CN106712615A - Control method of gas turbine generator set in hybrid energy power system - Google Patents

Abstract

The invention discloses a control method of a gas turbine generator set in a hybrid energy power system. The method comprises the following steps: 1) establishing a mathematical model of a gas turbine power generation system under an island model; and 2) designing controllers and controlling a gas turbine through the controllers: a) design of a dynamic surface, b) design of a robust adaptive controller through a back-stepping step, and c) design of a reliable controller. According to the control method of the gas turbine generator set in the hybrid energy power system, a complex nonlinear gas turbine system is controlled through the designed robust adaptive controller, and thus a good control effect can be obtained; and the gas turbine system is controlled through the designed reliable controller, so that when load disturbance or actuator fault occurs, reliable operation of the system can be ensured.

Description

The control method of Gas Turbine Generating Units in energy mix power system

Technical field

The present invention relates to energy mix power system power field, more particularly to one kind is applied to gas turbine generating system Power Control and reliable control method.

Background technology

Current haze phenomenon is severe, and environmental problem is increasingly highlighted, and accelerates new energy (including solar energy, wind energy etc.) generating system Construction in a systematic way sets and improves energy conversion efficiency, and it is most important that adjustment fossil fuel accounts for power system proportion.But in new energy resources system Photovoltaic generation and the solar energy that utilizes of wind-power electricity generation and wind energy, the two is respectively provided with intermittent characteristic.In no light or wind-force not Under conditions of foot, the energy that photovoltaic generation and wind-power electricity generation are produced is insufficient for the need for electricity of load-side.With natural gas or Liquid fuel just shows its unique advantage as the gas turbine generator group of fuel, and it can be used in power network as the supplement energy In.There are many documents to launch with the fused controlling strategy of wind-power electricity generation, photovoltaic generation and battery electricity generation system for natural gas Research.And, with the rising of natural gas and the liquid fuel ratio in primary energy, and gas turbine technology maturation, Ratio of the gas turbine in China's generating equipment gradually increases, and the supply system with gas turbine as core will be as China's fire Electrodynamic development trend.Thus, the energy mix power system of the clean energy resource such as fusion natural gas turns into solution fossil fuel One of effective means of environmental pollution.

As people are to the research of practical problem and solve the maturation with control theory, the control theory of gas turbine is gradually Grow up and breach classical PID algorithm, advanced control algorithm mainly includes fuzzy control, fuzzy neural network, pre- observing and controlling System, robust control, internal model control, modified feedback linearization control etc. are also introduced into wherein.But in the most important rotating speed of gas turbine Controlling unit, what is all taken is that PID controller or lead-lag transfer function to treatment.But for Nonlinear Multivariable Complicated gas turbine engine systems, when the workload demand of load-side changes, gas turbine generating system will be disturbed, and this two The control method of person can not usually obtain expected control effect.And ignore the shadow that actuator failures are brought to gas turbine Ring, cause gas turbine generating system reliably to work, it will disturbance is produced to whole hybrid system or power network.

The content of the invention

In view of this, it is an object of the invention to provide a kind of control of Gas Turbine Generating Units in energy mix power system Method processed, actuator failures are have ignored to solve gas turbine control in the prior art, cause electricity generation system to be unable to reliably working Problem, and solving to use traditional pid algorithm the rotating speed controlling unit of gas turbine more, it is non-linear changeable for complicated The amount imperfect problem of gas turbine engine systems control effect.

The dark control method for closing Gas Turbine Generating Units in electricity power system of the present invention, comprises the following steps：

First, the Mathematical Modeling of gas turbine generating system under island mode is set up：

Wherein, x₁It is represented as gas turbine rotary speed, x₂It is into turbine gas flow W_f2, x₃It is combustor fuel-flow rate W_f, x₄It is the fuel quantity by entering after valve adjustment, wherein u is speed controling signal；T_eIt is the electromagnetic torque of permagnetic synchronous motor, J is rotary inertia；T_CDIt is turbine link time parameter, wherein a, b, c are valve location constant, K_a,T_aIt is fuel transmission system Parameter, k_fIt is minimum load constant, wherein k_fSpan be k_l~(1-k_l)；

Consider actuator failures situation, above formula can be rewritten as：

Wherein,It is state matrix, u, y is respectively controller input and exports, g_iIt is controller Gain, θ_iRepresentation parameter matrix,It is disturbance term；Wherein u_aFor actual controller is defeated Enter, u is design controller input, and ρ (t) represents the health factor of actuator, thus actual controller is u_a=ρ (t) u, wherein ρ T ()=0 represents that actuator is entirely ineffective, ρ (t)=1 represents actuator normal work；Because considering actuator failures situation, therefore take 0 ＜ ρ (t) ＜ 1；

2nd, design controller and control gas turbine using controller；

1st, Dynamic Surface Design

By coordinate transform

z₁=x₁-y_d

z_i=x_i-α_if

Wherein, y_dIt is the speed reference of design, wherein α_ifIt is wave filter；

Define error surface：

y_i=α_if-α_i-1

Wherein, α_iIt is Virtual Controller, meets

Wherein ξ_iIt is filtering parameter, ξ_i＞ 0, and α_if(0)=α_i-1(0)；

2nd, Robust adaptive controller is designed using Backstepping：

Wherein c_iIt is parameter, and c_i＞ 0,It is θ_iEstimate；

3rd, designed reliability controller：

U=N (ζ) η

Wherein u is design controller input, thus actual controller is u_a=ρ (t) u, wherein ρ (t) represent actuator Health factor；ρ (t)=0 represents that actuator is entirely ineffective, and ρ (t)=1 represents actuator normal work；Because considering actuator failures Situation, therefore take 0 ＜ ρ (t) ＜ 1；N (ζ) is Nussbaum functions, takes N (ζ)=exp (ζ²) cos ((pi/2) ζ), ζ ∈ R, k₄, ι is Normal number.

Beneficial effects of the present invention：

1st, in energy mix power system of the present invention Gas Turbine Generating Units control method, by design robust from Adaptive controller is controlled to complicated non-linear gas turbine engine systems, enough obtains preferable control effect.

2nd, in energy mix power system of the present invention Gas Turbine Generating Units control method, by design reliability Controller controls gas turbine engine systems, when load disturbance or during actuator failures, being capable of safeguards system reliably working.

Brief description of the drawings

Fig. 1 constitutes structural representation substantially for Gas Turbine Generating Units.

Fig. 2 is gas turbine fuel system module map.

Fig. 3 is gas turbine basic control system schematic diagram.

Fig. 4 is the simplified system model structure chart of gas turbine generating system under island mode.

Fig. 5 is rotating-speed tracking curve map.

Fig. 6 is actual controller u_aWith sampling time change curve.

Fig. 7 is estimates of parametersWith sampling time change curve.

Specific embodiment

The invention will be further described with reference to the accompanying drawings and examples.

As shown in figure 1, Gas Turbine Generating Units are main by gas turbine, permagnetic synchronous motor PMSM, commutation inversion etc. Technics of Power Electronic Conversion device, wave filter and load etc. are constituted.Wherein, gas turbine is mainly by compressor, combustion chamber and turbine three Part constitutes.Air enters compressor, is compressed into gases at high pressure and sprays into the fuel mixing of combustion chamber and fully burn, and discharges High temperature and high pressure gas promote turbine rotation forces permagnetic synchronous motors to generate electricity, the chemical energy that this process will lie in fuel turns Change electric energy supply load into.

The fuel system of gas turbine includes valve location system and fuel transmission system, and function structure chart is as shown in Figure 2. Control signal and tach signal collective effect produce fuel signal U_f, fuel signal acts on valve, and control enters combustion chamber Fuel quantity W_f.Wherein, in order to avoid gas turbine works under low load condition, it is ensured that fuel in combustion chamber is not less than stabilization combustion Fuel quantity needed for burning, therefore, minimum load constant k_fTo ensure stabilization burning, wherein k in combustion chamber_fSpan be k_l ~(1-k_l)。

Fuel and pressure-air discharge the gas of HTHP after combustion chamber mixes and fully burns in gas turbine. Gas enters in turbine with pipeline, promotes turbo blade to rotate and produces mechanical energy.Mechanical energy drives permagnetic synchronous motor to produce Electric energy.Runner torque T_mBy the secondary speed ω and gas quantity W into turbine_f2Collective effect is produced, its output function expression formula f₁It is as follows：

f₁=1.3 (W_f-0.23)+0.5(1-ω)。

The control system of gas turbine mainly includes temperature control link, speed control link and Acceleration Control link group Into.Temperature control link major control gas-turbine combustion chamber not overtemperature, non-superpressure, it is ensured that gas turbine is in suitable temperature strip Worked under part, it is ensured that the normal table work of system all parts.The groundwork of Acceleration Control link is in both cases：One It is the excessively rapid growth when link limitation rotating speed is started in fast arrival working speed in gas turbine start-up course；Two is to get rid of load Process, Acceleration Control link is used for preventing machine dynamic overspeed.These three controlling units provide three fuel stroke letters respectively Number：Fuel Stroke Reference, are abbreviated as FSR, are respectively the fuel stroke signal FSRT of temperature controller generation, turn The fuel stroke signal FSRA that the fuel stroke signal FSRN and acceleration controller that fast controller is produced are produced.Minimum valve system MIN chooses fuel stroke signal FSR of the minimum value in these three control signals as fuel system, as shown in Figure 3.

In order to preferably study influence of the Gas Turbine Generating Units rotating speed control to system, temperature control loop is generally omitted Section and Acceleration Control link.Analyzed based on more than, it is considered to gas turbine generating system under island mode, simplied system structure figure 1, and system as shown in Figure 4 is obtained according to the simplified model that William I.Rowen are proposed.

The present embodiment is drifted along or through and closes the control method of Gas Turbine Generating Units in electricity power system, is comprised the following steps：

First, the Mathematical Modeling of gas turbine generating system under island mode is set up：

Wherein, x₁It is represented as gas turbine rotary speed, x₂It is into turbine gas flow W_f2, x₃It is combustor fuel-flow rate W_f, x₄It is the fuel quantity by entering after valve adjustment, wherein u is speed controling signal；T_eIt is the electromagnetic torque of permagnetic synchronous motor, J is rotary inertia；T_CDIt is turbine link time parameter, wherein a, b, c are valve location constant, K_a,T_aIt is fuel transmission system Parameter, k_fIt is minimum load constant, wherein k_fSpan be k_l~(1-k_l)；

Consider actuator failures situation, above formula can be rewritten as：

Wherein,It is state matrix, u, y is respectively controller input and exports, g_iIt is controller Gain, θ_iRepresentation parameter matrix,It is disturbance term；Wherein u_aFor actual controller is defeated Enter, u is design controller input, and ρ (t) represents the health factor of actuator, thus actual controller is u_a=ρ (t) u, wherein ρ T ()=0 represents that actuator is entirely ineffective, ρ (t)=1 represents actuator normal work；Because considering actuator failures situation, therefore take 0 ＜ ρ (t) ＜ 1；

2nd, design controller and control gas turbine using controller；

1st, Dynamic Surface Design

By coordinate transform

z₁=x₁-y_d

z_i=x_i-α_if

Wherein, y_dIt is the speed reference of design, wherein α_ifIt is wave filter；

Define error surface：

y_i=α_if-α_i-1

Wherein, α_iIt is Virtual Controller, meets

Wherein, ξ_iIt is filtering parameter, ξ_i＞ 0, and α_if(0)=α_i-1(0)；

2nd, robust adaptive Virtual Controller is designed using Backstepping：

Wherein c_iIt is parameter, and c_i＞ 0,It is θ_iEstimate；

3rd, designed reliability controller：

U=N (ζ) η

Wherein u is design controller input, thus actual controller is u_a=ρ (t) u, wherein ρ (t) represent actuator Health factor；ρ (t)=0 represents that actuator is entirely ineffective, and ρ (t)=1 represents actuator normal work；Because considering actuator failures Situation, therefore take 0 ＜ ρ (t) ＜ 1；N (ζ) is Nussbaum functions, takes N (ζ)=exp (ζ²) cos ((pi/2) ζ), ζ ∈ R, k₄, ι is Normal number.

The control method of Gas Turbine Generating Units is emulated in conjunction electricity power system of being drifted along or through to the present embodiment below Checking.

Actuator health factor is taken for ρ=0.8+0.2cos ((pi/4) t), Nussbaum functions are N (ζ)=exp (ζ²) Cos ((pi/2) ζ), simulation parameter value ζ=1, ι=0.0001.Shown in simulation result below figure 5, Fig. 6 and Fig. 7.

From Fig. 5-7, when actuator failures occur, there is deviation in actual controller and design controller.And this reality Apply the reliable controllers designed in example so that rotating speed can quickly track set-point, and controller is also quickly adjusted, contain actuator The failure of generation, realizes reliably working.By Fig. 7 estimates of parametersFast and stable, shows that system fast and stable gets off.Through emulation Access control device being capable of reliably working and rotating speed can also be rapidly achieved preset value.

Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with Good embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to skill of the invention Art scheme is modified or equivalent, and without deviating from the objective and scope of technical solution of the present invention, it all should cover at this In the middle of the right of invention.

Claims (1)

1. in energy mix power system Gas Turbine Generating Units control method, it is characterised in that：Comprise the following steps：

First, the Mathematical Modeling of gas turbine generating system under island mode is set up：

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=\frac{1.3}{J}{x}_2-\frac{1}{2J}{x}_1+\frac{0.201-T_e}{J}\\ {\stackrel{\·}{x}}_2=\frac{1}{T_{CD}}{x}_3-\frac{1}{T_{CD}}{x}_2\\ {\stackrel{\·}{x}}_3=\frac{K_a}{T_a}{x}_4-\frac{1}{T_a}{x}_3\\ {\stackrel{\·}{x}}_4=\frac{{\mathrm{ck}}_f}{a}{x}_{1}u-\frac{b}{a}{x}_4+\frac{{\mathrm{ck}}_l}{a}\\ y=x_1\end{array}\right.,$

Wherein, x₁It is represented as gas turbine rotary speed, x₂It is into turbine gas flow W_f2, x₃It is combustor fuel-flow rate W_f, x₄For By the fuel quantity entered after valve adjustment, wherein u is speed controling signal, T_eIt is the electromagnetic torque of permagnetic synchronous motor, J is Rotary inertia, T_CDIt is turbine link time parameter, wherein a, b, c are valve location constant, K_a,T_aFor fuel transmission system is joined Number, k_fIt is minimum load constant, wherein k_fSpan be k_l~(1-k_l)；

Consider the situation of actuator failures, above formula can be rewritten as：

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_i=g_i{x}_{i+1}+{\mathrm{\θ}}_i^T{\mathrm{\φ}}_i\left({\stackrel{\‾}{x}}_i\right)+{\mathrm{\Δ}}_i\\ {\stackrel{\·}{x}}_4=g_4\left({\stackrel{\‾}{x}}_4\right)u_a+{{\mathrm{\θ}}_4}^T{\mathrm{\φ}}_4\left({\stackrel{\‾}{x}}_4\right)+{\mathrm{\Δ}}_4\\ y=x_1\end{array}\right.$

Wherein,It is state matrix, u, y is respectively controller input and exports, g_iIt is controller gain, θ_iRepresentation parameter matrix,Δ_iIt is disturbance term, u_aFor actual controller is input into, u is to set Meter controller input, ρ (t) represents the health factor of actuator, thus actual controller is u_a=ρ (t) u, wherein ρ (t)=0 table Show that actuator is entirely ineffective, ρ (t)=1 represents actuator normal work；Because considering actuator failures situation, therefore take 0 ＜ ρ (t) ＜ 1；

2nd, design controller and control gas turbine using controller；

1st, Dynamic Surface Design

By coordinate transform

z₁=x₁-y_d

z_i=x_i-α_if

Wherein, y_dIt is the speed reference of design, wherein α_ifIt is wave filter；

Define error surface：

y_i=α_if-α_i-1

Wherein, α_iIt is Virtual Controller, meets

${\mathrm{\ξ}}_i{\stackrel{\·}{\mathrm{\α}}}_{if}+{\mathrm{\α}}_{if}={\mathrm{\α}}_{i-1}$

Wherein ξ_iIt is filtering parameter, ξ_i＞ 0, and α_if(0)=α_i-1(0)；

2nd, robust adaptive Virtual Controller is designed using Backstepping：

$\left\{\begin{array}{c}{\mathrm{\α}}_1=\frac{1}{g_1}(-c_1{z}_1-{\widehat{\mathrm{\θ}}}_1^T{\mathrm{\φ}}_1+{\stackrel{\·}{y}}_d-{\mathrm{\Δ}}_1)\\ {\mathrm{\α}}_2=\frac{1}{g_2}(-c_2{z}_2-{\widehat{\mathrm{\θ}}}_2^T{\mathrm{\φ}}_2+\frac{{\mathrm{\α}}_1-{\mathrm{\α}}_{2f}}{{\mathrm{\ξ}}_2}-{\mathrm{\Δ}}_2)\\ {\mathrm{\α}}_3=\frac{1}{g_3}(-c_3{z}_3-{\widehat{\mathrm{\θ}}}_3^T{\mathrm{\φ}}_3+\frac{{\mathrm{\α}}_2-{\mathrm{\α}}_{3f}}{{\mathrm{\ξ}}_3}-{\mathrm{\Δ}}_3)\end{array}\right.$

Wherein c_iIt is parameter, and c_i＞ 0,It is θ_iEstimate；

3rd, designed reliability controller：

u_a=ρ (t) N (ζ) η

$\mathrm{\η}=k_4{z}_4+{\widehat{\mathrm{\θ}}}_4^T{\mathrm{\φ}}_4-\frac{{\mathrm{\α}}_3-{\mathrm{\α}}_{4f}}{{\mathrm{\ξ}}_4}$

$\stackrel{\·}{\mathrm{\ζ}}={\mathrm{\ιz}}_4\mathrm{\η}$

Wherein, actual controller is u_a=ρ (t) u, u are design controller input, and ρ (t) represents the health factor of actuator, it is considered to Actuator failures situation, therefore take 0 ＜ ρ (t) ＜ 1；N (ζ) is Nussbaum functions, takes N (ζ)=exp (ζ²)cos((pi/2)ζ), ζ ∈ R, k₄, ι is normal number.