CN106327059B - A kind of computing system and method for hydroelectric units primary frequency modulation theory movement electricity - Google Patents
A kind of computing system and method for hydroelectric units primary frequency modulation theory movement electricity Download PDFInfo
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Abstract
The invention discloses the computing systems and method of a kind of hydroelectric units primary frequency modulation theory movement electricity, obtain the target guide vane opening signal of water turbine set according to frequency departure and active power deviation or guide vane opening deviation including electronic controller model；Guide vane actuating mechanism model obtains practical guide vane opening signal according to target guide vane opening signal；Hydraulic turbine prime mover model obtains theoretical active power according to practical guide vane opening signal；Wherein, hydraulic turbine prime mover model not only allows for the influence of rigid water attack, it is also contemplated that corresponding relationship between theoretical active power and guide vane opening；Theory movement device electricity calculates module and obtains the theoretical movement device electricity of hydroelectric units primary frequency modulation according to theoretical active power, theoretical active power corresponding time and theoretical movement device electricity relational expression.The theoretical movement device electricity and actual act device electricity obtained using which is closer, also more accurate.
Description
Technical field
The present invention relates to hydroelectric units primary frequency modulation technical fields, theoretical more particularly to a kind of hydroelectric units primary frequency modulation
Act the computing system and method for electricity.
Background technique
Currently, mains frequency accounts for major part in the factor for influencing power quality.Hydroelectric units primary frequency modulation, which refers to, works as
When mains frequency fluctuates, speed-regulating system automatically adjusts guide vane opening according to mains frequency and the difference on the frequency of rated frequency, changes
Become unit output to adapt to load variations.Primary frequency modulation service is that grid requirements power plant is necessary as one of basic ancillary service
The service of offer.If power plant because primary frequency modulation service that self reason cannot provide primary frequency modulation service or offer is not up to standard will
It is examined.Power generating capacity is correspondingly reduced according to the result of examination, finally influences its economic benefit.
It is traffic department in mains frequency beyond adjusting in the prior art to the examination of institute's contributing electricity after primary frequency modulation movement
The numbers such as the actual power of Hydropower Unit sent in actuation time, power grid real-time frequency and power plant instantly are recorded when frequency dead zone range
According to according to these data, using examining, formula calculates separately out the theoretical movement device electricity of unit and actual act integrates electricity
Then whether qualified amount judges quality of movement further according to actual act device electricity and theoretical movement device electricity, and determines
Whether power plant will be examined.
Actual act device electricity is calculated as shown in formula (1):
In formula: QrFor actual act device electricity (unit: kWh)；t0To integrate initial time, i.e. frequency departure is more than
At the time of frequency dead band (unit: s)；Δ t be integral start after primary frequency modulation process duration (no longer than 60s, surpass
Cross calculating with 60s for 60s, unit: s)；PaFor the practical power output (unit: kW) of unit；P0For the corresponding unit of integral initial time
It contributes (unit: kW).
Theory movement device electricity is calculated as shown in formula (2):
In formula: QtDevice electricity (unit: kWh) is acted for theory；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 calculation formula of frequency deviation f are as follows:
In formula: fgFor the frequency (unit: Hz) of Hydropower Unit；frFor power grid rated frequency (unit: Hz)；efOnce to adjust
Frequency dead zone (unit: Hz).
By formula (1), (2) it is found that actual act device electricity is calculated according to active power-time curve,
And theoretical movement device electricity is calculated according to frequency-time curve.Theoretical device electricity changes in real time with frequency difference
Become, and Hydropower Unit regulating system hysteresis quality is stronger, power response is relatively slow, and due to hydrodynamic inertial, is adjusting
Initial stage will appear anti-tune effect, will all cause actual act device electricity in same time period less than normal compared with theoretical value.Extreme case
Under, when frequency disturbance is a step amount, frequency-time curve is a broken line, and active power-time relationship is bent
Line is a curve, as shown in Figure 1, t0Moment frequency disturbance -0.15Hz, unit frequency difference exceeds Man made Dead Band, through of short duration
Delay primary frequency modulation starts to act, and occurs demodulating effect at guide vane movement initial stage due to hydrodynamic inertial, in Fig. 1 (c)
t0-t1Period, unit is that opposite direction goes out force-responsive at this time, and actual integration electricity is negative value.t1After moment, unit output switchs to
Positive direction, actual integration electricity gradually become positive value.Dash area is theoretical movement device electricity, yin in Fig. 1 (c) in Fig. 1 (b)
Shadow part is actual act device electricity, it can be seen that theoretical larger with actual value error in calculating process.This explanation frequency
It is inaccurate that rate-time curve, which carrys out computational theory movement device electricity,.
Therefore, how computing system and the side of a kind of hydroelectric units primary frequency modulation theory that accuracy is high movement electricity are provided
Method is a technical problem that technical personnel in the field need to solve at present.
Summary of the invention
The object of the present invention is to provide a kind of computing systems of hydroelectric units primary frequency modulation theory movement electricity, according to water power
The simulation model of unit obtains the theoretical active power of Hydropower Unit, and is obtained using theoretical active power and the relationship of time
Theory movement device electricity, the theoretical movement device electricity obtained using which is more accurate, in addition, hydraulic turbine prime mover mould
Type also contemplates the corresponding relationship between theoretical active power and guide vane opening in the theoretical active power of calculating, so that obtaining
Theoretical movement device electricity it is more accurate；It is a further object of the present invention to provide a kind of movements of hydroelectric units primary frequency modulation theory
The calculation method of electricity.
In order to solve the above technical problems, the present invention provides a kind of calculating of hydroelectric units primary frequency modulation theory movement electricity
System, comprising:
Electronic controller model, for obtaining institute according to frequency departure and active power deviation or guide vane opening deviation
State the target guide vane opening signal of Hydropower Unit, wherein the frequency departure is that frequency Setting signal subtracts the Hydropower Unit
The numerical value that is obtained after dead zone is handled of the obtained difference of frequency, the active power deviation is that given theoretical active power subtracts
The difference for going the theoretical active power of the Hydropower Unit to obtain；The guide vane opening deviation is described in given guide vane opening subtracts
The difference that the guide vane opening of Hydropower Unit obtains；
Guide vane actuating mechanism model, for obtaining practical guide vane opening signal according to the target guide vane opening signal；
Hydraulic turbine prime mover model, for obtaining theoretical active power according to the practical guide vane opening signal；Wherein, institute
Stating the corresponding transmission function relationship of hydraulic turbine prime mover model is G1(s)+G2(s), in which:
TwFor fluid inertia time constant；
G2(s) corresponding equation is P=aY3+bY2+ cY+d, a, b, c and d are constant；
Theory movement device electricity calculates module, for according to the theoretical active power, the theoretical active power pair
The time and theoretical movement device electricity relational expression answered obtain the theoretical movement device electricity of hydroelectric units primary frequency modulation,
In, the theoretical movement device electricity relational expression are as follows:
Wherein, QtFor the theoretical movement device electricity；t0At the time of for frequency departure overfrequency dead zone；Δ t is integral
Primary frequency modulation process duration after beginning, wherein Δ t is no longer than 60s, more than being calculated with 60s for 60s；PtFor institute
State theoretical active power；P0For t0Corresponding theory active power.
Preferably, the electronic controller model is specifically used for:
The frequency for receiving frequency Setting signal and Hydropower Unit, to the frequency Setting signal and the Hydropower Unit
Frequency is made the difference, and is carried out dead zone to obtained difference and handled to obtain the frequency departure；
Carry out the first ratio processing and the first differential process respectively to the frequency departure, it is corresponding to obtain the first numerical value and the
Two numerical value；
By active power deviation and power difference coefficient carry out multiplication processing or by guide vane opening deviation and aperture tune it is poor
Coefficient carries out multiplication processing, obtains third value；
The third value is added processing with the frequency departure, the first product is carried out to the result that addition is handled
Divide processing, obtains the 4th numerical value；
Addition processing is done to first numerical value, the second value and the 4th numerical value, obtains the 5th numerical value；
First amplitude limiting processing is carried out to the 5th numerical value, obtains the target guide vane opening signal；
It is K that first ratio, which handles corresponding transmission function,p, the corresponding transmission function of first differential process is
The first integral handles corresponding transmission function
Wherein, KpFor the first proportional gain, KIFor first integral
Gain, KDFor first differential gain, T1VFor the first derivative time constant.
Preferably, the guide vane actuating mechanism model is specifically used for:
The target guide vane opening signal and currently practical guide vane opening signal are made the difference, and to obtained difference
Value carries out the second ratio processing, second integral processing and the second differential process respectively, then three obtained numerical value is carried out the
Two amplitude limiting processings, and the result obtained to the second amplitude limiting processing integrates, then carries out third amplitude limiting processing to the result of integral,
Obtain the practical guide vane opening signal；
Wherein, it is K that second ratio, which handles corresponding transmission function,p', the second integral handles corresponding transmitting letter
Number is
The corresponding transmission function of second differential process is K'DS, wherein the Kp' it is the second proportional gain, KI' be
Second integral gain, KD' it is second differential gain.
In order to solve the above technical problems, the present invention also provides a kind of meters of hydroelectric units primary frequency modulation theory movement electricity
Calculation method, comprising:
Electronic controller model obtains the water according to frequency departure and active power deviation or guide vane opening deviation
The target guide vane opening signal of motor group, wherein the frequency departure is the frequency that frequency Setting signal subtracts the Hydropower Unit
The numerical value that the difference that rate obtains obtains after dead zone is handled, the active power deviation subtract institute to give theoretical active power
State the difference that the theoretical active power of Hydropower Unit obtains；The guide vane opening deviation is that given guide vane opening subtracts the water power
The difference that the guide vane opening of unit obtains；
Guide vane actuating mechanism model obtains practical guide vane opening signal according to the target guide vane opening signal；
Hydraulic turbine prime mover model obtains theoretical active power according to the practical guide vane opening signal；Wherein, the water
The corresponding transmission function relationship of turbine prime mover model is G1(s)+G2(s), in which:
G2(s) corresponding equation is P=aY3+bY2+ cY+d, a, b, c and d are constant；
When theory movement device electricity calculating module is corresponding according to the theoretical active power, the theory active power
Between and theoretical movement device electricity relational expression obtain the theoretical movement device electricity of hydroelectric units primary frequency modulation, wherein it is described
Theory movement device electricity relational expression are as follows:
Wherein, QtFor the theoretical movement device electricity；t0At the time of for frequency departure overfrequency dead zone；Δ t is integral
Primary frequency modulation process duration after beginning, wherein Δ t is no longer than 60s, more than being calculated with 60s for 60s；Pt is institute
State theoretical active power；P0For t0Corresponding theory active power.
Preferably, described to obtain the hydroelectric machine according to frequency departure and active power deviation or guide vane opening deviation
The process of the target guide vane opening signal of group specifically:
The frequency for receiving frequency Setting signal and Hydropower Unit, to the frequency Setting signal and the Hydropower Unit
Frequency is made the difference, and is carried out dead zone to obtained difference and handled to obtain the frequency departure；
Carry out the first ratio processing and the first differential process respectively to the frequency departure, it is corresponding to obtain the first numerical value and the
Two numerical value；
By active power deviation and power difference coefficient carry out multiplication processing or by guide vane opening deviation and aperture tune it is poor
Coefficient carries out multiplication processing, obtains third value；
The third value is added processing with the frequency departure, the first product is carried out to the result that addition is handled
Divide processing, obtains the 4th numerical value；
Addition processing is done to first numerical value, the second value and the 4th numerical value, obtains the 5th numerical value；
First amplitude limiting processing is carried out to the 5th numerical value, obtains the target guide vane opening signal；
It is K that first ratio, which handles corresponding transmission function,p, the corresponding transmission function of first differential process isThe first integral handles corresponding transmission function
Wherein, KpFor the first proportional gain, KIFor first integral
Gain, KDFor first differential gain, T1VFor the first derivative time constant.
It is preferably, described to obtain the process of practical guide vane opening signal according to the target guide vane opening signal specifically:
The target guide vane opening signal and currently practical guide vane opening signal are made the difference, and to obtained difference
Value carries out the second ratio processing, second integral processing and the second differential process respectively, then three obtained numerical value is carried out the
Two amplitude limiting processings, and the result obtained to the second amplitude limiting processing integrates, then carries out third amplitude limiting processing to the result of integral,
Obtain the practical guide vane opening signal；
Wherein, it is K that second ratio, which handles corresponding transmission function,p', the second integral handles corresponding transmitting letter
Number is
The corresponding transmission function of second differential process is K'DS, wherein the Kp' it is the second proportional gain, KI' be
Second integral gain, KD' it is second differential gain.
The present invention provides the computing systems and method of a kind of hydroelectric units primary frequency modulation theory movement electricity, including electronics
Adjuster model obtains the target guide vane 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 practical guide vane opening signal according to target guide vane opening signal；Hydraulic turbine original is dynamic
Machine model obtains theoretical active power according to practical guide vane opening signal；Wherein, hydraulic turbine prime mover model not only allows for just
The influence of property water attack, it is also contemplated that the corresponding relationship between theoretical active power and guide vane opening；Theory movement device electricity meter
It calculates module and obtains water according to theoretical active power, theoretical active power corresponding time and theoretical movement device electricity relational expression
The theoretical movement device electricity of motor group primary frequency modulation.
As it can be seen that the present invention obtains the theoretical active power of Hydropower Unit according to the simulation model of Hydropower Unit, and using reason
Theoretical movement device electricity is obtained by the relationship of active power and time, the theoretical movement device electricity obtained using which
It is closer with actual act device electricity, it is also more accurate, in addition, hydraulic turbine prime mover model is calculating theoretical active power also
The corresponding relationship between theoretical active power and guide vane opening is considered, so that obtained theoretical movement device electricity is more
Accurately.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the comparison diagram of theoretical movement device electricity and actual act device electricity under step disturbance in the prior art；
Fig. 2 is the structural representation for the computing system that a kind of hydroelectric units primary frequency modulation theory provided by the invention acts electricity
Figure；
Fig. 3 is a kind of block diagram of electronic controller model provided by the invention；
Fig. 4 is a kind of block diagram of guide vane actuating mechanism model provided by the invention；
Fig. 5 is a kind of block diagram of hydraulic turbine prime mover model provided by the invention；
Fig. 6 is a kind of block diagram of Francis turbine model provided by the invention；
Fig. 7 is that a kind of hydroelectric units primary frequency modulation theory based on Hydropower Unit simulation model provided by the invention acts electricity
The block diagram of the computing system of amount；
Fig. 8 is the calculating using method computational theory in the prior art movement device electricity and actual act device electricity
Schematic diagram；
Fig. 9 is the calculating using system-computed theory provided by the invention movement device electricity and actual act device electricity
Schematic diagram；
Figure 10 is the process for the calculation method that a kind of hydroelectric units primary frequency modulation theory provided by the invention acts electricity
Flow chart.
Specific embodiment
Core of the invention is to provide a kind of computing system of hydroelectric units primary frequency modulation theory movement electricity, according to water power
The simulation model of unit obtains the theoretical active power of Hydropower Unit, and is obtained using theoretical active power and the relationship of time
Theory movement device electricity, the theoretical movement device electricity obtained using which is more accurate, in addition, hydraulic turbine prime mover mould
Type also contemplates the corresponding relationship between theoretical active power and guide vane opening in the theoretical active power of calculating, so that obtaining
Theoretical movement device electricity it is more accurate；Another core of the invention is to provide a kind of hydroelectric units primary frequency modulation theory movement
The calculation method of electricity.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Referring to figure 2., Fig. 2 is the computing system that a kind of hydroelectric units primary frequency modulation theory provided by the invention acts electricity
Structural schematic diagram, which includes:
Specifically, referring to figure 3., Fig. 3 is a kind of block diagram of electronic controller model provided by the invention.
Preferably, electronic controller model 1 is specifically used for:
The frequency for receiving frequency Setting signal and Hydropower Unit carries out the frequency of frequency Setting signal and Hydropower Unit
It makes the difference, and dead zone is carried out to obtained difference and handles to obtain frequency departure；
In conjunction with Fig. 3 it is found that fdFor speed dead bend, and the f in figurecFor frequency Setting signal, when the model to Hydropower Unit into
When row simulation, fcEqual to power grid rated frequency 50Hz；fgFor the frequency of Hydropower Unit.
Carry out the first ratio processing and the first differential process respectively to frequency departure, it is corresponding to obtain the first numerical value and the second number
Value；
By active power deviation and power difference coefficient carry out multiplication processing or by guide vane opening deviation and aperture tune it is poor
Coefficient carries out multiplication processing, obtains third value；
Pg、PcThe respectively theoretical active power of Hydropower Unit and given theoretical active power；Yg、YcRespectively water power
The guide vane opening of unit and given guide vane opening.Wherein, when selecting active power deviation to participate in adjusting, then bp at this time is
Power difference coefficient, when selecting guide vane opening deviation remnants to adjust, then bp at this time is aperture difference coefficient, which has been selected
It participates in adjusting, 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 processing with frequency departure, first integral processing is carried out to the result that addition is handled,
Obtain the 4th numerical value；
Addition processing is done to the first numerical value, second value and the 4th numerical value, obtains the 5th numerical value；
First amplitude limiting processing is carried out to the 5th numerical value, obtains target guide vane opening signal；
YPIDmax, YPIDmin are respectively that electronic controller model 1 carries out the output upper limit of the first amplitude limiting processing, lower limit,
Y in figurePIDAs target guide vane opening signal.
The corresponding transmission function of first ratio processing is Kp, the corresponding transmission function of the first differential process is
The
The corresponding transmission function of one Integral Processing isWherein, KpFor the first proportional gain, KIFor first integral gain, KDIt is first
The differential gain, T1VFor the first derivative time constant.
Guide vane actuating mechanism model 2, for obtaining practical guide vane opening signal according to target guide vane opening signal；
Specifically, referring to figure 4., Fig. 4 is a kind of block diagram of guide vane actuating mechanism model provided by the invention.
Preferably, guide vane actuating mechanism model 2 is specifically used for:
Target guide vane opening signal and currently practical guide vane opening signal are made the difference, and to obtained difference point
The second ratio processing, second integral processing and the second differential process are not carried out, then three obtained numerical value is subjected to the second limit
Width processing, and the result obtained to the second amplitude limiting processing integrates, then carries out third amplitude limiting processing to the result of integral, obtains
Practical guide vane opening signal；
Wherein, it is K that the second ratio, which handles corresponding transmission function,p', the corresponding transmission function of second integral processing is
The corresponding transmission function of second differential process is K'DS, wherein Kp' it is the second proportional gain, KI' it is second integral gain, KD'
For second differential gain.
It is understood that guide vane actuating mechanism model 2 here is alternatively referred to as electrohydraulic servo system modeling, in the model
PID arithmetic be Hydropower Unit regulating system inner loop PID control link.
In figure, Y is practical guide vane opening signal (namely servomotor stroke signal), vmaxFor opening speed clipping；vmin1、
vmin2For closing velocity clipping (two sections of closings)；TyFor the reaction time constant of guide vane main servomotor；Ymax、Ymin- guide vane master connects
Range, the minimum stroke of guide vane main servomotor of power device；YdelayThe delay time (second) of-guide vane actuating mechanism output.
Hydraulic turbine prime mover model 3, for obtaining theoretical active power according to practical guide vane opening signal；Wherein, water wheels
The corresponding transmission function relationship of machine prime mover model 3 is G1(s)+G2(s), in which:
G2(s) corresponding equation is P=aY3+bY2+ cY+d, a, b, c and d are constant；
Specifically, referring to figure 5. and Fig. 6, wherein Fig. 5 is a kind of frame of hydraulic turbine prime mover model provided by the invention
Figure, Fig. 6 are a kind of block diagram of Francis turbine model provided by the invention.
Because the present invention wants to simulate Hydropower Unit in practice by the simulation model of Hydropower Unit, and then
Therefore the theoretical active power exported to Hydropower Unit is selected here and not only considers rigid water attack, also contemplates theoretical wattful power
Ideal hydraulic turbine prime mover model 3 of corresponding relationship 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) transmission function for being q to h, ehAnd ey
(namely G2It (S)) is respectively carry-over factor of the hydraulic turbine torque (power) to head and guide vane servomotor stroke, eqhAnd eqyRespectively
It is hydraulic turbine discharge to the carry-over factor of head and guide vane servomotor stroke.
In addition, G commonly used in the prior art2(s) corresponding equation is P=aY3+bY2+ cY+d namely theoretical active power
It can be with the fit correlation formula (parameter has marked change) of main servomotor stroke are as follows:
P=-0.7269Y3+0.8581Y2+1.0536Y-0.1808
It can be with are as follows:
P=-7.5728Y3+11.641Y2-3.2838Y+0.2382；
It can be with are as follows:
P=-3.2377Y3+3.9267Y2+0.2278Y-0.1530。
Certainly, G here2(s) concrete form of corresponding equation is determined according to the actual situation, and the present invention is not spy herein
Other restriction.
Theory movement device electricity calculates module 4, for according to theoretical active power, theoretical active power corresponding time
And theoretical movement device electricity relational expression obtains the theoretical movement device electricity of hydroelectric units primary frequency modulation, wherein theory is dynamic
Make device electricity relational expression are as follows:
Wherein, QtDevice electricity is acted for theory；t0At the time of for frequency departure overfrequency dead zone；Δ t is that integral starts
Primary frequency modulation process duration afterwards, wherein Δ t is no longer than 60s, more than being calculated with 60s for 60s；PtHave for theory
Function power；P0For t0Corresponding theory active power.
To sum up, Fig. 7 is please referred to, Fig. 7 is a kind of Hydropower Unit one based on Hydropower Unit simulation model provided by the invention
The block diagram of the computing system of secondary frequency modulation theory movement electricity.
Fig. 7 is made of electronic controller model 1, guide vane actuating mechanism model 2 and modified hydraulic turbine prime mover model 3
Turbine governor system simulation model block diagram, the input of model is the machine frequency signal of frequency Setting signal and simulation, through counting
Calculation obtains frequency difference, carries out PID arithmetic through frequency dead band link, then export PID adjustment signal, input through PID output violent change link
Guide vane carries out the inner loop PID loop section in mechanism, opens through inner loop PID output, guide vane, closes speed limit link, in conjunction with guide vane relay
Device time constant carries out integral operation, through the practical guide vane opening signal of servomotor amplitude limit link output guide blade, inputs modified water
Turbine model finally calculates power of the assembling unit output.The model meets practical and can accurately emulate hydroelectric units primary frequency modulation
Process obtains and active power simulation curve similar in measured result variation tendency.
The beneficial effect generated using system provided by the invention is compared with the prior art below with reference to specific example
Compared with:
The unit primary frequency modulation test of certain hydroelectric power plant 1 and field measurement data are selected, can be counted according to frequency-time data
Former methodical theoretical movement device electricity is calculated, it is defeated by electronic controller model 1 to calculate PID control according to frequency disturbance
Out, the output of unit guide vane opening being calculated through guide vane actuating mechanism model 2, guide vane opening Y inputs modified hydraulic turbine model, into
The emulation of row active-power P signal obtains of the present invention based on changing according to the active power curves integral calculation simulated
Hydroelectric units primary frequency modulation theory into type hydraulic turbine model acts charge value, and moves with the theory being calculated by original method
It is compared as charge value, as illustrated in figs. 8-9, comparison result is as shown in table 1 for calculated result, wherein Fig. 8 is to use existing skill
The calculating schematic diagram of method computational theory movement device electricity and actual act device electricity in art, Fig. 9 is using the present invention
The calculating schematic diagram of system-computed theory the movement device electricity and actual act device electricity of offer.
In Fig. 8, (a) is that mains frequency changes over time curve, and mains frequency changes since initial value (50Hz), when more
When crossing primary frequency modulation dead zone fd, unit primary frequency modulation starts to act, and active-power P starts slowly to decline.It (b) is inclined according to frequency
Difference is according to formula
Obtained theoretical device electricity calculates the curve that diligent rate changes with frequency departure, integral
After theoretical movement device electricity value can be obtained.It (c) is the unit active power primary frequency modulation response process of actual measurement, in integrogram
Actual act device electricity value can be obtained in curve.Assuming that primary frequency modulation actuation time is Δ t, then t seconds obtained theories of Δ are integrated
With actual integration charge value as shown in shade in figure.Dash area (is no more than 60s) during being 1. primary frequency modulation theoretical integral
2. electricity, dash area are actual integration electricity.
In Fig. 9, (a) is that mains frequency changes over time curve, and mains frequency changes since initial value (50Hz), when more
When crossing primary frequency modulation dead zone fd, unit primary frequency modulation starts to act, and primary frequency modulation duration is similarly Δ t, integrates Δ t
Theoretical and actual act device electricity value can be obtained in second.Theoretical device electricity size at this time is by emulating the active-power P obtained
Curve is integrated, and such as shown in (b), 3. the dash area in figure is the hydroelectric machine of the invention based on modified hydraulic turbine model
Group primary frequency modulation theory act device electricity value, (c) in dash area be 4. actual integration electricity.
Table 1 acts device electricity statistical comparison result
It can be seen that by calculated result, the theoretical movement device electricity and actual act obtained by calculation method in the prior art
The deviation of device electricity value is bigger, and by it is provided by the invention based on modified hydraulic turbine model in the way of be calculated
Theory movement device electricity, closer to actual integration charge value, illustrates that the method has than original integral formulas compared to original method
It is improved.
In summary:
Prime mover model used in the present invention is added to the water wheels machine power of actual measurement on the basis of ideal hydraulic turbine model
Square improves original structure the relation curve of guide vane opening, and the simulation curve and measured result for making active power are more
Adjunction is close, improves the precision simulated.
In addition, a kind of computing system of hydroelectric units primary frequency modulation theory movement electricity of the present invention improves meter
The accuracy of calculation, theory movement device electricity is sought using the active power curves that emulation obtains, so that theoretical value and reality
It is closer to act device electricity value.
The present invention provides a kind of computing systems of hydroelectric units primary frequency modulation theory movement 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 practical guide vane opening signal according to target guide vane opening signal；Hydraulic turbine prime mover model
Theoretical active power is obtained according to practical guide vane opening signal；Wherein, hydraulic turbine prime mover model not only allows for rigid water attack
Influence, it is also contemplated that corresponding relationship between theoretical active power and guide vane opening；Theory movement device electricity calculates module
Hydropower Unit is obtained according to theoretical active power, theoretical active power corresponding time and theoretical movement device electricity relational expression
The theoretical movement device electricity of primary frequency modulation.
As it can be seen that the present invention obtains the theoretical active power of Hydropower Unit according to the simulation model of Hydropower Unit, and using reason
Theoretical movement device electricity is obtained by the relationship of active power and time, the theoretical movement device electricity obtained using which
It is closer with actual act device electricity, it is also more accurate, in addition, hydraulic turbine prime mover model is calculating theoretical active power also
The corresponding relationship between theoretical active power and guide vane opening is considered, so that obtained theoretical movement device electricity is more
Accurately.
Figure 10 is please referred to, Figure 10 is the calculating side that a kind of hydroelectric units primary frequency modulation theory provided by the invention acts electricity
The flow chart of the process of method, this method comprises:
Step S101: electronic controller model is obtained 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 obtains for the frequency that frequency Setting signal subtracts Hydropower Unit
To the numerical value that is obtained after dead zone is handled of difference, active power deviation is that given theoretical active power subtracts Hydropower Unit
The difference that theoretical active power obtains；Guide vane opening deviation is that the guide vane opening that given guide vane opening subtracts Hydropower Unit obtains
Difference；
Preferably, Hydropower Unit is obtained according to frequency departure and active power deviation or guide vane opening deviation
The process of target guide vane opening signal specifically:
The frequency for receiving frequency Setting signal and Hydropower Unit carries out the frequency of frequency Setting signal and Hydropower Unit
It makes the difference, and dead zone is carried out to obtained difference and handles to obtain frequency departure；
Carry out the first ratio processing and the first differential process respectively to frequency departure, it is corresponding to obtain the first numerical value and the second number
Value；
By active power deviation and power difference coefficient carry out multiplication processing or by guide vane opening deviation and aperture tune it is poor
Coefficient carries out multiplication processing, obtains third value；
Third value is added processing with frequency departure, first integral processing is carried out to the result that addition is handled,
Obtain the 4th numerical value；
Addition processing is done to the first numerical value, second value and the 4th numerical value, obtains the 5th numerical value；
First amplitude limiting processing is carried out to the 5th numerical value, obtains target guide vane opening signal；
The corresponding transmission function of first ratio processing is Kp, the corresponding transmission function of the first differential process is
The
The corresponding transmission function of one Integral Processing is
Wherein, KpFor the first proportional gain, KIFor first integral gain, KDIt is first
The differential gain, T1VFor the first derivative time constant.
Step S102: guide vane actuating mechanism model obtains practical guide vane opening signal according to target guide vane opening signal；
Preferably, the process of practical guide vane opening signal is obtained according to target guide vane opening signal specifically:
Target guide vane opening signal and currently practical guide vane opening signal are made the difference, and to obtained difference point
The second ratio processing, second integral processing and the second differential process are not carried out, then three obtained numerical value is subjected to the second limit
Width processing, and the result obtained to the second amplitude limiting processing integrates, then carries out third amplitude limiting processing to the result of integral, obtains
Practical guide vane opening signal；
Wherein, it is K that the second ratio, which handles corresponding transmission function,p', the corresponding transmission function of second integral processing is
The corresponding transmission function of second differential process is K'DS, wherein Kp' it is the second proportional gain, KI' it is second integral gain, KD'
For second differential gain.
Step S103: hydraulic turbine prime mover model obtains theoretical active power according to practical guide vane opening signal；Wherein, water
The corresponding transmission function relationship of turbine prime mover model is G1(s)+G2(s), in which:
G2(s) corresponding equation 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 theory movement device electricity calculates module
Time and theoretical movement device electricity relational expression obtain the theoretical movement device electricity of hydroelectric units primary frequency modulation, wherein reason
By movement device electricity relational expression are as follows:
Wherein, QtDevice electricity is acted for theory；t0At the time of for frequency departure overfrequency dead zone；Δ t is that integral starts
Primary frequency modulation process duration afterwards, wherein Δ t is no longer than 60s, more than being calculated with 60s for 60s；Pt has for theory
Function power；P0For t0Corresponding theory active power.
For a kind of introduction of the calculation method of hydroelectric units primary frequency modulation theory movement electricity provided by the invention, please join
According to the above system embodiment, details are not described herein by the present invention.
The present invention provides a kind of calculation methods of hydroelectric units primary frequency modulation theory movement 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 practical guide vane opening signal according to target guide vane opening signal；Hydraulic turbine prime mover model
Theoretical active power is obtained according to practical guide vane opening signal；Wherein, hydraulic turbine prime mover model not only allows for rigid water attack
Influence, it is also contemplated that corresponding relationship between theoretical active power and guide vane opening；Theory movement device electricity calculates module
Hydropower Unit is obtained according to theoretical active power, theoretical active power corresponding time and theoretical movement device electricity relational expression
The theoretical movement device electricity of primary frequency modulation.
As it can be seen that the present invention obtains the theoretical active power of Hydropower Unit according to the simulation model of Hydropower Unit, and using reason
Theoretical movement device electricity is obtained by the relationship of active power and time, the theoretical movement device electricity obtained using which
It is closer with actual act device electricity, it is also more accurate, in addition, hydraulic turbine prime mover model is calculating theoretical active power also
The corresponding relationship between theoretical active power and guide vane opening is considered, so that obtained theoretical movement device electricity is more
Accurately.
It should be noted that in the present specification, relational terms such as first and second and the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (6)
1. a kind of computing system of hydroelectric units primary frequency modulation theory movement electricity characterized by comprising
Electronic controller model, for obtaining the water according to frequency departure and active power deviation or guide vane opening deviation
The target guide vane opening signal of motor group, wherein the frequency departure is the frequency that frequency Setting signal subtracts the Hydropower Unit
The numerical value that the difference that rate obtains obtains after dead zone is handled, the active power deviation subtract institute to give theoretical active power
State the difference that the theoretical active power of Hydropower Unit obtains；The guide vane opening deviation is that given guide vane opening subtracts the water power
The difference that the guide vane opening of unit obtains；
Guide vane actuating mechanism model, for obtaining practical guide vane opening signal according to the target guide vane opening signal；
Hydraulic turbine prime mover model, for obtaining theoretical active power according to the practical guide vane opening signal；Wherein, the water
The corresponding transmission function relationship of turbine prime mover model is G1(s)+G2(s), in which:
G2(s) corresponding equation is P=aY3+bY2+ cY+d, a, b, c and d are constant, and Y is the practical guide vane opening signal,
P is to consider corresponding theoretical active power when aperture influences；
Theory movement device electricity calculates module, for corresponding according to the theoretical active power, the theoretical active power
Time and theoretical movement device electricity relational expression obtain the theoretical movement device electricity of hydroelectric units primary frequency modulation, wherein institute
State theoretical movement device electricity relational expression are as follows:
Wherein, QtFor the theoretical movement device electricity；t0At the time of for frequency departure overfrequency dead zone；Δ t is that integral starts
Primary frequency modulation process duration afterwards, wherein Δ t is no longer than 60s, more than being calculated with 60s for 60s；PtFor the reason
By active power；P0For t0Corresponding theory active power.
2. computing system as described in claim 1, which is characterized in that the electronic controller model is specifically used for:
The frequency for receiving frequency Setting signal and Hydropower Unit, to the frequency of the frequency Setting signal and the Hydropower Unit
It is made the difference, and dead zone is carried out to obtained difference and handles to obtain the frequency departure；
Carry out the first ratio processing and the first differential process respectively to the frequency departure, it is corresponding to obtain the first numerical value and the second number
Value；
Active power deviation and power difference coefficient are subjected to multiplication processing or by guide vane opening deviation and aperture difference coefficient
Multiplication processing is carried out, third value is obtained；
The third value is added processing with the frequency departure, the result that addition is handled is carried out at first integral
Reason, obtains the 4th numerical value；
Addition processing is done to first numerical value, the second value and the 4th numerical value, obtains the 5th numerical value；
First amplitude limiting processing is carried out to the 5th numerical value, obtains the target guide vane opening signal；
It is K that first ratio, which handles corresponding transmission function,p, the corresponding transmission function of first differential process is
The first integral handles corresponding transmission function
Wherein, KpFor the first proportional gain, KIFor first integral
Gain, KDFor first differential gain, T1VFor the first derivative time constant.
3. computing system as described in claim 1, which is characterized in that the guide vane actuating mechanism model is specifically used for:
The guide vane opening target value signal and currently practical guide vane opening signal are made the difference, and to obtained difference
The second ratio processing, second integral processing and the second differential process are carried out respectively, then three obtained numerical value is carried out second
Amplitude limiting processing, and the result obtained to the second amplitude limiting processing integrates, then carries out third amplitude limiting processing to the result of integral, obtains
To the practical guide vane opening signal；
Wherein, it is K that second ratio, which handles corresponding transmission function,p', the second integral handles corresponding transmission function and is
The corresponding transmission function of second differential process is K'DS, wherein the Kp' it is the second proportional gain, KI' it is second
Integral gain, KD' it is second differential gain.
4. a kind of calculation method of hydroelectric units primary frequency modulation theory movement electricity characterized by comprising
Electronic controller model obtains the hydroelectric machine according to frequency departure and active power deviation or guide vane opening deviation
The target guide vane opening signal of group, wherein the frequency departure obtains for the frequency that frequency Setting signal subtracts the Hydropower Unit
To the numerical value that is obtained after dead zone is handled of difference, the active power deviation is that given theoretical active power subtracts the water
The difference that the theoretical active power of motor group obtains；The guide vane opening deviation is that given guide vane opening subtracts the Hydropower Unit
The obtained difference of guide vane opening；
Guide vane actuating mechanism model obtains practical guide vane opening signal according to the target guide vane opening signal；
Hydraulic turbine prime mover model obtains theoretical active power according to the practical guide vane opening signal；Wherein, the hydraulic turbine
The corresponding transmission function relationship of prime mover model is G1(s)+G2(s), in which:
TwFor fluid inertia time constant；
G2(s) corresponding equation is P=aY3+bY2+ cY+d, a, b, c and d are constant, and Y is the practical guide vane opening signal,
P is to consider corresponding theoretical active power when aperture influences；
Theory movement device electricity calculate module according to the theoretical active power, the theoretical active power corresponding time with
And theoretical movement device electricity relational expression obtains the theoretical movement device electricity of hydroelectric units primary frequency modulation, wherein the theory
Act device electricity relational expression are as follows:
Wherein, QtFor the theoretical movement device electricity；t0At the time of for frequency departure overfrequency dead zone；Δ t is that integral starts
Primary frequency modulation process duration afterwards, wherein Δ t is no longer than 60s, more than being calculated with 60s for 60s；Pt is the reason
By active power；P0For t0Corresponding theory active power.
5. calculation method as claimed in claim 4, which is characterized in that it is described according to frequency departure and active power deviation or
Person's guide vane opening deviation obtains the process of the target guide vane opening signal of the Hydropower Unit specifically:
The frequency for receiving frequency Setting signal and Hydropower Unit, to the frequency of the frequency Setting signal and the Hydropower Unit
It is made the difference, and dead zone is carried out to obtained difference and handles to obtain the frequency departure；
Carry out the first ratio processing and the first differential process respectively to the frequency departure, it is corresponding to obtain the first numerical value and the second number
Value；
Active power deviation and power difference coefficient are subjected to multiplication processing or by guide vane opening deviation and aperture difference coefficient
Multiplication processing is carried out, third value is obtained；
The third value is added processing with the frequency departure, the result that addition is handled is carried out at first integral
Reason, obtains the 4th numerical value；
Addition processing is done to first numerical value, the second value and the 4th numerical value, obtains the 5th numerical value；
First amplitude limiting processing is carried out to the 5th numerical value, obtains the target guide vane opening signal；
It is K that first ratio, which handles corresponding transmission function,p, the corresponding transmission function of first differential process is
The first integral handles corresponding transmission function
Wherein, KpFor the first proportional gain, KIFor first integral
Gain, KDFor first differential gain, T1VFor the first derivative time constant.
6. calculation method as claimed in claim 4, which is characterized in that described to obtain reality according to the target guide vane opening signal
The process of border guide vane opening signal specifically:
The target guide vane opening signal and currently practical guide vane opening signal are made the difference, and to obtained difference point
The second ratio processing, second integral processing and the second differential process are not carried out, then three obtained numerical value is subjected to the second limit
Width processing, and the result obtained to the second amplitude limiting processing integrates, then carries out third amplitude limiting processing to the result of integral, obtains
The practical guide vane opening signal；
Wherein, it is K that second ratio, which handles corresponding transmission function,p', the second integral handles corresponding transmission function and is
The corresponding transmission function of second differential process is K'DS, wherein the Kp' it is the second proportional gain, KI' it is second
Integral gain, KD' it is second differential gain.
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| 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 |
| CN110797886B (en) * | 2019-12-05 | 2021-04-06 | 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 |
| CN112039087B (en) * | 2020-07-29 | 2022-08-26 | 大唐水电科学技术研究院有限公司 | Calculation method of primary frequency modulation theoretical electric quantity |
| CN113013897B (en) * | 2021-03-09 | 2023-01-06 | 国网四川综合能源服务有限公司四川电力工程分公司 | Mechanical dead zone compensation method and device for guide vane of hydroelectric generating set |
| 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 |
| CN114204609B (en) * | 2021-11-05 | 2024-01-19 | 华能澜沧江水电股份有限公司 | Primary frequency modulation transfer regulation method based on active power regulation dead zone |
| 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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