CN107402515A - A kind of method of optimized synchronization generator excited system pid parameter - Google Patents
A kind of method of optimized synchronization generator excited system pid parameter Download PDFInfo
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Abstract
The invention discloses a kind of method of optimized synchronization generator excited system pid parameter：Step 1, data initialization；Step 2, randomly generate original state Y in current state point X neighborhoodj；Step 3, by YjAs pid parameter, emulated, calculate voltage performance index f (Yj)；Step 4, judge YjWhether Tabu table is belonged to, if YjIt is not belonging to Tabu tables and then enters step 5；If YjBelong to Tabu tables, then judge YjWhether meet release conditions, step 5 is entered if release conditions are met, otherwise into step 2；Step 5, n state point is calculated, take the fitness minimum value of n state point to be designated as f (Y)；Step 6, by f (Y) and current fitness optimal value foptIt is compared：If f (Y)<fopt, then optimal solution X is madeopt=Y, fopt=f (Y)；If f (Y)>fopt, then it is directly entered step 7；If step 7, exceed iteration cycle and object function without improvement, iteration ends and XoptFor optimal solution, step 2 is entered after iterations otherwise is added into 1.
Description
Technical field
The present invention relates to a kind of method of optimized synchronization generator excited system pid parameter.
Background technology
One of target of intelligent grid be with intelligent control ensure power system " strong ", and be related to voltage stabilization and
The generator excitation control of Reactive-power control is to realize the most direct effective means of this target, and PID control is still power plant at present
The main flow of excitation con-trol, its advantage are easily to realize, have certain robustness.The pid parameter of its generator excitation control is most
The setting method of engineering experience is relied on, even if control effect is good under steady state conditions, once generator load increases and decreases or by outer
When boundary's interference causes the running status to undergo mutation, original pid parameter is difficult in face of the system status that changes, high-quality control performance
To ensure, it is necessary to manual adjustment.Therefore how adaptive optimization pid parameter enables to better adapt to generator complication system
Dynamic change, turn into one of Main way of generator excitation control research.
In the prior art, the method for Optimize Multivariable PID Controller mainly has following several：
Firstth, fuzzy control is combined with PID control, advantage is without mathematical modeling, and simple in construction, it is convenient to realize, resists
Interference performance is strong, but controls rule to depend on expertise and experience, and control performance is influenceed by human factor.
Secondth, neutral net is combined control excitation system because of its powerful nonlinear fitting ability with PID control
System, its strong robustness, but it is slow convergence rate to be present, the shortcomings that being easily trapped into local optimum.
3rd, scholar is combined PREDICTIVE CONTROL and PID control, for synchronous generator excited system, its online meter
Calculation amount is small, it is convenient to realize, but simulation software MATLAB used is compared to currently a popular power system transient simulation instrument RTDS
(Real Time Digital Simulators), has larger gap, and simulating, verifying is only examined in real-time and the degree of accuracy
Consider microvariations, do not account for the effect of large disturbances and power system stabilizer, such as, Patent No.
201010554113.8 Chinese patent, disclose a kind of excitation control method based on PID anticipation functions.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of method of optimized synchronization generator excited system pid parameter, in routine
Improved on the basis of PID Excitation Control Strategies, introduce Tabu algorithm search optimum PID control parameters, further apply
Generator excitation control, and experimental verification is carried out on RTDS.Traditional PID control is overcome to control under running status catastrophe
The defects of performance processed reduces, all embodies preferable antijamming capability to voltage and power swing, has higher engineer applied
Value.
To realize above-mentioned technical purpose and the technique effect, the present invention is achieved through the following technical solutions：
A kind of method of optimized synchronization generator excited system pid parameter, comprises the following steps：
Step 1, data initialization：Iteration cycle is put, if iterations K=1, Tabu table is empty, optional point X, preliminary design neighbour
Domain scope is SK；
Step 2, neighborhood S (X, S in current state point XK) in randomly generate original state Yj；
Step 3, by state point YjAs pid parameter, emulated for generator excited system, calculate voltage performance and refer to
Mark f (Yj)；
Step 4, judge YjWhether Tabu table is belonged to, if YjIt is not belonging to Tabu tables and then enters step 5；If YjBelong to Tabu tables,
Then judge YjWhether meet release conditions, step 5 is entered if release conditions are met, otherwise into step 2；
Step 5, n state point is calculated, take the fitness minimum value of n state point to be designated as f (Y)；
Step 6, by f (Y) and current fitness optimal value foptIt is compared：
If f (Y)<fopt, then optimal solution X is madeopt=Y, fopt=f (Y)；
If f (Y)>fopt, then it is directly entered step 7；
If step 7, exceed iteration cycle and object function without improvement, iteration ends and Xopt, otherwise will be repeatedly for optimal solution
Generation number enters step 2 after adding 1.
It is preferred that in step 3, voltage performance index is calculated by fitness function, wherein, fitness function f is：
In formula, tsFor voltage adjustment time, trFor voltage rising time, ω is weight coefficient and ω ∈ [0,1], σ are voltage
Overshoot, eiFor voltage output error.
It is preferred that according to requirement of the different phase of optimization to search target, dynamic adjusts contiguous range, and method is as follows：
In formula, R is the radius of neighbourhood, and c is the parameter of radius of neighbourhood regulation, and Δ d is the difference of the bound of individual variable, and f is
Current fitness value.
It is preferred that setting Tabu tables forbid condition：State point coordinates corresponding to step-length and this step-length, while meet above-mentioned two
The movement of condition is prohibited.
It is preferred that the Proportional coefficient K by PID controllerP, integral coefficient KiAnd differential coefficient KdWith binary coding, then group
A binary system sequence is synthesized, forms the initial solution of Tabu algorithms.
It is preferred that adjusting to obtain PID initial parameters using ZN methods, expanded on the basis of PID initial parameters to both sides, so as to
Obtain the hunting zone of Tabu algorithms.
It is preferred that the pid parameter hunting zone for tentatively adjusting to obtain by ZN methods is as follows：
αKp *≤Kp≤βKp *, α Ki *≤Ki≤βKi *, α Kd *≤Kd≤βKd *
In formula, Kp *、Ki *、Kd *For the setting valve of ZN methods, α, β are continuation coefficient.
The beneficial effects of the invention are as follows：
1st, the present invention is improved Tabu algorithms key parameter and evolutionary mechanism, balance population diversity and convergence speed
Degree, improves search efficiency, overcomes the limitation of basic Tabu algorithms.
2nd, the present invention is used as fitness function using set end voltage control performance overall target, and Function Synthesis generator terminal is electric
The requirement to stable state and dynamic property is pressed, it is efficient and succinct.
3rd, in order to improve the precision of initial ranging, adjust to obtain the hunting zone of pid parameter using ZN methods, reduce just
Begin the blindness searched for.
4th, the present invention carries out intelligent optimization using Tabu searching algorithms to the pid parameter of generator excitation control, it will be apparent that
Improve dynamic indicator, response time and the interference free performance of generator excited system.
Brief description of the drawings
Fig. 1 is a kind of principle schematic of synchronous generator excited system PID excitation control methods of the present invention；
Fig. 2 is pid parameter Optimizing Flow figure of the present invention based on Tabu search；
Fig. 3 is that set end voltage of the conventional PID controller of the present invention with Tabu PID controllers under unloaded step responds
Curve experiments comparison diagram；
Fig. 4 is that set end voltage of the conventional PID controller of the present invention with Tabu PID controllers under load current step responds
Curve experiments comparison diagram；
Fig. 5 is conventional PID controller of the present invention and Tabu PID controllers in the case of 3% step disturbance is without PSS
Set end voltage response curve experimental comparison figure；
Fig. 6 is conventional PID controller of the present invention and Tabu PID controllers in the case of 3% step disturbance has PSS
Set end voltage response curve experimental comparison figure；
Fig. 7 is that conventional PID controller of the present invention has with Tabu PID controllers in the case of 3% step disturbance is without PSS
Work(power response curve experiments comparison diagram；
Fig. 8 is that conventional PID controller of the present invention has with Tabu PID controllers in the case of 3% step disturbance has PSS
Work(power response curve experiments comparison diagram；
Fig. 9 is that conventional PID controller of the present invention postpones excision situation with Tabu PID controllers in circuit three-phase shortcircuit
Under set end voltage response curve experimental comparison figure.
Embodiment
Technical solution of the present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, so that ability
The technical staff in domain can be better understood from the present invention and can be practiced, but illustrated embodiment is not as the limit to the present invention
It is fixed.
Conventional synchronous generator excited system is by PID controller, power amplification unit, synchronous generator and voltage measurement list
Member composition, from the angle of research excitation system dynamic characteristic, using the method for engineering approximation, the power of excitation control system
Amplifying unit, voltage measurement unit and synchronous generator can be reduced to first order inertial loop.When system voltage change, Excitation Adjustment
Section system is obtained voltage deviation, again will after PID controller is adjusted by given voltage U* and feedback measurement voltage u comparison
Control signal is amplified, and controls the output voltage of synchronous generator, until set end voltage reaches stable.
The principle of PID exciter control system of the present invention based on Tabu search is as shown in figure 1, K in figureG、KC、KARespectively
The gain of synchronous generator, voltage measurement unit and power amplification unit, Td0、TR、TAFor its time constant.Encouraged in Traditional PID
Increase Tabu search controllers on the basis of magnetic control system to realize the control to synchronous generator generator terminal output voltage stability
System, control parameter of the Tabu searching algorithms by the voltage deviation signal of input and voltage feedback signal to PID field regulators
Intelligent optimization is carried out to adjust.The method of specific optimized synchronization generator excited system pid parameter is as shown in Fig. 2 including following step
Suddenly：
Step 1, data initialization：Iteration cycle is put, if iterations K=1, Tabu table is empty, optional point X, preliminary design neighbour
Domain scope is SK。
Step 2, neighborhood S (X, S in current state point XK) in randomly generate original state Yj, wherein, neighborhood S (X, SK)
Represent state point X neighborhood mobile set, SKRepresent contiguous range.
Step 3, by state point YjAs pid parameter, emulated for generator excited system, calculate voltage performance and refer to
Mark f (Yj)。
By three parameter (Proportional coefficient Ks of PID controllerP, integral coefficient KiAnd differential coefficient Kd) compiled with binary system
Code, a binary system sequence is combined into, forms the initial solution of Tabu algorithms.In order to improve search precision, PID should be joined
Several search spaces do it is preliminary define, the present invention intends adjusting to obtain PID using Ziegler-Nichols (ZN) method initially joining
Number, expanded on this basis to both sides, so that it is determined that the hunting zone of Tabu algorithms.The PID for tentatively adjusting to obtain by ZN methods
Parameter search scope is as follows：
αKp *≤Kp≤βKp *, α Ki *≤Ki≤βKi *, α Kd *≤Kd≤βKd *
In formula, Kp *、Ki *、Kd *For the setting valve of ZN methods, α, β are continuation coefficient.It is preferred that α=0.2, β=5.
Voltage performance index can be calculated by fitness function, fitness function is the crucial letter for checking optimality criterion
Number, it will usually use following three kinds of error intergal indexs：Integral of absolute value of error index (IAE), integral square error index (ISE)
With time-weighted squared error integration index (ITSE).IAE indexs have appropriate damping, and steady-state behaviour is good, but the response time increases
Add；ISE index fast response times, but relative stability is poor；And ITSE indexs can reflect systematic function and response more comprehensively
Time, but its derivation of equation is cumbersome, is that this present invention proposes following succinct voltage control performance fitness function：
In formula, tsFor voltage adjustment time, trFor voltage rising time, ω is weight coefficient and ω ∈ [0,1], σ are voltage
Overshoot, eiFor voltage output error.
Fitness function f combines voltage steady-state behaviour and response time, and ω adjusts proportionate relationship therebetween, such as
Fruit lays particular emphasis on voltage stable state accuracy with overshoot, it is necessary to increase ω；If laying particular emphasis on reaction time, ω can be reduced.
Step 4, judge YjWhether Tabu table is belonged to, if YjIt is not belonging to Tabu tables and then enters step 5；If YjBelong to Tabu tables,
Then judge YjWhether meet release conditions, step 5 is entered if release conditions are met, otherwise into step 2.
The flexible intelligence of TABU search simulation human brain memory searches for optimal solution, in searching process, by taboo list and
Taboo condition prevents search blindness, expands hunting zone, while the maloperation of taboo list is made up by aspiration criterion, so as to flat
The convergence that weighs and population diversity, its basic step：Initial solution randomly generates, and the process of optimizing is exactly constantly to enter in contiguous range
The movement of row state, in order to prevent from being absorbed in local optimum, taboo list is constantly stored in the reverse direction moved in history searching process, newly
Movement will actively avoid these directions, make search more targeted.Movement in taboo list can release under certain conditions
Limitation, it is more than the term of office (Tabu Length) of some taboo object when search time, or when some taboo object is possible to search
During more excellent solution, " aspiration criterion " is activated, and this object will escape the limitation of taboo list.
In order to improve algorithm performance, the present invention is to neighborhood, Tabu List (taboo list), stop criterion these algorithm key elements
Optimize.
(1) neighborhood search scope simultaneously influence search efficiency and convergence precision, optimization different phase to search for target
Requirement it is different, therefore the present invention using dynamic adjust contiguous range method.Set initial stage larger, ensure that search is various
Property, the later stage gos deep into search, Step wise approximation optimal solution, in order to increase the searching intensity around optimal solution, reduces neighborhood
Scope, the probability of optimal solution is found with increase.Specific method of adjustment is as follows：
In formula, R is the radius of neighbourhood, and c is the parameter of radius of neighbourhood regulation, and Δ d is the difference of the bound of individual variable, and f is
Current fitness value.
(2) what is be stored in taboo list is forbidden hunting zone, therefore the condition how to provide against is most important, one
As condition of forbidding be specific moving step length, every movement for reaching this step-length is forbidden, and can so cause some to have
The search that optimal solution may be approached falls in the range of taboo and actively abandoned just, is that this is of the invention by step-length and this step-length pair
The state point coordinates answered is included in condition of forbidding in the lump, i.e., meets that the mobile of above-mentioned two condition can just be prohibited simultaneously, so prohibits
Only scope is positioned accurately at the contiguous range of state point, improves search efficiency.
(3) Tabu algorithms are generally using greatest iteration number and the limits of error as stop criterion.The two criterions have
Certain defect.The defects of greatest iteration number end condition, is it is clear that because it is unrelated with optimization aim；For maximum allowable mistake
Difference, using the error between the feasible solution currently searched out and optimal solution as end condition, on condition that known preferred solution, but optimizing
Preceding optimal solution can only be an estimate.Therefore, the present invention takes the method for comparing iteration cycle error：By whole optimization process
Several iteration cycles are decomposed into, by the optimal value ratio of the optimal value in this cycle and upper a cycle at the end of each iteration cycle
Compared with being better than a cycle then continues Optimization Progress, on the contrary then terminate optimization.This method is actual to contain above-mentioned two criterion,
And the defects of avoiding them.
Tabu search algorithm (Tabu) is used as a kind of efficient heuritic approach, has the advantages of fast convergence rate, search precision is high,
Tabu searching algorithms are introduced into Excitation Controller by the present invention, by dynamic adjustment contiguous range, stop criterion, are changed
Enter taboo condition to improve Tabu searching algorithm performances, establish excitation control system model, be suitable using integrated voltage performance indications
Response function, using Tabu searching algorithm Optimize Multivariable PID Controllers, solve existing generator excitation control method and be mutated bar in operating mode
Bad adaptability under part, the problem of antijamming capability is low.
Step 5, n state point is calculated, take the fitness minimum value of n state point to be designated as f (Y)；
Step 6, by f (Y) and current fitness optimal value foptIt is compared：
If f (Y)<fopt, then optimal solution X is madeopt=Y, fopt=f (Y)；
If f (Y)>fopt, then it is directly entered step 7；
If step 7, exceed iteration cycle and object function without improvement, iteration ends and Xopt, otherwise will be repeatedly for optimal solution
Generation number enters step 2 after adding 1.
Wherein, in step 3, generator excited system is emulated using power system real-time digital simulator RTDS.
Fig. 3-9 is respectively experimental comparison figure, wherein, the generator and its parameters of excitation system that simulation model is used are as follows：
Generator parameter：Unit capacity 367MVA, 50Hz, rated voltage 20kV, power factor 0.95, rated excitation electricity
Piezoelectricity presses 298V, rated exciting current 2480A, open-circuit excitation voltage 113V, open-circuit excitation electric current 987A.
Excitation system model parameter：Generator gain KG=1, measuring unit gain KC=1, power amplification unit gain KA
=5.97；Power cell time constant TA=0.003, voltage measurement time constant TR=0.015, generator time constant Td0=
8.6。
Consider requirement of the generator excited system to stable state and dynamic property, weight coefficient ω takes in fitness function
For 0.7, cycle iterations number is set to 100.The pid parameter of excitation con-trol is carried out according to Fig. 2 flow application Tabu algorithms excellent
Change.
In order to verify the effect of this method, the pid parameter for optimizing to obtain is imitated in the power system real-time digital of Nan Rui companies
Experimental verification is carried out on true instrument RTDS (Real Time Digital Simulators), according to power plant's actual set parameter,
Self-defined generator excitation closed-loop experiment system is built in RTDS.
Pid parameter after original pid parameter (Kp=20, Ki=10, Kd=2) is respectively adopted and optimizes, in RTDS systems
Three groups of contrast experiments are carried out：
(1) the excitation step experiment under different operating modes, including unloaded step, load current step；
(2) PSS steps are tested：3% first up and then down step disturbance has PSS real without the first up and then down step disturbances of PSS and 3%
Test；
(3) large disturbances are tested：The delay 1s excisions of circuit three-phase shortcircuit.
Experimental waveform such as Fig. 3-9, as a result it can be seen that, in the case of unloaded, load current step, Tabu optimizes the electricity after PID
Before corrugating is compared to optimization, overshoot reduces, and rise time, regulating time shorten, and disturb in microvariations (3% step) and greatly
In the case of dynamic (three-phase shortcircuit), the fluctuating range of voltage reduces after optimization, and recovery time accelerates.Under disturbed conditions, have PSS and
Contrast and experiment without PSS shows, the inhibition that PSS is shaken active power is better than voltage pulsation, and the PID after optimizing
Controller all embodies preferable antijamming capability to voltage and power swing.
In summary, Tabu searching algorithms proposed by the invention are good for PID controller parameter effect of optimization, this hair
Bright method is particularly suitable for generator excited system PID controller design so that designed excitation system voltage-tracing and event
Barrier restorability index all has clear improvement.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure that bright specification and accompanying drawing content are made either equivalent flow conversion or to be directly or indirectly used in other related
Technical field, be included within the scope of the present invention.
Claims (9)
- A kind of 1. method of optimized synchronization generator excited system pid parameter, it is characterised in that comprise the following steps：Step 1, data initialization：Iteration cycle is put, if iterations K=1, Tabu table is empty, optional point X, preliminary design neighborhood model Enclose for SK；Step 2, neighborhood S (X, S in current state point XK) in randomly generate original state Yj；Step 3, by state point YjAs pid parameter, emulated for generator excited system, calculate voltage performance index f (Yj)；Step 4, judge YjWhether Tabu table is belonged to, if YjIt is not belonging to Tabu tables and then enters step 5；If YjBelong to Tabu tables, then sentence Disconnected YjWhether meet release conditions, step 5 is entered if release conditions are met, otherwise into step 2；Step 5, n state point is calculated, take the fitness minimum value of n state point to be designated as f (Y)；Step 6, by f (Y) and current fitness optimal value foptIt is compared：If f (Y)<fopt, then optimal solution X is madeopt=Y, fopt=f (Y)；If f (Y)>fopt, then it is directly entered step 7；If step 7, exceed iteration cycle and object function without improvement, iteration ends and XoptIt is otherwise that iteration is secondary for optimal solution Enter step 2 after number plus 1.
- A kind of 2. method of optimized synchronization generator excited system pid parameter according to claim 1, it is characterised in that In step 3, voltage performance index is calculated by fitness function, wherein, fitness function f is：<mrow> <mi>f</mi> <mo>=</mo> <mi>&omega;</mi> <mrow> <mo>(</mo> <mi>&sigma;</mi> <mo>+</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mo>|</mo> <msub> <mi>e</mi> <mi>i</mi> </msub> <mo>|</mo> <mo>)</mo> </mrow> <mo>+</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mi>&omega;</mi> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>s</mi> </msub> <mo>+</mo> <msub> <mi>t</mi> <mi>r</mi> </msub> <mo>)</mo> </mrow> </mrow>In formula, tsFor voltage adjustment time, trFor voltage rising time, ω is weight coefficient and ω ∈ [0,1], σ are the super of voltage Tune amount, eiFor voltage output error.
- A kind of 3. method of optimized synchronization generator excited system pid parameter according to claim 1, it is characterised in that According to requirement of the different phase of optimization to search target, dynamic adjusts contiguous range, and method is as follows：<mrow> <mi>R</mi> <mo>=</mo> <mfrac> <mn>1</mn> <mi>c</mi> </mfrac> <mo>*</mo> <mi>&Delta;</mi> <mi>d</mi> <mo>*</mo> <mi>f</mi> </mrow>In formula, R is the radius of neighbourhood, and c is the parameter of radius of neighbourhood regulation, and Δ d is the difference of the bound of individual variable, and f is current Fitness value.
- A kind of 4. method of optimized synchronization generator excited system pid parameter according to claim 1, it is characterised in that Setting Tabu tables forbid condition：State point coordinates corresponding to step-length and this step-length, while meet the mobile quilt of above-mentioned two condition Forbid.
- A kind of 5. method of optimized synchronization generator excited system pid parameter according to claim 1, it is characterised in that By the Proportional coefficient K of PID controllerP, integral coefficient KiAnd differential coefficient KdWith binary coding, it is combined into one two and enters Sequence processed, form the initial solution of Tabu algorithms.
- A kind of 6. method of optimized synchronization generator excited system pid parameter according to claim 5, it is characterised in that Adjust to obtain PID initial parameters using ZN methods, expanded on the basis of PID initial parameters to both sides, so as to obtain Tabu algorithms Hunting zone.
- A kind of 7. method of optimized synchronization generator excited system pid parameter according to claim 6, it is characterised in that The pid parameter hunting zone for tentatively adjusting to obtain by ZN methods is as follows：αKp *≤Kp≤βKp *, α Ki *≤Ki≤βKi *, α Kd *≤Kd≤βKd *In formula, Kp *、Ki *、Kd *For the setting valve of ZN methods, α, β are continuation coefficient.
- A kind of 8. method of optimized synchronization generator excited system pid parameter according to claim 7, it is characterised in that α =0.2, β=5.
- A kind of 9. method of optimized synchronization generator excited system pid parameter according to claim 1, it is characterised in that In step 3, generator excited system is emulated using power system real-time digital simulator RTDS.
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| CN109739228A (en) * | 2018-12-28 | 2019-05-10 | 创泽智能机器人股份有限公司 | A kind of speed adjustment parameter self-training method of security robot |
| CN110671266A (en) * | 2019-11-13 | 2020-01-10 | 大连理工大学 | Intelligent variable-pitch electromechanical control optimization method |
| CN114415498A (en) * | 2022-01-23 | 2022-04-29 | 河北工业大学 | Generator excitation device PID parameter off-line setting method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109617485A (en) * | 2018-12-04 | 2019-04-12 | 南京工程学院 | A kind of compound suppressing method of permanent-magnetism linear motor force oscillation based on Tabu and DOB |
| CN109739228A (en) * | 2018-12-28 | 2019-05-10 | 创泽智能机器人股份有限公司 | A kind of speed adjustment parameter self-training method of security robot |
| CN109739228B (en) * | 2018-12-28 | 2021-12-10 | 创泽智能机器人集团股份有限公司 | Speed regulation parameter self-training method for security robot |
| CN110671266A (en) * | 2019-11-13 | 2020-01-10 | 大连理工大学 | Intelligent variable-pitch electromechanical control optimization method |
| CN114415498A (en) * | 2022-01-23 | 2022-04-29 | 河北工业大学 | Generator excitation device PID parameter off-line setting method |
| CN114415498B (en) * | 2022-01-23 | 2024-07-16 | 河北工业大学 | Off-line setting method for PID parameters of generator excitation device |
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