CN107807524A - A kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control method - Google Patents

A kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control method Download PDF

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CN107807524A
CN107807524A CN201710996815.3A CN201710996815A CN107807524A CN 107807524 A CN107807524 A CN 107807524A CN 201710996815 A CN201710996815 A CN 201710996815A CN 107807524 A CN107807524 A CN 107807524A
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heat
supply system
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CN107807524B (en
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潘蕾
沈炯
张俊礼
陈琛
韩四维
王钱超
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Southeast University
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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Abstract

The present invention discloses a kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control method, comprises the following steps：Step 1, each moment miniature gas turbine cold, heat and power triple supply system process variable data is gathered；Step 2, Nonlinear Hammerstein model is recognized according to each moment miniature gas turbine cold, heat and power triple supply system process variable data of collection；Step 3, the Nonlinear Hammerstein modelling miniature gas turbine cold, heat and power triple supply system Robust adaptive controller obtained based on identification.Such a method can improve miniature gas turbine cold, heat and power triple supply system wide range load tracking ability, while have preferable interference free performance, adaptive performance and robust performance.

Description

A kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control method
Technical field
The invention belongs to thermal technics technical field, more particularly to a kind of miniature gas turbine cold, heat and electricity triple supply system System Robust Adaptive Control method.
Background technology
Distributed energy resource system has the significant advantages such as energy-saving and environmental protection and high security, is alleviating energy crisis, reduces ring Border is polluted and greenhouse gas emission, raising energy security, realizes the effective way of the strategy of sustainable development, current distributed energy Source system is greatly paid close attention to by countries in the world.
Miniature gas turbine cold, heat and power triple supply system (MGT-CCHP) is the best mode that small distributed energy is realized One of, MGT-CCHP systematic researches at present are also in the elementary step.The main task of MGT-CCHP systems is to rapidly adapt to respectively Kind load variations, the system capacity equilibrium of supply and demand is maintained, therefore improve it under multi-source disturbed conditions, a wide range of a variety of loads are quick Ability of tracking is problem in urgent need to solve, and is designed a kind of with the control of the quick self-adapted and Steam Generator in Load Follow of robust stability Device is the maximally effective approach for realizing this task.
MGT-CCHP systems it is a wide range of it is hot and cold, electric load tracking difficulty is big, the skill of MGT-CCHP system loadings tracking at present Art is less, and the control of classical multivariable PID and PREDICTIVE CONTROL can tackle small range Steam Generator in Load Follow, but in rapidity, adaptive There is larger deficiency in terms of Ying Xing, interference free performance and robustness, have much room for improvement.
The content of the invention
The purpose of the present invention, it is to provide a kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control side Method, it can improve miniature gas turbine cold, heat and power triple supply system wide range load tracking ability, while have preferably anti-dry Immunity energy, adaptive performance and robust performance.
In order to reach above-mentioned purpose, solution of the invention is：
A kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control method, comprises the following steps：
Step 1, each moment miniature gas turbine cold, heat and power triple supply system process variable data is gathered, including fuel quantity, Miniature combustion engine backheat valve opening, high pressure generator refrigerant vapour valve opening, combustion engine rotor speed, cold water outlet temperature and domestic hot-water Outlet temperature；
Step 2, recognized according to each moment miniature gas turbine cold, heat and power triple supply system process variable data of collection non- Linear Hammerstein model；
Step 3, the Nonlinear Hammerstein modelling miniature gas turbine cold, heat and electricity triple supply obtained based on identification System Robust adaptive controller.
The particular content of above-mentioned steps 2 is：
Step 2-a, establishes miniature combustion engine cold, heat and power triple supply system Nonlinear Hammerstein model, and its form is as follows：
A(z-1) y (t)=B (z-1)f(u(t))
Wherein, A (z-1)=1+ α1z-1+…+αnz-n, B (z-1)=b0+b1z-1+…+bmz-m, f (u (t))=u (t)+...+ gdud(t), A (z-1) and B (z-1) it is sytem matrix, f (u (t)) is the nonlinear function of controlled quentity controlled variable, and d is nonlinear function f (u (t) order), d≤3, y (t) are the output quantities of miniature gas turbine cold, heat and power triple supply system, and u (t) is miniature gas turbine The controlled quentity controlled variable of cold, heat and power triple supply system, m, n are the orders of system, α1,…,αn、b0,…,bmAnd g1,…,gdIt is to be identified Hammerstein model coefficient；
Step 2-b, definition vector θ,α、β、Y (t) and Φ (t), its form are as follows：
Wherein, u (t-m) is the controlled quentity controlled variable at miniature gas turbine cold, heat and power triple supply system t-m moment, and y (t-n) is miniature The output quantity at gas turbine cold, heat and power triple supply system t-n moment, T are matrix transposition symbols；
Step 2-c, based on Recursive Least Squares Estimation Algorithm for Solving matrix
P-1(t)=P-1(t-1)+ΦT(t) Φ (t),
Wherein, matrixMatrix θ identifier, matrix P (t) andInitial value take P (0)=106I andI is unit matrix；
Step 2-d, defined to obtain vectorial α and β value according to θ, then solve coefficient g1,…,gd：
Wherein,Representing matrixM+n+i element of jth.
The particular content of above-mentioned steps 3 is：
Step 3-a, establishes miniature gas turbine cold, heat and power triple supply system input/output model, and its form is as follows：
Wherein, control input is fuel quantity Gf(kg/s), miniature combustion engine backheat valve openingSteamed with high pressure generator cryogen Steam valve aperture μhg(%), it is combustion engine rotor speed that system, which controls output,Chilled water leaving temperature Tcw(DEG C) and life Hot water outlet temperature ThwElectrical power, semen donors and the heating load of (DEG C), respectively correspondence system, operator '.' represent defeated from being input to The Compound Mappings relation gone out, Fij(u)=Gij(fij(u)), i, j=1,2,3, fijFor nonlinear static state function, GijRepresent linear Dynamic mode；
Step 3-b, based on miniature gas turbine cold, heat and power triple supply system Nonlinear Hammerstein modelling robust Adaptive controller, including the matrix A of output estimation device and uncertainty estimation devicem, output estimation device and control signal generate The matrix B of devicemMatrix W, k with wave filter；
Step 3-c, Robust adaptive controller is implemented into miniature gas turbine cold, heat and power triple supply system.
Above-mentioned steps 3-b particular content is：
Step B1, the matrix B of output estimation device and control signal maker is calculatedm, its form is as follows：
Wherein,For controlled device linear dynamic link GijIt is steady State gain,It is controlled device nonlinear function fijTo ujPartial derivative；
Step B2, selecting filter parameter W, W meet condition：
Wherein,It is partial derivatives of the nonlinear function f (y, z, u, t) to controlled quentity controlled variable u,Represent to matrix BmFinding the inverse matrix；
Step B3, matrix B is further finely tunedmEach member value size, to optimize the weights influence of each I/O channel；
Step B4, the sytem matrix A of output estimation device is chosenm, its form is as follows：
Wherein, p1,…,psIt is the limit of closed loop desirable system, matrix AmDiagonal element is the limit of desirable system, non-diagonal Member is all 0；
Step B6, selecting filter parameter k, filter parameter k value are between expectation frame of reference (Am,Bm, I) and In Hammerstein model between the cut-off frequency of each passage；
Step B7, sampling period T is determined.
Above-mentioned steps 3-c particular content is：
Step C1, by miniature gas turbine cold, heat and power triple supply system controlled quentity controlled variable and uncertainty estimation itemIt is sent into defeated Go out estimator, calculate miniature gas turbine cold, heat and power triple supply system output quantity estimate
Wherein,It is output quantity estimateDerivative,U (t) is miniature gas turbine cold, heat and electricity triple supply System control amount,It is uncertainty estimation item,
Step C2, miniature gas turbine cold, heat and power triple supply system output quantity and output estimation device are exportedIt is sent to Uncertainty estimation device, calculate miniature gas turbine cold, heat and power triple supply system uncertainty estimation item
Wherein, T is the sampling period, and y (t) is the reality output of miniature gas turbine cold, heat and power triple supply system,It is defeated Output estimate；
Step C3, by uncertainty estimation itemLow pass filter is sent to, then by miniature gas turbine cool and thermal power three The output quantity setting value r (t) of co-feeding system and filtered signalControl signal maker is sent to, calculates miniature combustion Gas-turbine cold, heat and power triple supply system control signal u (t)：
Wherein, C (s)=- (sI-kW)-1KW, kgFor feedforward gain matrix, r (t) is miniature gas turbine cold, heat and electricity three-way For the output quantity setting value of system, I is unit matrix, and k, W are filter parameters, and C (s) is one comprising stablizing low pass filter Matrix；
Step C4, next sampling period, return to step C1, repeat step C1-step C3.
After such scheme, the present invention compared with prior art, has advantages below and beneficial effect：
A wide range of cool and thermal power Steam Generator in Load Follow quality is high under the inventive method control, and tracking velocity is fast, execution device operation Process is smooth, while has preferable interference free performance, adaptive performance and robust performance, can be used as miniature combustion engine cold, heat and electricity three-way For a kind of advanced alternative of system loading tracking.
Brief description of the drawings
Fig. 1 is the control system architecture figure for realizing the present invention；
Fig. 2 is the flow chart of the present invention；
Miniature combustion engine rotor speed simulation result matched curve when Fig. 3 is wide range load tracking under present invention control；
Cold water outlet temperature simulation result matched curve when Fig. 4 is wide range load tracking under present invention control；
Domestic hot-water's outlet temperature simulation result matched curve when Fig. 5 is wide range load tracking under present invention control；
Fig. 6 adjusts fuel quantity simulation result matched curve when being wide range load tracking under present invention control；
Miniature combustion engine backheat valve opening simulation result matched curve when Fig. 7 is wide range load tracking under present invention control；
High pressure generator refrigerant vapour valve opening simulation result fitting when Fig. 8 is wide range load tracking under present invention control Curve；
Fig. 9 is miniature combustion engine rotor speed simulation result matched curve when the lower load output end of present invention control receives disturbance；
Figure 10 is cold water outlet temperature simulation result matched curve when the lower load output end of present invention control receives disturbance；
Figure 11 is domestic hot-water's outlet temperature simulation result matched curve when the lower load output end of present invention control receives disturbance；
Figure 12 is that present invention control lower load output end adjusts fuel quantity simulation result matched curve when receiving disturbance；
Figure 13 is miniature combustion engine backheat valve opening simulation result matched curve when the lower load output end of present invention control receives disturbance；
Figure 14 is high pressure generator refrigerant vapour valve opening simulation result when the lower load output end of present invention control receives disturbance Matched curve；
Miniature combustion engine rotor speed simulation result matched curve when Figure 15 is present invention control drag mismatch；
Cold water outlet temperature simulation result matched curve when Figure 16 is present invention control drag mismatch；
Domestic hot-water's outlet temperature simulation result matched curve when Figure 17 is present invention control drag mismatch；
Figure 18 adjusts fuel quantity simulation result matched curve when being present invention control drag mismatch；
Miniature combustion engine backheat valve opening simulation result matched curve when Figure 19 is present invention control drag mismatch；
High pressure generator refrigerant vapour valve opening simulation result matched curve when Figure 20 is present invention control drag mismatch.
Embodiment
Below with reference to accompanying drawing, technical scheme is described in detail.
Miniature gas turbine cold, heat and power triple supply system controlled volume is combustion engine rotor speed, cold water outlet temperature and life heat Water outlet temperature, regulating measure is using regulation fuel quantity, miniature combustion engine backheat valve opening and high pressure generator refrigerant vapour valve opening.
Fig. 1 is the miniature gas turbine cold, heat and power triple supply system control system architecture figure for realizing the inventive method, wherein, Module 1 is miniature gas turbine cold, heat and power triple supply system, and module 2 is miniature gas turbine, and module 3 is double effect LiBr absorption formula Refrigeration machine, module 4 are key-course (Robust adaptive controllers), and module 5 is Robust adaptive controller design level, and module 6 is D/A converter, module 7 are A/D converters, and module 8 is microcomputer.Control system is by sensor to miniature gas turbine Output quantity combustion engine rotor speed, cold water outlet temperature and the domestic hot-water's outlet temperature analog signal of cold, heat and power triple supply system and Controlled quentity controlled variable regulation fuel quantity, miniature combustion engine backheat valve opening and high pressure generator refrigerant vapour valve opening are timed sampling, pass through A/D converter is converted into data signal, is sent to the identification of module 5 and obtains Nonlinear Hammerstein model, then utilizes this hair The method design Robust adaptive controller of bright offer, then obtains required fuel quantity, miniature combustion engine backheat valve is opened using module 4 Degree and high pressure generator refrigerant vapour valve opening, by module 6, analog signal is converted digital signals into, controls combustion engine rotor Rotating speed, cold water outlet temperature and domestic hot-water's outlet temperature, so as to form whole miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control system.
As shown in Fig. 2 the present invention provides a kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control side Method, comprise the following steps：
Step 1, each moment miniature gas turbine cold, heat and power triple supply system process variable data is gathered, including fuel quantity, Miniature combustion engine backheat valve opening, high pressure generator refrigerant vapour valve opening, combustion engine rotor speed, cold water outlet temperature and domestic hot-water Outlet temperature；
Step 2, recognized according to each moment miniature gas turbine cold, heat and power triple supply system process variable data of collection non- Linear Hammerstein model；
Specifically comprise the following steps：
Step 2-a, establishes miniature combustion engine cold, heat and power triple supply system Nonlinear Hammerstein model, and its form is as follows：
A(z-1) y (t)=B (z-1)f(u(t))
Wherein, A (z-1)=1+ α1z-1+…+αnz-n, B (z-1)=b0+b1z-1+…+bmz-m, f (u (t))=u (t)+...+ gdud(t), A (z-1) and B (z-1) it is sytem matrix, f (u (t)) is the nonlinear function of controlled quentity controlled variable, and d is nonlinear function f (u (t) order), d≤3, y (t) are the output quantities of miniature gas turbine cold, heat and power triple supply system, and u (t) is miniature gas turbine The controlled quentity controlled variable of cold, heat and power triple supply system, m, n are the orders of system, α1,…,αn、b0,…,bmAnd g1,…,gdIt is to be identified Hammerstein model coefficient；
Step 2-b, definition vector θ,α、β、Y (t) and Φ (t), its form are as follows：
Wherein, u (t-m) is the controlled quentity controlled variable at miniature gas turbine cold, heat and power triple supply system t-m moment, and y (t-n) is miniature The output quantity at gas turbine cold, heat and power triple supply system t-n moment, T are matrix transposition symbols；
Step 2-c, based on Recursive Least Squares Estimation Algorithm for Solving matrix
P-1(t)=P-1(t-1)+ΦT(t) Φ (t),
Wherein, matrixMatrix θ identifier, matrix P (t) andInitial value take P (0)=106I andI is the unit matrix of suitable dimension；
Step 2-d, defined to obtain vectorial α and β value according to θ, then solve coefficient g1,…,gd：
Wherein,Representing matrixM+n+i element of jth；
Step 3, the Nonlinear Hammerstein modelling miniature gas turbine cold, heat and electricity triple supply obtained based on identification System Robust adaptive controller；Specifically comprise the following steps：
Step 3-a, establishes miniature gas turbine cold, heat and power triple supply system input/output model, and its form is as follows：
Wherein, control input is fuel quantity Gf(kg/s), miniature combustion engine backheat valve openingSteamed with high pressure generator cryogen Steam valve aperture μhg(%), it is combustion engine rotor speed n (r/min), chilled water leaving temperature T that system, which controls output,cw(DEG C) and life Hot water outlet temperature ThwElectrical power, semen donors and the heating load of (DEG C), respectively correspondence system, operator ' ο ' represent defeated from being input to The Compound Mappings relation gone out, Fij(u)=Gij(fij(u)), i, j=1,2,3, fijFor nonlinear static state function, GijRepresent linear Dynamic mode；
Step 3-b, based on miniature gas turbine cold, heat and power triple supply system Nonlinear Hammerstein modelling robust Adaptive controller, including the matrix A of output estimation device and uncertainty estimation devicem, output estimation device and control signal generate The matrix B of devicemMatrix W, k with wave filter；
Step 3-b detailed process is as follows：
Step B1, the matrix B of output estimation device and control signal maker is calculatedm, its form is as follows：
Wherein,For controlled device linear dynamic link GijIt is steady State gain,It is controlled device nonlinear function fijTo ujPartial derivative；
Step B2, selecting filter parameter W, W must are fulfilled for condition：
Wherein,It is partial derivatives of the nonlinear function f (y, z, u, t) to controlled quentity controlled variable u,Represent to matrix BmFinding the inverse matrix；
Step B3, matrix B is further finely tunedmEach member value size, to optimize the weights influence of each I/O channel；
Step B4, the sytem matrix A of output estimation device is chosenm, its form is as follows：
Wherein, p1,…,psIt is the limit of closed loop desirable system, matrix AmDiagonal element is the limit of desirable system, non-diagonal Member is all 0；
Step B6, selecting filter parameter k, filter parameter k value are between expectation frame of reference (Am,Bm, I) and In Hammerstein model between the cut-off frequency of each passage；
Step B7, sampling period T is determined, it is ensured that the stability of a system, and reach preferable tracking performance simultaneously；
Step 3-c, Robust adaptive controller is implemented into miniature gas turbine cold, heat and power triple supply system；
Step 3-c detailed process is as follows：
Step C1, by miniature gas turbine cold, heat and power triple supply system controlled quentity controlled variable and uncertainty estimation itemIt is sent into defeated Go out estimator, calculate miniature gas turbine cold, heat and power triple supply system output quantity estimate
Wherein,It is output quantity estimateDerivative,U (t) is miniature gas turbine cold, heat and electricity triple supply System control amount,It is uncertainty estimation item,
Step C2, miniature gas turbine cold, heat and power triple supply system output quantity and output estimation device are exportedIt is sent to Uncertainty estimation device, calculate miniature gas turbine cold, heat and power triple supply system uncertainty estimation item
Wherein, T is the sampling period, and y (t) is the reality output of miniature gas turbine cold, heat and power triple supply system,It is defeated Output estimate；
Step C3, by uncertainty estimation itemLow pass filter is sent to, then by miniature gas turbine cool and thermal power three The output quantity setting value r (t) of co-feeding system and filtered signalControl signal maker is sent to, calculates miniature combustion Gas-turbine cold, heat and power triple supply system control signal u (t)：
Wherein, C (s)=- (sI-kW)-1KW, kgFor feedforward gain matrix, r (t) is miniature gas turbine cold, heat and electricity three-way For the output quantity setting value of system, I is unit matrix, and k, W are filter parameters, and C (s) is one comprising stablizing low pass filter Matrix；
Step C4, next sampling period, return to step C1, repeat step C1-step C3.
To verify the actual effect of the inventive method, in Matlab2016 simulated environment, the inventive method is programmed, Carry out emulation experiment.
Miniature gas turbine cold, heat and power triple supply system Nonlinear Hammerstein model is recognized according to the inventive method, Hammerstein model based on identification, using Robust adaptive controller design method of the present invention, obtain robust adaptive control Device processed is：
K=0.05, sampling period T=0.1s.
To verify the inventive method wide range load tracking performance, tested as follows：As T=10s, setting value rank is made Jump to [81600,5.52,80], i.e. miniature combustion engine speed setting value step 20%, cold water outlet temperature setting value step -20%；Cause Hot water temperature's scope very little that high pressure refrigerant vapour valve is adjustable, domestic hot-water's outlet temperature setting value step 2.5% is made, is entered simultaneously OK, simulation result is as shown in Fig. 3-8.
By finding out in figure, after three setting value step signals occur simultaneously, each passage dynamic response process it is quick and Fluctuate small, when system reaches stable state, fuel quantity stable state increment is smaller, and backheat valve and the change of refrigerant vapour valve opening are reasonable, to energy Amount has carried out rational dynamically distributes between three kinds of loads, and control performance is good.
To verify the inventive method interference free performance, tested as follows：It is same in load output end from emulation start time When add a variety of different types of disturbances.It is specifically configured to：1. add preiodic type interference signal 0.01*sin in rotating speed output end (0.01t)；2. the slope that 100s slopes are (- 0.1%) is added to disturb in chilled water leaving temperature output end；3. go out in domestic hot-water Mouth temperature output end adds 2% constant value to disturb, and the simulation experiment result is as shown in Fig. 9-14.
As seen from the figure, the initial stage added simultaneously in three kinds of disturbances, the inventive method make fuel quantity and backheat valve become rapidly Change, and vibration frequency is accelerated, to overcome the influences of three kinds of disturbances, based on refrigerant vapour valve is then changed with slope；Disturbed After suppressing a period of time, the inventive method makes each input and output amount tend towards stability value, reflects the inventive method to output feedback Preiodic type, integral form and the disturbance of constant value type of passage have good inhibitory action.
To verify the adaptivity and robust performance of the inventive method, tested as follows：Mould is emulated in Hammerstein The inventive method is separately operable in type and MGT-CCHP mechanism models, and sets in Hammerstein model and mechanism model and returns The aperture of thermal bypass valve is respectively 100% and 25%.Make speed setting value step 10%, emulation comparative result such as Figure 15-20 institutes Show.
The regulated variable of two kinds of model outputs has all tracked setting value well from figure, and regulated quantity is more or less the same.Due to Had differences between Hammerstein model and mechanism model, and the two backheat bypass valve opening differs greatly, therefore simulation result Reflecting designed controller has good adaptivity and robustness to controlled process Parameters variation.
In summary, a kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control side provided by the invention Method, miniature combustion engine cold, heat and power triple supply system identification Hammerstein model is primarily based on, then utilizes identification Hammerstein model designs Robust adaptive controller, and emulation experiment shows a wide range of cool and thermal power under the inventive method control Steam Generator in Load Follow quality is high, and tracking velocity is fast, and execution device operating process is smooth, at the same have preferable interference free performance, from Conformability and robust performance, can be as a kind of advanced alternative of miniature gas turbine cold, heat and power triple supply system.
The technological thought of above example only to illustrate the invention, it is impossible to protection scope of the present invention is limited with this, it is every According to technological thought proposed by the present invention, any change done on the basis of technical scheme, the scope of the present invention is each fallen within Within.

Claims (5)

  1. A kind of 1. miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control method, it is characterised in that including following step Suddenly：
    Step 1, each moment miniature gas turbine cold, heat and power triple supply system process variable data, including fuel quantity, micro- combustion are gathered Machine backheat valve opening, high pressure generator refrigerant vapour valve opening, combustion engine rotor speed, cold water outlet temperature and domestic hot-water outlet Temperature；
    Step 2, recognized according to each moment miniature gas turbine cold, heat and power triple supply system process variable data of collection non-linear Hammerstein model；
    Step 3, the Nonlinear Hammerstein modelling miniature gas turbine cold, heat and power triple supply system obtained based on identification Robust adaptive controller.
  2. 2. a kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control method as claimed in claim 1, its Being characterised by the particular content of the step 2 is：
    Step 2-a, establishes miniature combustion engine cold, heat and power triple supply system Nonlinear Hammerstein model, and its form is as follows：
    A(z-1) y (t)=B (z-1)f(u(t))
    Wherein, A (z-1)=1+ α1z-1+…+αnz-n, B (z-1)=b0+b1z-1+…+bmz-m, f (u (t))=u (t)+...+gdud (t), A (z-1) and B (z-1) it is sytem matrix, f (u (t)) is the nonlinear function of controlled quentity controlled variable, and d is nonlinear function f (u (t)) Order, d≤3, y (t) are the output quantities of miniature gas turbine cold, heat and power triple supply system, and u (t) is that miniature gas turbine is cold and hot The controlled quentity controlled variable of electric combined supply system, m, n are the orders of system, α1,…,αn、b0,…,bmAnd g1,…,gdIt is to be identified Hammerstein model coefficient；
    Step 2-b, definition vector θ,α、β、Y (t) and Φ (t), its form are as follows：
    Wherein, u (t-m) is the controlled quentity controlled variable at miniature gas turbine cold, heat and power triple supply system t-m moment, and y (t-n) is miniature gas The output quantity at turbine cold, heat and power triple supply system t-n moment, T are matrix transposition symbols；
    Step 2-c, based on Recursive Least Squares Estimation Algorithm for Solving matrix
    <mrow> <mover> <mi>&amp;theta;</mi> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mover> <mi>&amp;theta;</mi> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>t</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>+</mo> <mi>P</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <msup> <mi>&amp;Phi;</mi> <mi>T</mi> </msup> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>&amp;lsqb;</mo> <mi>Y</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>-</mo> <mi>&amp;Phi;</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mover> <mi>&amp;theta;</mi> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>t</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> <mo>,</mo> </mrow>
    P-1(t)=P-1(t-1)+ΦT(t) Φ (t),
    Wherein, matrixMatrix θ identifier, matrix P (t) andInitial value take P (0)=106I andI It is unit matrix；
    Step 2-d, defined to obtain vectorial α and β value according to θ, then solve coefficient g1,…,gd：
    <mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>g</mi> <mi>j</mi> </msub> <mo>=</mo> <msub> <mover> <mi>&amp;theta;</mi> <mo>^</mo> </mover> <mrow> <mi>j</mi> <mi>m</mi> <mo>+</mo> <mi>n</mi> <mo>+</mo> <mi>i</mi> </mrow> </msub> <mo>/</mo> <msub> <mi>b</mi> <mi>i</mi> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mi>j</mi> <mo>=</mo> <mn>2</mn> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mi>d</mi> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mi>m</mi> </mrow> </mtd> </mtr> </mtable> </mfenced>
    Wherein,Representing matrixM+n+i element of jth.
  3. 3. a kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control method as claimed in claim 1, its Being characterised by the particular content of the step 3 is：
    Step 3-a, establishes miniature gas turbine cold, heat and power triple supply system input/output model, and its form is as follows：
    Wherein, control input is fuel quantity Gf(kg/s), miniature combustion engine backheat valve openingWith high pressure generator refrigerant vapour valve Aperture μhg(%), it is combustion engine rotor speed that system, which controls output,Chilled water leaving temperature Tcw(DEG C) and domestic hot-water Outlet temperature ThwElectrical power, semen donors and the heating load of (DEG C), respectively correspondence system, operatorRepresent from being input to output Compound Mappings relation, Fij(u)=Gij(fij(u)), i, j=1,2,3, fijFor nonlinear static state function, GijRepresent linear dynamic Link；
    Step 3-b, it is adaptive based on miniature gas turbine cold, heat and power triple supply system Nonlinear Hammerstein modelling robust Answer controller, including the matrix A of output estimation device and uncertainty estimation devicem, output estimation device and control signal maker Matrix BmMatrix W, k with wave filter；
    Step 3-c, Robust adaptive controller is implemented into miniature gas turbine cold, heat and power triple supply system.
  4. 4. a kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control method as claimed in claim 3, its Being characterised by the particular content of the step 3-b is：
    Step B1, the matrix B of output estimation device and control signal maker is calculatedm, its form is as follows：
    Wherein,dcgain(Gij) it is controlled device linear dynamic link GijStable state Gain,It is controlled device nonlinear function fijTo ujPartial derivative；
    Step B2, selecting filter parameter W, W meet condition：
    <mrow> <mo>-</mo> <mrow> <mo>(</mo> <mo>&amp;part;</mo> <mi>f</mi> <mo>(</mo> <mrow> <mi>y</mi> <mo>,</mo> <mi>z</mi> <mo>,</mo> <mi>u</mi> <mo>,</mo> <mi>t</mi> </mrow> <mo>)</mo> <mo>/</mo> <mo>&amp;part;</mo> <mi>u</mi> <mo>)</mo> </mrow> <msubsup> <mi>B</mi> <mi>m</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <mi>W</mi> <mo>&gt;</mo> <mn>0</mn> </mrow>
    Wherein,It is partial derivatives of the nonlinear function f (y, z, u, t) to controlled quentity controlled variable u,Represent to matrix BmAsk Inverse matrix；
    Step B3, matrix B is further finely tunedmEach member value size, to optimize the weights influence of each I/O channel；
    Step B4, the sytem matrix A of output estimation device is chosenm, its form is as follows：
    Wherein, p1,…,psIt is the limit of closed loop desirable system, matrix AmDiagonal element is the limit of desirable system, and nondiagonal element is all It is 0；
    Step B6, selecting filter parameter k, filter parameter k value are between expectation frame of reference (Am,Bm, I) and In Hammerstein model between the cut-off frequency of each passage；
    Step B7, sampling period T is determined.
  5. 5. a kind of miniature gas turbine cold, heat and power triple supply system Robust Adaptive Control method as claimed in claim 3, its Being characterised by the particular content of the step 3-c is：
    Step C1, by miniature gas turbine cold, heat and power triple supply system controlled quentity controlled variable and uncertainty estimation itemOutput is sent into estimate Gauge, calculate miniature gas turbine cold, heat and power triple supply system output quantity estimate
    <mrow> <mover> <mover> <mi>y</mi> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>A</mi> <mi>m</mi> </msub> <mover> <mi>y</mi> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>B</mi> <mi>m</mi> </msub> <mi>u</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <mover> <mi>&amp;sigma;</mi> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>,</mo> </mrow>
    Wherein,It is output quantity estimateDerivative,U (t) is miniature gas turbine cold, heat and power triple supply system Controlled quentity controlled variable,It is uncertainty estimation item,
    Step C2, miniature gas turbine cold, heat and power triple supply system output quantity and output estimation device are exportedIt is sent to not true Qualitative estimator, calculate miniature gas turbine cold, heat and power triple supply system uncertainty estimation item
    <mrow> <mover> <mi>&amp;sigma;</mi> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mo>-</mo> <msup> <mrow> <mo>(</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mi>T</mi> </msubsup> <mrow> <msup> <mi>e</mi> <mrow> <msub> <mi>A</mi> <mi>m</mi> </msub> <mrow> <mo>(</mo> <mi>T</mi> <mo>-</mo> <mi>&amp;tau;</mi> <mo>)</mo> </mrow> </mrow> </msup> <mi>d</mi> <mi>&amp;tau;</mi> </mrow> <mo>)</mo> </mrow> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <msup> <mi>e</mi> <mrow> <msub> <mi>A</mi> <mi>m</mi> </msub> <mi>T</mi> </mrow> </msup> <mrow> <mo>(</mo> <mover> <mi>y</mi> <mo>^</mo> </mover> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mo>-</mo> <mi>y</mi> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mo>)</mo> </mrow> </mrow>
    Wherein, T is the sampling period, and y (t) is the reality output of miniature gas turbine cold, heat and power triple supply system,It is output quantity Estimate；
    Step C3, by uncertainty estimation itemLow pass filter is sent to, then by miniature gas turbine cold, heat and electricity triple supply The output quantity setting value r (t) of system and filtered signalControl signal maker is sent to, calculates micro-gas-turbine Machine cold, heat and power triple supply system control signal u (t)：
    <mrow> <mi>u</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <msubsup> <mi>B</mi> <mi>m</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <msub> <mi>k</mi> <mi>g</mi> </msub> <mi>r</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>-</mo> <msubsup> <mi>B</mi> <mi>m</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <mi>C</mi> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mover> <mi>&amp;sigma;</mi> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>,</mo> </mrow>
    Wherein, C (s)=- (sI-kW)-1KW, kgFor feedforward gain matrix, r (t) is miniature gas turbine cold, heat and electricity triple supply system The output quantity setting value of system, I are unit matrixs, and k, W are filter parameters, and C (s) is one and includes the square for stablizing low pass filter Battle array；
    Step C4, next sampling period, return to step C1, repeat step C1-step C3.
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