CN 106327059 A CN106327059 A CN 106327059A
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guide vane
vane opening
theoretical
active power
obtains
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CN106327059B (en
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李玺
徐广文
黄青松
姚泽
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Electric Power Research Institute of Guangdong Power Grid Co Ltd
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Electric Power Research Institute of Guangdong Power Grid Co Ltd
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Abstract

The invention discloses a system and method for calculating the theoretical motion electric quantity of the primary frequency modulation of a hydroelectric generating set, and the system comprises an electronic adjuster model which obtains a target guide vane opening signal of a hydraulic turbine set according to frequency deviation, active power deviation or guide vane opening deviation; a guide vane execution mechanism model which obtains an actual guide vane opening signal according to the target guide vane opening signal; and a water turbine prime motor model which obtains a theoretical active power according to the actual guide vane opening signal, wherein the water turbine prime motor model gives consideration to the impact from rigid water attack, and also gives consideration to the corresponding relation between the theoretical active power and the guide vane opening; and a theoretical motion integration electric quantity calculating module which obtains the theoretical motion integration component of the primary frequency modulation of the hydroelectric generating set according to the theoretical active power, the time corresponding to the theoretical active power and the relational expression of the theoretical motion integration electric quantity. The theoretical motion integration electric quantity obtained in the above mode is closer to the actual motion integration electric quantity, and is more accurate.

Description

A kind of calculating system and method for hydroelectric units primary frequency modulation theory action electricity
Technical field
The present invention relates to hydroelectric units primary frequency modulation technical field, particularly relate to a kind of hydroelectric units primary frequency modulation theoretical The calculating system and method for action electricity.
Background technology
At present, in the factor affecting the quality of power supply, mains frequency accounts for major part.Hydroelectric units primary frequency modulation refers to work as When mains frequency occurs fluctuation, governing system is automatically adjusted guide vane opening according to the difference on the frequency of mains frequency Yu rated frequency, changes Become unit output and adapt to load variations.Primary frequency modulation services as one of basic assistant service, is that grid requirements power plant is necessary The service provided.If power plant be not provided that because of self reason primary frequency modulation service or offer primary frequency modulation service the most up to standard will Examined.Result according to examination correspondingly reduces power generating capacity, finally affects its economic benefit.
To the examination of institute's contributing electricity after primary frequency modulation action in prior art, it is that traffic department exceeds tune at mains frequency Frequently the number such as actual power of the Hydropower Unit sent in movement time instantly, electrical network real-time frequency and power plant is recorded during dead zone range According to, theoretical action device electricity and the actual act integration electricity of unit is calculated respectively according to these data separate examination formula Further according to actual act device electricity and theoretical action device electricity, amount, then judges that quality of movement is the most qualified, and determines Whether power plant is examined.
Actual act device electricity calculates as shown in formula (1):
Q r = ∫ t 0 t 0 + Δ t ( P a - P 0 ) d t / 3600 - - - ( 1 )
In formula: QrFor actual act device electricity (unit: kW h)；t0Exceed for integration initial time, i.e. frequency departure The moment (unit: s) of frequency dead band；Δ t is that (no longer than 60s surpasses the primary frequency modulation process duration after integration starts Cross calculating with 60s of 60s, unit: s)；PaFor actual exert oneself (unit: the kW) of unit；P0For the unit that integration initial time is corresponding Exert oneself (unit: kW).
Theoretical action device electricity calculates as shown in formula (2):
Q t = P r × ∫ t 0 t 0 + Δ t Δ f ( 3600 × f r × 4 % ) d t - - - ( 2 )
In formula: QtFor theoretical action device electricity (unit: kW h)；PrFor unit nominal output (unit: kW)；t0And Δ The meaning of t is same as described above；Δ f is frequency departure；4% is the speed governor droop (permanent droop) of unit.
Wherein, the computing formula of frequency deviation f is:
&Delta; f = 0 - e f &le; f r - f g &le; e f f r - f g - e f e f < f r - f g f r - f g + e f f r - f g < - e f - - - ( 3 )
In formula: fgFrequency (unit: Hz) for Hydropower Unit；frFor electrical network rated frequency (unit: Hz)；efFor once adjusting Frequently dead band (unit: Hz).
From formula (1), (2), actual act device electricity is to calculate according to active power time curve, And theory action device electricity calculates according to frequency time relation curve.Theoretical device electricity changes in real time with frequency difference Becoming, and Hydropower Unit regulation system hysteresis quality is relatively strong, power response is relatively slow, and due to hydrodynamic inertial, in regulation Initial stage there will be counter adjusts effect, and in all causing same time period, actual act device electricity is less than normal compared with theoretical value.Extreme case Under, when frequency disturbance is a step amount, frequency time relation curve is a broken line, and active power time relationship is bent Line is a curve, as it is shown in figure 1, t0Moment frequency disturbance-0.15Hz, unit frequency difference exceeds Man made Dead Band, through of short duration Time delay primary frequency modulation starts action, owing to the reason of hydrodynamic inertial occurred counter adjusting effect, in Fig. 1 (c) at the stator motion initial stage t0-t1Period, now unit is that opposite direction goes out force-responsive, and actual integration electricity is negative value.t1After moment, unit output transfers to Positive direction, actual integration electricity gradually become on the occasion of.In Fig. 1 (b), dash area is theoretical action device electricity, cloudy in Fig. 1 (c) Shadow part is actual act device electricity, it can be seen that theoretical bigger with actual value error during calculating.This explanation frequency It is inaccurate that rate time curve calculates theoretical action device electricity.
Therefore, how calculating system and the side of the hydroelectric units primary frequency modulation theory action electricity that a kind of accuracy is high are provided Method is that those skilled in the art are presently required and solve the technical problem that.
Summary of the invention
It is an object of the invention to provide the calculating system of a kind of hydroelectric units primary frequency modulation theory action electricity, according to water power The phantom of unit obtains the theoretical active power of Hydropower Unit, and uses theoretical active power and the relation of time to obtain Theoretical action device electricity, the theoretical action device electricity using which to obtain is more accurate, it addition, hydraulic turbine prime mover mould Type also contemplates the corresponding relation between theoretical active power and guide vane opening, so that obtain in the theoretical active power of calculating Theoretical action device electricity more accurate；It is a further object of the present invention to provide a kind of hydroelectric units primary frequency modulation theory action The computational methods of electricity.
For solving above-mentioned technical problem, the invention provides the calculating of a kind of hydroelectric units primary frequency modulation theory action electricity System, including:
Electronic controller model, for obtaining institute according to frequency departure and active power deviation or guide vane opening deviation Stating the target guide vane opening signal of Hydropower Unit, wherein, described frequency departure is that frequency Setting signal deducts described Hydropower Unit The numerical value that obtains after dead band processes of the difference that obtains of frequency, described active power deviation subtracts for given theoretical active power Go the difference that the theoretical active power of described Hydropower Unit obtains；Described guide vane opening deviation deducts described for given guide vane opening The difference that the guide vane opening of Hydropower Unit obtains；
Guide vane actuating mechanism model, for obtaining actual guide vane opening signal according to described target guide vane opening signal；
Hydraulic turbine prime mover model, for obtaining theoretical active power according to described actual guide vane opening signal；Wherein, institute Stating transmission functional relationship corresponding to hydraulic turbine prime mover model is G1(s)+G2(s), wherein:
TwFor fluid inertia time constant；
G2S the equation of () correspondence is P=aY3+bY2+ cY+d, a, b, c and d are constant；
Theoretical action device electricity calculates module, for according to described theoretical active power, described theoretical active power pair The time answered and theoretical action device electricity relational expression obtain the theoretical action device electricity of hydroelectric units primary frequency modulation, its In, described theoretical action device electricity relational expression is:
Q t = &Integral; t 0 t 0 + &Delta; t ( P t - P 0 ) d t / 3600 ;
Wherein, QtFor described theoretical action device electricity；t0Moment for frequency departure overfrequency dead band；Δ t is integration Primary frequency modulation process duration after beginning, wherein, Δ t is no longer than 60s, calculating with 60s more than 60s；PtFor institute State theoretical active power；P0For t0Corresponding theoretical active power.
Preferably, described electronic controller model specifically for:
Receive frequency Setting signal and the frequency of Hydropower Unit, to described frequency Setting signal and described Hydropower Unit Frequency carries out doing difference process, and the difference obtained carries out dead band processes and obtain described frequency departure；
Described frequency departure carrying out the first ratio process and the first differential respectively process, correspondence obtains the first numerical value and the Two numerical value；
Carrying out active power deviation with power difference coefficient being multiplied, it is poor to process or guide vane opening deviation and aperture are adjusted Coefficient carries out the process that is multiplied, and obtains third value；
With described frequency departure, described third value is added process, and the result obtaining addition process carries out first and amasss Divisional processing, obtains the 4th numerical value；
Described first numerical value, described second value and described 4th numerical value do addition process, obtain the 5th numerical value；
Described 5th numerical value is carried out the first amplitude limiting processing, obtains described target guide vane opening signal；
It is K that described first ratio processes corresponding transmission functionp, described first differential processes corresponding transmission function and isDescribed first integral processes corresponding transmission functionWherein, KpIt is the first proportional gain, KIFor first integral Gain, KDIt is first differential gain, T1VIt it is the first derivative time constant.
Preferably, described guide vane actuating mechanism model specifically for:
Carry out described target guide vane opening signal and currently practical guide vane opening signal doing difference process, and to the difference obtained Value carries out the second ratio process respectively, second integral processes and the second differential processes, then three numerical value obtained carry out the Two amplitude limiting processing, and the result obtaining the second amplitude limiting processing is integrated, then the result of integration is carried out the 3rd amplitude limiting processing, Obtain described actual guide vane opening signal；
Wherein, described second ratio processes corresponding transmission function is Kp', described second integral processes corresponding transmission letter Number isIt is K that described second differential processes corresponding transmission functionD' S, wherein, described Kp' it is the second proportional gain, KI' it is Second integral gain, KD' it is second differential gain.
For solving above-mentioned technical problem, present invention also offers the meter of a kind of hydroelectric units primary frequency modulation theory action electricity Calculation method, including:
Electronic controller model obtains described water according to frequency departure and active power deviation or guide vane opening deviation The target guide vane opening signal of group of motors, wherein, described frequency departure is the frequency that frequency Setting signal deducts described Hydropower Unit The numerical value that the difference that rate obtains obtains after dead band processes, described active power deviation deducts institute for giving theoretical active power State the difference that the theoretical active power of Hydropower Unit obtains；Described guide vane opening deviation deducts described water power for given guide vane opening The difference that the guide vane opening of unit obtains；
Guide vane actuating mechanism model obtains actual guide vane opening signal according to described target guide vane opening signal；
Hydraulic turbine prime mover model obtains theoretical active power according to described actual guide vane opening signal；Wherein, described water The transmission functional relationship that turbine prime mover model is corresponding is G1(s)+G2(s), wherein:
TwFor fluid inertia time constant；
G2S the equation of () correspondence is P=aY3+bY2+ cY+d, a, b, c and d are constant；
Theoretical action device electricity calculate module according to described theoretical active power, described theoretical active power corresponding time Between and theoretical action device electricity relational expression obtain the theoretical action device electricity of hydroelectric units primary frequency modulation, wherein, described Theoretical action device electricity relational expression is:
Q t = &Integral; t 0 t 0 + &Delta; t ( P t - P 0 ) d t / 3600 ;
Wherein, QtFor described theoretical action device electricity；t0Moment for frequency departure overfrequency dead band；Δ t is integration Primary frequency modulation process duration after beginning, wherein, Δ t is no longer than 60s, calculating with 60s more than 60s；Pt is institute State theoretical active power；P0For t0Corresponding theoretical active power.
Preferably, described foundation frequency departure and active power deviation or guide vane opening deviation obtain described hydroelectric machine Group target guide vane opening signal process particularly as follows:
Receive frequency Setting signal and the frequency of Hydropower Unit, to described frequency Setting signal and described Hydropower Unit Frequency carries out doing difference process, and the difference obtained carries out dead band processes and obtain described frequency departure；
Described frequency departure carrying out the first ratio process and the first differential respectively process, correspondence obtains the first numerical value and the Two numerical value；
Carrying out active power deviation with power difference coefficient being multiplied, it is poor to process or guide vane opening deviation and aperture are adjusted Coefficient carries out the process that is multiplied, and obtains third value；
With described frequency departure, described third value is added process, and the result obtaining addition process carries out first and amasss Divisional processing, obtains the 4th numerical value；
Described first numerical value, described second value and described 4th numerical value do addition process, obtain the 5th numerical value；
Described 5th numerical value is carried out the first amplitude limiting processing, obtains described target guide vane opening signal；
It is K that described first ratio processes corresponding transmission functionp, described first differential processes corresponding transmission function and isDescribed first integral processes corresponding transmission functionWherein, KpIt is the first proportional gain, KIFor first integral Gain, KDIt is first differential gain, T1VIt it is the first derivative time constant.
Preferably, described according to described target guide vane opening signal obtain actual guide vane opening signal process particularly as follows:
Carry out described target guide vane opening signal and currently practical guide vane opening signal doing difference process, and to the difference obtained Value carries out the second ratio process respectively, second integral processes and the second differential processes, then three numerical value obtained carry out the Two amplitude limiting processing, and the result obtaining the second amplitude limiting processing is integrated, then the result of integration is carried out the 3rd amplitude limiting processing, Obtain described actual guide vane opening signal；
Wherein, described second ratio processes corresponding transmission function is Kp', described second integral processes corresponding transmission letter Number isIt is K that described second differential processes corresponding transmission functionD' S, wherein, described Kp' it is the second proportional gain, KI' it is Second integral gain, KD' it is second differential gain.
The invention provides the calculating system and method for a kind of hydroelectric units primary frequency modulation theory action electricity, including electronics Actuator model obtains the target stator of water turbine set according to frequency departure and active power deviation or guide vane opening deviation Opening amount signal；Guide vane actuating mechanism model obtains actual guide vane opening signal according to target guide vane opening signal；The hydraulic turbine is former dynamic Machine model obtains theoretical active power according to actual guide vane opening signal；Wherein, hydraulic turbine prime mover model not only allows for just The impact of property water attack, it is also contemplated that the corresponding relation between theoretical active power and guide vane opening；Theoretical action device electricity meter Time and theoretical action device electricity relational expression that the theoretical active power of calculation module foundation, theoretical active power are corresponding obtain water The theoretical action device electricity of group of motors primary frequency modulation.
Visible, the present invention obtains the theoretical active power of Hydropower Unit according to the phantom of Hydropower Unit, and uses reason Opinion active power and the relation of time obtain theoretical action device electricity, use the theoretical action device electricity which obtains With actual act device electricity closer to, the most accurate, it addition, hydraulic turbine prime mover model is calculating theoretical active power also Consider the corresponding relation between theoretical active power and guide vane opening, so that the theoretical action device electricity obtained is more Accurately.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to institute in prior art and embodiment The accompanying drawing used is needed to be briefly described, it should be apparent that, the accompanying drawing in describing below is only some enforcements of the present invention Example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtains according to these accompanying drawings Obtain other accompanying drawing.
Fig. 1 is the comparison diagram of theoretical action device electricity and actual act device electricity under step disturbance in prior art；
The structural representation of the calculating system of a kind of hydroelectric units primary frequency modulation theory action electricity that Fig. 2 provides for the present invention Figure；
The block diagram of a kind of electronic controller model that Fig. 3 provides for the present invention；
The block diagram of a kind of guide vane actuating mechanism model that Fig. 4 provides for the present invention；
The block diagram of a kind of hydraulic turbine prime mover model that Fig. 5 provides for the present invention；
The block diagram of a kind of Francis turbine model that Fig. 6 provides for the present invention；
A kind of based on Hydropower Unit phantom the hydroelectric units primary frequency modulation theory action electricity that Fig. 7 provides for the present invention The block diagram of the calculating system of amount；
Fig. 8 is the calculating using method of the prior art to calculate theoretical action device electricity and actual act device electricity Schematic diagram；
The calculating of Fig. 9 system-computed theory action device electricity with actual act device electricity for using present invention offer Schematic diagram；
The process of the computational methods of a kind of hydroelectric units primary frequency modulation theory action electricity that Figure 10 provides for the present invention Flow chart.
Detailed description of the invention
The core of the present invention is to provide the calculating system of a kind of hydroelectric units primary frequency modulation theory action electricity, according to water power The phantom of unit obtains the theoretical active power of Hydropower Unit, and uses theoretical active power and the relation of time to obtain Theoretical action device electricity, the theoretical action device electricity using which to obtain is more accurate, it addition, hydraulic turbine prime mover mould Type also contemplates the corresponding relation between theoretical active power and guide vane opening, so that obtain in the theoretical active power of calculating Theoretical action device electricity more accurate；Another core of the present invention is to provide a kind of hydroelectric units primary frequency modulation theory action The computational methods of electricity.
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
Refer to the calculating system of a kind of hydroelectric units primary frequency modulation theory action electricity that Fig. 2, Fig. 2 provide for the present invention Structural representation, this system includes:
Electronic controller model 1, for obtaining according to frequency departure and active power deviation or guide vane opening deviation The target guide vane opening signal of Hydropower Unit, wherein, frequency departure is that frequency Setting signal deducts the frequency of Hydropower Unit and obtains Difference numerical value of obtaining after dead band processes, active power deviation is the reason that given theoretical active power deducts Hydropower Unit The difference that opinion active power obtains；Guide vane opening deviation is that given guide vane opening deducts the difference that the guide vane opening of Hydropower Unit obtains Value；
Specifically, refer to the block diagram of a kind of electronic controller model that Fig. 3, Fig. 3 provide for the present invention.
As preferably, electronic controller model 1 specifically for:
Receive frequency Setting signal and the frequency of Hydropower Unit, the frequency of frequency Setting signal with Hydropower Unit is carried out Do difference process, and the difference obtained is carried out dead band process obtain frequency departure；
Understand in conjunction with Fig. 3, fdFor the f in speed dead bend, and figurecFor frequency Setting signal, when Hydropower Unit is entered by this model During row simulation, fcEqual to electrical network rated frequency 50Hz；fgFrequency for Hydropower Unit.
Frequency departure carrying out the first ratio process respectively and the first differential processes, correspondence obtains the first numerical value and the second number Value；
Carrying out active power deviation with power difference coefficient being multiplied, it is poor to process or guide vane opening deviation and aperture are adjusted Coefficient carries out the process that is multiplied, and obtains third value；
Pg、PcIt is respectively the theoretical active power of Hydropower Unit and given theoretical active power；Yg、YcIt is respectively water power The guide vane opening of unit and given guide vane opening.Wherein, when selecting active power deviation to participate in regulation, bp the most now is Power difference coefficient, when selecting guide vane opening deviation remnants to regulate, bp the most now is aperture difference coefficient, and which have selected Participating in regulation, which product with its coefficient is as third value.
It should be noted that P heregNamely P cited belowt, YgNamely Y cited belowPID。
Third value is added with frequency departure process, addition is processed the result obtained and carries out first integral process, Obtain the 4th numerical value；
First numerical value, second value and the 4th numerical value do addition process, obtain the 5th numerical value；
5th numerical value is carried out the first amplitude limiting processing, obtains target guide vane opening signal；
YPIDmax, YPIDmin respectively electronic controller model 1 carries out the output upper limit of the first amplitude limiting processing, lower limit, Y in figurePIDIt is target guide vane opening signal.
It is K that first ratio processes corresponding transmission functionp, the first differential processes corresponding transmission function and isThe Transmission function corresponding to one Integral Processing isWherein, KpIt is the first proportional gain, KIFor first integral gain, KDIt is first The differential gain, T1VIt it is the first derivative time constant.
Guide vane actuating mechanism model 2, for obtaining actual guide vane opening signal according to target guide vane opening signal；
Specifically, refer to the block diagram of a kind of guide vane actuating mechanism model that Fig. 4, Fig. 4 provide for the present invention.
As preferably, guide vane actuating mechanism model 2 specifically for:
Carry out target guide vane opening signal and currently practical guide vane opening signal doing difference process, and the difference obtained is divided Do not carry out the second ratio process, second integral processes and the second differential processes, then three numerical value obtained are carried out the second limit Width processes, and the result obtaining the second amplitude limiting processing is integrated, then the result of integration is carried out the 3rd amplitude limiting processing, obtains Actual guide vane opening signal；
Wherein, the second ratio processes corresponding transmission function is Kp', second integral processes corresponding transmission function and is It is K that second differential processes corresponding transmission functionD' S, wherein, Kp' it is the second proportional gain, KI' for second integral gain, KD' It it is second differential gain.
It is understood that guide vane actuating mechanism model 2 alternatively referred to as electrohydraulic servo system modeling here, in this model PID arithmetic be Hydropower Unit regulate system inner loop PID controlling unit.
In figure, Y is actual guide vane opening signal (namely servomotor stroke signal), vmaxFor opening speed amplitude limit；vmin1、 vmin2For closing velocity amplitude limit (two sections of closedowns)；TyResponse time constant for stator main servomotor；Ymax、YminStator master connect The range of power device, the minimum stroke of stator main servomotor；YdelayThe time delay (second) of guide vane actuating mechanism output.
Hydraulic turbine prime mover model 3, for obtaining theoretical active power according to actual guide vane opening signal；Wherein, water wheels The transmission functional relationship of machine prime mover model 3 correspondence is G1(s)+G2(s), wherein:
TwFor fluid inertia time constant；
G2S the equation of () correspondence is P=aY3+bY2+ cY+d, a, b, c and d are constant；
Specifically, refer to Fig. 5 and Fig. 6, wherein, the frame of a kind of hydraulic turbine prime mover model that Fig. 5 provides for the present invention Figure, the block diagram of a kind of Francis turbine model that Fig. 6 provides for the present invention.
Because the present invention wants to be simulated the Hydropower Unit in reality by the phantom of Hydropower Unit, and then To the theoretical active power of Hydropower Unit output, therefore, select not only consideration rigidity water attack here, also contemplate theoretical wattful power Preferable hydraulic turbine prime mover model 3 of the corresponding relation between rate and guide vane opening.
In Fig. 6, q is flow relative standard deviation values, and h is head relative standard deviation values, G1(S) it is the transmission function of q to h, ehAnd ey (namely G2(S) hydraulic turbine torque (power)) it is respectively to head and the carry-over factor of guide vane servomotor stroke, eqhAnd eqyRespectively For hydraulic turbine discharge to head and the carry-over factor of guide vane servomotor stroke.
It addition, G commonly used in the prior art2S the equation of () correspondence is P=aY3+bY2+ cY+d namely theoretical active power With the fit correlation formula (parameter has marked change the most) of main servomotor stroke can be:
P=-0.7269Y3+0.8581Y 2+1.0536Y-0.1808
Can also be:
P=-7.5728Y3+11.641Y2-3.2838Y+0.2382；
Can also be:
P=-3.2377Y3+3.9267Y2+0.2278Y-0.1530。
Certainly, G here2The concrete form of s equation that () is corresponding is determined according to practical situation, and the present invention is not spy at this Other restriction.
Theoretical action device electricity calculates module 4, for the time corresponding according to theoretical active power, theoretical active power And theory action device electricity relational expression obtains the theoretical action device electricity of hydroelectric units primary frequency modulation, wherein, theoretical dynamic Making device electricity relational expression is:
Q t = &Integral; t 0 t 0 + &Delta; t ( P t - P 0 ) d t / 3600 ;
Wherein, QtFor theoretical action device electricity；t0Moment for frequency departure overfrequency dead band；Δ t is that integration starts After primary frequency modulation process duration, wherein, Δ t is no longer than 60s, more than 60s with 60s calculate；PtHave for theory Merit power；P0For t0Corresponding theoretical active power.
To sum up, refer to a kind of based on Hydropower Unit phantom the Hydropower Unit one that Fig. 7, Fig. 7 provide for the present invention The block diagram of the calculating system of secondary frequency modulation theory action electricity.
Fig. 7 is electronic controller model 1, guide vane actuating mechanism model 2 is constituted with modified model hydraulic turbine prime mover model 3 Turbine governor system phantom block diagram, the machine frequency signal that the input of model is frequency Setting signal and simulation, through meter Calculation draws frequency difference, carries out PID arithmetic through frequency dead band link, then regulates signal, input through PID output violent change link output PID Stator carries out the inner loop PID loop joint in mechanism, opens through inner loop PID output, stator, closes speed limit link, in conjunction with stator relay Device time constant is integrated computing, through servomotor amplitude limit link output guide blade actual guide vane opening signal, inputs modified model water Turbine model, finally calculates power of the assembling unit output.This model meets reality and can accurately emulate hydroelectric units primary frequency modulation Process, obtains the active power simulation curve close with measured result variation tendency.
The beneficial effect produced below in conjunction with the instantiation system to using the present invention to provide compares with prior art Relatively:
Certain hydroelectric power plant selected 1 unit primary frequency modulation test and field measurement data, can count according to frequency time data Calculate former methodical theoretical action device electricity, calculate PID according to frequency disturbance by electronic controller model 1 and control defeated Go out, calculate the output of unit guide vane opening, guide vane opening Y input modified model hydraulic turbine model through guide vane actuating mechanism model 2, enter The emulation of row active-power P signal, draws of the present invention based on changing according to the active power curves integral and calculating simulated Enter the hydroelectric units primary frequency modulation theory action charge value of type hydraulic turbine model, and move with the theory calculated by original method Comparing as charge value, as illustrated in figs. 8-9, comparative result is as shown in table 1 for result of calculation, and wherein, Fig. 8 is for using existing skill Method in art calculates the calculating schematic diagram of theoretical action device electricity and actual act device electricity, and Fig. 9 is for using the present invention The system-computed theory action device electricity provided and the calculating schematic diagram of actual act device electricity.
In Fig. 8, (a) is that mains frequency changes over curve, and mains frequency starts change from initial value (50Hz), when more When crossing primary frequency modulation dead band fd, unit primary frequency modulation starts action, and active-power P starts slowly to decline.B () is inclined according to frequency Difference is according to formulaThe theoretical device electricity obtained calculates the curve that diligent rate changes, integration with frequency departure After i.e. available theoretical action device electricity value.C () is the unit active power primary frequency modulation response process of actual measurement, in integrogram Curve can get actual act device electricity value.Assume that primary frequency modulation movement time is Δ t, then the theory that the integration Δ t second obtains With actual integration charge value as shown in shade in figure.1. dash area is (less than 60s) theoretical integration during primary frequency modulation Electricity, 2. dash area is actual integration electricity.
In Fig. 9, (a) is that mains frequency changes over curve, and mains frequency starts change from initial value (50Hz), when more When crossing primary frequency modulation dead band fd, unit primary frequency modulation starts action, and primary frequency modulation duration is similarly Δ t, integration Δ t Second available theory and actual act device electricity value.The active-power P that theoretical device electricity size now is drawn by emulation Curve is integrated, and as shown in figure (b), 3. the dash area in figure is the water power based on modified model hydraulic turbine model of the present invention Unit primary frequency modulation theory action device electricity value, in (c), 4. dash area is actual integration electricity.
Table 1 action device electricity statistical result
Be can be seen that by result of calculation, prior art Computational Methods the theoretical action device electricity obtained and actual act The deviation ratio of device electricity value is relatively big, and what the mode based on modified model hydraulic turbine model utilizing the present invention to provide calculated Theoretical action device electricity compares former method closer to actual integration charge value, illustrates that the method has than original integral formulas Improved.
In sum:
Prime mover model used in the present invention with the addition of the water wheels machine power of actual measurement on the basis of preferable hydraulic turbine model The square relation curve to guide vane opening, is improved original structure, makes the simulation curve of active power with measured result more Add close, improve the precision simulated.
It addition, the calculating system of a kind of hydroelectric units primary frequency modulation theory action electricity of the present invention improves meter The accuracy calculated, the active power curves that theoretical action device electricity utilizes emulation to obtain is asked for so that theoretical value is with actual Action device electricity value closer to.
The invention provides the calculating system of a kind of hydroelectric units primary frequency modulation theory action electricity, including electronic controller Model obtains the target guide vane opening letter of water turbine set according to frequency departure and active power deviation or guide vane opening deviation Number；Guide vane actuating mechanism model obtains actual guide vane opening signal according to target guide vane opening signal；Hydraulic turbine prime mover model Theoretical active power is obtained according to actual guide vane opening signal；Wherein, hydraulic turbine prime mover model not only allows for rigidity water attack Impact, it is also contemplated that corresponding relation between theoretical active power and guide vane opening；Theoretical action device electricity calculates module Time and theoretical action device electricity relational expression that the theoretical active power of foundation, theoretical active power are corresponding obtain Hydropower Unit The theoretical action device electricity of primary frequency modulation.
Visible, the present invention obtains the theoretical active power of Hydropower Unit according to the phantom of Hydropower Unit, and uses reason Opinion active power and the relation of time obtain theoretical action device electricity, use the theoretical action device electricity which obtains With actual act device electricity closer to, the most accurate, it addition, hydraulic turbine prime mover model is calculating theoretical active power also Consider the corresponding relation between theoretical active power and guide vane opening, so that the theoretical action device electricity obtained is more Accurately.
Refer to the calculating side of a kind of hydroelectric units primary frequency modulation theory action electricity that Figure 10, Figure 10 provide for the present invention The flow chart of the process of method, the method includes:
Step S101: electronic controller model obtains according to frequency departure and active power deviation or guide vane opening deviation To the target guide vane opening signal of Hydropower Unit, wherein, frequency departure is that frequency Setting signal deducts the frequency of Hydropower Unit and obtains To difference numerical value of obtaining after dead band processes, active power deviation is that given theoretical active power deducts Hydropower Unit The difference that theoretical active power obtains；Guide vane opening deviation is that the guide vane opening that given guide vane opening deducts Hydropower Unit obtains Difference；
As preferably, obtain Hydropower Unit according to frequency departure and active power deviation or guide vane opening deviation The process of target guide vane opening signal particularly as follows:
Receive frequency Setting signal and the frequency of Hydropower Unit, the frequency of frequency Setting signal with Hydropower Unit is carried out Do difference process, and the difference obtained is carried out dead band process obtain frequency departure；
Frequency departure carrying out the first ratio process respectively and the first differential processes, correspondence obtains the first numerical value and the second number Value；
Carrying out active power deviation with power difference coefficient being multiplied, it is poor to process or guide vane opening deviation and aperture are adjusted Coefficient carries out the process that is multiplied, and obtains third value；
Third value is added with frequency departure process, addition is processed the result obtained and carries out first integral process, Obtain the 4th numerical value；
First numerical value, second value and the 4th numerical value do addition process, obtain the 5th numerical value；
5th numerical value is carried out the first amplitude limiting processing, obtains target guide vane opening signal；
It is K that first ratio processes corresponding transmission functionp, the first differential processes corresponding transmission function and isThe Transmission function corresponding to one Integral Processing isWherein, KpIt is the first proportional gain, KIFor first integral gain, KDIt is first The differential gain, T1VIt it is the first derivative time constant.
Step S102: guide vane actuating mechanism model obtains actual guide vane opening signal according to target guide vane opening signal；
As preferably, according to target guide vane opening signal obtain actual guide vane opening signal process particularly as follows:
Carry out target guide vane opening signal and currently practical guide vane opening signal doing difference process, and the difference obtained is divided Do not carry out the second ratio process, second integral processes and the second differential processes, then three numerical value obtained are carried out the second limit Width processes, and the result obtaining the second amplitude limiting processing is integrated, then the result of integration is carried out the 3rd amplitude limiting processing, obtains Actual guide vane opening signal；
Wherein, the second ratio processes corresponding transmission function is Kp', second integral processes corresponding transmission function and is It is K that second differential processes corresponding transmission functionD' S, wherein, Kp' it is the second proportional gain, KI' for second integral gain, KD' It it is second differential gain.
Step S103: hydraulic turbine prime mover model obtains theoretical active power according to actual guide vane opening signal；Wherein, water The transmission functional relationship that turbine prime mover model is corresponding is G1(s)+G2(s), wherein:
TwFor fluid inertia time constant；
G2S the equation of () correspondence is P=aY3+bY2+ cY+d, a, b, c and d are constant；
Step S104: it is corresponding according to theoretical active power, theoretical active power that theoretical action device electricity calculates module Time and theoretical action device electricity relational expression obtain the theoretical action device electricity of hydroelectric units primary frequency modulation, wherein, reason Opinion action device electricity relational expression is:
Q t = &Integral; t 0 t 0 + &Delta; t ( P t - P 0 ) d t / 3600 ;
Wherein, QtFor theoretical action device electricity；t0Moment for frequency departure overfrequency dead band；Δ t is that integration starts After primary frequency modulation process duration, wherein, Δ t is no longer than 60s, more than 60s with 60s calculate；Pt is that theory has Merit power；P0For t0Corresponding theoretical active power.
For the introduction of computational methods of a kind of hydroelectric units primary frequency modulation theory action electricity that the present invention provides, please join According to said system embodiment, the present invention does not repeats them here.
The invention provides the computational methods of a kind of hydroelectric units primary frequency modulation theory action electricity, including electronic controller Model obtains the target guide vane opening letter of water turbine set according to frequency departure and active power deviation or guide vane opening deviation Number；Guide vane actuating mechanism model obtains actual guide vane opening signal according to target guide vane opening signal；Hydraulic turbine prime mover model Theoretical active power is obtained according to actual guide vane opening signal；Wherein, hydraulic turbine prime mover model not only allows for rigidity water attack Impact, it is also contemplated that corresponding relation between theoretical active power and guide vane opening；Theoretical action device electricity calculates module Time and theoretical action device electricity relational expression that the theoretical active power of foundation, theoretical active power are corresponding obtain Hydropower Unit The theoretical action device electricity of primary frequency modulation.
Visible, the present invention obtains the theoretical active power of Hydropower Unit according to the phantom of Hydropower Unit, and uses reason Opinion active power and the relation of time obtain theoretical action device electricity, use the theoretical action device electricity which obtains With actual act device electricity closer to, the most accurate, it addition, hydraulic turbine prime mover model is calculating theoretical active power also Consider the corresponding relation between theoretical active power and guide vane opening, so that the theoretical action device electricity obtained is more Accurately.
It should be noted that in this manual, the relational terms of such as first and second or the like is used merely to one Individual entity or operation separate with another entity or operating space, and not necessarily require or imply these entities or operate it Between exist any this reality relation or order.And, term " includes ", " comprising " or its any other variant are intended to Contain comprising of nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include those Key element, but also include other key elements being not expressly set out, or also include for this process, method, article or set Standby intrinsic key element.In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that Other identical element is there is also in including the process of described key element, method, article or equipment.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention. Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one The widest scope caused.

Claims (6)

1. the calculating system of a hydroelectric units primary frequency modulation theory action electricity, it is characterised in that including:
Electronic controller model, for obtaining described water according to frequency departure and active power deviation or guide vane opening deviation The target guide vane opening signal of group of motors, wherein, described frequency departure is the frequency that frequency Setting signal deducts described Hydropower Unit The numerical value that the difference that rate obtains obtains after dead band processes, described active power deviation deducts institute for giving theoretical active power State the difference that the theoretical active power of Hydropower Unit obtains；Described guide vane opening deviation deducts described water power for given guide vane opening The difference that the guide vane opening of unit obtains；
Guide vane actuating mechanism model, for obtaining actual guide vane opening signal according to described target guide vane opening signal；
Hydraulic turbine prime mover model, for obtaining theoretical active power according to described actual guide vane opening signal；Wherein, described water The transmission functional relationship that turbine prime mover model is corresponding is G1(s)+G2(s), wherein:
TwFor fluid inertia time constant；
G2S the equation of () correspondence is P=aY3+bY2+ cY+d, a, b, c and d are constant；
Theoretical action device electricity calculates module, for corresponding according to described theoretical active power, described theoretical active power Time and theoretical action device electricity relational expression obtain the theoretical action device electricity of hydroelectric units primary frequency modulation, wherein, institute Stating theoretical action device electricity relational expression is:
Q t = &Integral; t 0 t 0 + &Delta; t ( P t - P 0 ) d t / 3600 ;
Wherein, QtFor described theoretical action device electricity；t0Moment for frequency departure overfrequency dead band；Δ t is that integration starts After primary frequency modulation process duration, wherein, Δ t is no longer than 60s, more than 60s with 60s calculate；PtFor described reason Opinion active power；P0For t0Corresponding theoretical active power.
Calculate system the most as claimed in claim 1, it is characterised in that described electronic controller model specifically for:
Receive frequency Setting signal and the frequency of Hydropower Unit, the frequency to described frequency Setting signal Yu described Hydropower Unit Carry out doing difference process, and the difference obtained is carried out dead band process and obtain described frequency departure；
Described frequency departure carrying out the first ratio process respectively and the first differential processes, correspondence obtains the first numerical value and the second number Value；
Carry out active power deviation with power difference coefficient being multiplied and process or by guide vane opening deviation and aperture difference coefficient Carry out the process that is multiplied, obtain third value；
Described third value is added process with described frequency departure, addition is processed the result obtained and carries out at first integral Reason, obtains the 4th numerical value；
Described first numerical value, described second value and described 4th numerical value do addition process, obtain the 5th numerical value；
Described 5th numerical value is carried out the first amplitude limiting processing, obtains described target guide vane opening signal；
It is K that described first ratio processes corresponding transmission functionp, described first differential processes corresponding transmission function and isDescribed first integral processes corresponding transmission functionWherein, KpIt is the first proportional gain, KIFor first integral Gain, KDIt is first differential gain, T1VIt it is the first derivative time constant.
Calculate system the most as claimed in claim 1, it is characterised in that described guide vane actuating mechanism model specifically for:
Carry out described guide vane opening target value signal and currently practical guide vane opening signal doing difference process, and to the difference obtained Carry out the second ratio process respectively, second integral processes and the second differential processes, then three numerical value obtained are carried out second Amplitude limiting processing, and the result obtaining the second amplitude limiting processing is integrated, then the result of integration is carried out the 3rd amplitude limiting processing, To described actual guide vane opening signal；
Wherein, described second ratio processes corresponding transmission function is Kp', described second integral processes corresponding transmission function and isIt is K that described second differential processes corresponding transmission functionD' S, wherein, described Kp' it is the second proportional gain, KI' it is second Storage gain, KD' it is second differential gain.
4. the computational methods of a hydroelectric units primary frequency modulation theory action electricity, it is characterised in that including:
Electronic controller model obtains described hydroelectric machine according to frequency departure and active power deviation or guide vane opening deviation The target guide vane opening signal of group, wherein, described frequency departure is that frequency Setting signal deducts the frequency of described Hydropower Unit and obtains To difference numerical value of obtaining after dead band processes, described active power deviation deducts described water for given theoretical active power The difference that the theoretical active power of group of motors obtains；Described guide vane opening deviation deducts described Hydropower Unit for given guide vane opening The difference that obtains of guide vane opening；
Guide vane actuating mechanism model obtains actual guide vane opening signal according to described target guide vane opening signal；
Hydraulic turbine prime mover model obtains theoretical active power according to described actual guide vane opening signal；Wherein, the described hydraulic turbine The transmission functional relationship that prime mover model is corresponding is G1(s)+G2(s), wherein:
TwFor fluid inertia time constant；
G2S the equation of () correspondence is P=aY3+bY2+ cY+d, a, b, c and d are constant；
Theoretical action device electricity calculate module according to time corresponding to described theoretical active power, described theoretical active power with And theory action device electricity relational expression obtains the theoretical action device electricity of hydroelectric units primary frequency modulation, wherein, described theory Action device electricity relational expression is:
Q t = &Integral; t 0 t 0 + &Delta; t ( P t - P 0 ) d t / 3600 ;
Wherein, QtFor described theoretical action device electricity；t0Moment for frequency departure overfrequency dead band；Δ t is that integration starts After primary frequency modulation process duration, wherein, Δ t is no longer than 60s, more than 60s with 60s calculate；Pt is described reason Opinion active power；P0For t0Corresponding theoretical active power.
Calculate system the most as claimed in claim 4, it is characterised in that described according to frequency departure and active power deviation or Person's guide vane opening deviation obtain the target guide vane opening signal of described Hydropower Unit process particularly as follows:
Receive frequency Setting signal and the frequency of Hydropower Unit, the frequency to described frequency Setting signal Yu described Hydropower Unit Carry out doing difference process, and the difference obtained is carried out dead band process and obtain described frequency departure；
Described frequency departure carrying out the first ratio process respectively and the first differential processes, correspondence obtains the first numerical value and the second number Value；
Carry out active power deviation with power difference coefficient being multiplied and process or by guide vane opening deviation and aperture difference coefficient Carry out the process that is multiplied, obtain third value；
Described third value is added process with described frequency departure, addition is processed the result obtained and carries out at first integral Reason, obtains the 4th numerical value；
Described first numerical value, described second value and described 4th numerical value do addition process, obtain the 5th numerical value；
Described 5th numerical value is carried out the first amplitude limiting processing, obtains described target guide vane opening signal；
It is K that described first ratio processes corresponding transmission functionp, described first differential processes corresponding transmission function and isDescribed first integral processes corresponding transmission functionWherein, KpIt is the first proportional gain, KIFor first integral Gain, KDIt is first differential gain, T1VIt it is the first derivative time constant.
Calculate system the most as claimed in claim 4, it is characterised in that described obtain reality according to described target guide vane opening signal The process of border guide vane opening signal particularly as follows:
Carry out described target guide vane opening signal and currently practical guide vane opening signal doing difference process, and the difference obtained is divided Do not carry out the second ratio process, second integral processes and the second differential processes, then three numerical value obtained are carried out the second limit Width processes, and the result obtaining the second amplitude limiting processing is integrated, then the result of integration is carried out the 3rd amplitude limiting processing, obtains Described actual guide vane opening signal；
Wherein, described second ratio processes corresponding transmission function is Kp', described second integral processes corresponding transmission function and isIt is K that described second differential processes corresponding transmission functionD' S, wherein, described Kp' it is the second proportional gain, KI' it is second Storage gain, KD' it is second differential gain.
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CN107168101A (en) * 2017-06-07 2017-09-15 国网福建省电力有限公司 Consider frequency modulation and the set speed adjustment system control parameters setting method of scleronomic constraint
CN107168101B (en) * 2017-06-07 2020-08-14 国网福建省电力有限公司 Unit speed regulating system control parameter setting method considering frequency modulation and stability constraint
CN110797886A (en) * 2019-12-05 2020-02-14 国网四川省电力公司电力科学研究院 Load frequency control structure and combined frequency modulation model of water or thermal power generating unit
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CN113013897A (en) * 2021-03-09 2021-06-22 国网四川综合能源服务有限公司四川电力工程分公司 Hydroelectric generating set guide vane mechanical dead zone compensation method and device
CN113759167A (en) * 2021-09-10 2021-12-07 西安热工研究院有限公司 Method for online testing power transfer coefficient of turbine set by guide vane opening degree of water turbine
CN113759167B (en) * 2021-09-10 2023-12-22 西安热工研究院有限公司 On-line test method for power transfer coefficient of turbine guide vane opening to unit
CN114204609A (en) * 2021-11-05 2022-03-18 华能澜沧江水电股份有限公司 Primary frequency modulation transfer adjustment method based on active power adjustment dead zone
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CN114856901A (en) * 2021-12-22 2022-08-05 国家能源集团新疆开都河流域水电开发有限公司 Method and system for adjusting opening degree of guide vane of speed regulator of water turbine

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