CN108119909B - Variable-load steam pressure tracking control method for straw direct-fired circulating fluidized bed boiler - Google Patents
Variable-load steam pressure tracking control method for straw direct-fired circulating fluidized bed boiler Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23N—REGULATING OR CONTROLLING COMBUSTION
- F23N1/00—Regulating fuel supply
- F23N1/002—Regulating fuel supply using electronic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23N—REGULATING OR CONTROLLING COMBUSTION
- F23N2223/00—Signal processing; Details thereof
- F23N2223/10—Correlation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
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- F23N2223/00—Signal processing; Details thereof
- F23N2223/34—Signal processing; Details thereof with feedforward processing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
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Abstract
A variable-load steam pressure tracking control method of a straw direct-fired circulating fluidized bed boiler aims at the control problem of an actual steam pressure tracking target value in variable load of the straw direct-fired circulating fluidized bed boiler, a continuous time dynamic model of the steam pressure and the straw combustion amount of the straw direct-fired circulating fluidized bed boiler is established, an integral quantity of tracking deviation is defined according to the steam pressure target value, a continuous time expansion dynamic model of the steam pressure and the straw combustion amount of the straw direct-fired circulating fluidized bed boiler is further established, a variable-load steam pressure automatic tracking controller of the straw direct-fired circulating fluidized bed boiler is designed by utilizing a calculation result of a MatLab function care, and automatic tracking control of the variable-load steam pressure of the straw direct-fired circulating fluidized bed boiler on the target value is achieved. The invention has simple design, simple and convenient implementation and strong practicability, and improves the control level of the operation of the combustion system of the straw direct-fired circulating fluidized bed boiler.
Description
Technical Field
The invention belongs to the field of automatic control of straw direct-fired circulating fluidized bed boilers, and relates to a variable-load steam pressure tracking control method of a straw direct-fired circulating fluidized bed boiler.
Background
The straw is a renewable clean fuel which can be efficiently utilized, can replace mineral substance fuels such as coal, petroleum, natural gas and the like to generate electric power, not only reduces the dependence of human on mineral energy and protects national energy resources, but also strictly realizes the efficient combustion of the straw, is an important means for reducing the concentration of PM2.5 in China and reduces the pollution of energy consumption to the environment. At present, a relatively perfect straw agricultural waste combustion power plant is established in European and American countries, the straw direct combustion power generation and heat supply are proved to have remarkable energy benefits and environmental benefits, the waste straw recycling increases the income of farmers, and the farmers are economically guaranteed not to burn straws in disorder. Different from mineral fuel such as coal, petroleum, natural gas and the like, straws of different varieties and production places have different component proportions such as fixed carbon, volatile matters, moisture, ash content and the like, and the quality of the straw fuel is greatly different due to the influence of pretreatment means and local climate during recovery. Because the circulating fluidized bed boiler has better adaptability to the fuel quality, the current circulating fluidized bed straw combustion technology is developed very rapidly in China. In the circulating fluidized bed straw combustion process, the change of the steam pressure of the fluidized bed boiler represents the steam consumption fluctuation characteristics of the steam yield and load of the boiler. When the load steam consumption demand changes, the supply of straw fuel must be changed correspondingly, so that the change of the steam pressure of the circulating fluidized bed boiler can meet the requirement that the steam output of the fluidized bed boiler can track the change of the load steam consumption in time. In the straw direct-fired power generation unit, the combustion steam pressure control and the steam turbine load control of the circulating fluidized bed boiler are mutually related, and the steam pressure control system of the boiler has the task of timely adjusting the fuel quantity of the boiler to enable the steam quantity output of the straw direct-fired circulating fluidized bed boiler to be adaptive to the energy input required by the steam turbine for the external load, and the steam pressure output of the straw direct-fired circulating fluidized bed boiler is marked by stably and quickly tracking the demand change of variable load steam consumption. Through the search of documents of the variable-load steam pressure tracking control method of the existing straw direct-fired circulating fluidized bed boiler, the current variable-load steam pressure tracking control method of the straw direct-fired circulating fluidized bed boiler mainly comprises the following steps: the method comprises the steps of carrying out variable-load steam pressure tracking control on a straw direct-fired circulating fluidized bed boiler based on a conventional PID technology, carrying out variable-load steam pressure tracking control on the straw direct-fired circulating fluidized bed boiler based on a fuzzy control technology and carrying out variable-load steam pressure tracking control on the straw direct-fired circulating fluidized bed boiler based on a neural network control technology, wherein the conventional PID tracking control on the steam pressure cannot change along with the change of the fuel quality and the load steam consumption of the straws due to the fact that the parameters of a controller are determined off-line, and therefore a corresponding steam pressure target value caused by the change of the load steam consumption cannot be tracked well; similarly, due to the large difference of the straw fuel quality, a large number of ambiguity functions are required to be adopted, so that the calculation amount of the tracking control method for the variable-load steam pressure of the circulating fluidized bed boiler is large; the variable-load steam pressure tracking control method of the straw direct-fired circulating fluidized bed boiler based on the neural network control technology needs a large amount of industrial data samples for offline training of model parameters of the straw direct-fired process so as to ensure that a more accurate dynamic relation between steam pressure and straw fuel quantity is obtained. Because of frequent fluctuation of straw fuel quality and periodic change of user requirements, but the requirements on real-time performance, rapidity and accuracy of steam pressure tracking control of the circulating fluidized bed boiler are high, therefore, although research on a variable-load steam pressure tracking control method of the straw direct-fired circulating fluidized bed boiler achieves some achievements, in recent years, relevant scholars still conduct a great deal of research and discussion on the challenging important problem to meet the urgent need of straw direct-fired power generation and heat supply processes on a high-quality circulating fluidized bed straw direct-fired control technology.
Disclosure of Invention
In order to overcome the defects of abstract understanding, complex on-line calculation and complex application process of the traditional variable-load steam pressure tracking control method of the straw direct-fired circulating fluidized bed boiler, the invention provides the variable-load steam pressure tracking control method of the straw direct-fired circulating fluidized bed boiler, which has the advantages of intuitive understanding, simple design and easiness in realization.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a variable-load steam pressure tracking control method for a straw direct-fired circulating fluidized bed boiler comprises the following steps:
1) considering a three-order continuous time dynamic model of variable load steam pressure and straw fuel quantity of the straw direct-fired circulating fluidized bed boiler, referring to formula (1):
wherein t represents a time variable; x is the number of1Represents the vapor pressure, MPa, of the circulating fluidized bed boiler; x is the number of2Representing the change speed of the steam pressure of the circulating fluidized bed boiler; x is the number of3Representing the change acceleration of the steam pressure of the circulating fluidized bed boiler; "·" denotes the first derivative of the corresponding variable; m represents the straw fuel amount for combustion, t/h; the constant G represents the steady-state gain of the steam pressure of the circulating fluidized bed boiler; constant T1、T2And tau respectively represents the pressure time constant, the steam pressure time constant and the time lag, s, of the circulating fluidized bed boiler drum;
2) and defining an integral quantity q (t) of the variable-load steam pressure tracking deviation of the straw direct-fired circulating fluidized bed boiler, and referring to a formula (2):
wherein the symbol s represents an integration time variable within the integrator; prRepresenting a target value of the steam pressure of the straw direct-fired circulating fluidized bed boiler; the first derivative of the integral quantity q (t) is calculated, see formula (3):
wherein,representing a first derivative of the vapor pressure tracking deviation integral quantity to a time variable;
3) combining the formula (1) and the formula (3), establishing a continuous time expansion state space model of variable load steam pressure and straw fuel quantity of the straw direct-fired circulating fluidized bed boiler, and referring to the formula (4):
wherein, the column vector z ═ x1,x2,x3,q]TThe superscript T represents the vector transposition; matrices A, B and C are respectively
4) And setting a parameter mu >0, and designing a tracking control law for calculating the straw combustion amount of the variable-load steam pressure tracking control system of the straw direct-fired circulating fluidized bed boiler at the time t, wherein the tracking control law refers to an expression (5):
M(t)＝-μBWz(t) (5)
wherein, the matrix W is a positive definite symmetric matrix, is calculated by a MatLab function care, and is shown in a formula (6):
wherein, the matrix I4Is an identity matrix of 4 orders;
5) the actual value and the target value of the steam pressure of the straw direct-fired circulating fluidized bed boiler are measured and read on line, the straw combustion amount of the circulating fluidized bed boiler is calculated in real time according to the formula (5), and the automatic combustion control system of the circulating fluidized bed boiler adjusts the straw combustion amount entering the circulating fluidized bed boiler in real time according to the calculation result of the straw combustion amount; in the next control period, the actual value and the target value of the steam pressure of the circulating fluidized bed boiler are measured and read again, the straw combustion amount of the circulating fluidized bed boiler is calculated in real time according to the formula (5), the automatic combustion control system of the circulating fluidized bed boiler adjusts the straw combustion amount entering the circulating fluidized bed boiler in real time according to the calculation result of the straw combustion amount, and the steps are repeated in this way, so that the variable load steam pressure of the straw direct-fired circulating fluidized bed boiler is adjusted to the target value PrAutomatic tracking control of (2).
The technical conception of the invention is as follows: aiming at the control problem of the actual steam pressure tracking target value in the variable load of the straw direct-fired circulating fluidized bed boiler, a continuous time dynamic model of the steam pressure and the straw combustion amount of the straw direct-fired circulating fluidized bed boiler is established, an integral quantity of tracking deviation is defined according to the steam pressure target value, a continuous time expansion dynamic model of the steam pressure and the straw combustion amount of the straw direct-fired circulating fluidized bed boiler is further established, a variable load steam pressure automatic tracking controller of the straw direct-fired circulating fluidized bed boiler is designed by utilizing the calculation result of a MatLab function care, and automatic tracking control of the variable load steam pressure of the straw direct-fired circulating fluidized bed boiler on the target value is realized.
The main execution part of the invention is operated and implemented on a control computer of the circulating fluidized bed boiler. The application process of the method can be roughly divided into 3 stages:
1. setting parameters: including model parameters and tracking controller parameters: in the model import interface, constant G, T in model equation (1) is input1、T2And the value of τ; in the tracking controller parameter setting interface, the controller parameter mu is input>0; after the input parameters are confirmed, the control computer sends the setting data into a computer storage unit RAM for storage;
2. off-line debugging: clicking a 'debugging' button in a configuration interface, enabling a control system to enter a debugging stage of a tracking controller, taking unit step response of the steam pressure of the straw direct-fired circulating fluidized bed boiler as a test experiment, adjusting a parameter mu in the configuration interface, and observing the control effect of the steam pressure of the straw direct-fired circulating fluidized bed boiler and the combustion amount of straws, thereby determining a parameter capable of well realizing variable-load steam pressure tracking control of the straw direct-fired circulating fluidized bed boiler; the value rule of the parameter mu is as follows: μ is a positive real number; adjustment rule of parameter μ: increasing the value of mu shortens the tracking and adjusting time of the steam pressure response of the straw direct-fired circulating fluidized bed boiler, but increases the straw combustion amount; on the contrary, reducing the value of mu can smooth the steam pressure response and the straw combustion amount of the straw direct-fired circulating fluidized bed boiler, but prolong the tracking and adjusting time of the steam pressure response of the circulating fluidized bed boiler, so that when the parameter mu is actually adjusted, the comprehensive performance among the overshoot, the tracking and adjusting time, the damping effect and the straw combustion amount of the steam pressure response of the straw direct-fired circulating fluidized bed boiler can be balanced;
3. and (3) online operation: clicking a 'run' button on a configuration interface, starting a CPU (central processing unit) of a combustion control computer of the straw direct-fired circulating fluidized bed boiler to read steam pressure model parameters and controller parameters of the circulating fluidized bed boiler, executing a 'variable-load steam pressure tracking control program' of the straw direct-fired circulating fluidized bed boiler, and reading straw direct-fired circulation through online measurementCalculating the straw combustion amount of the circulating fluidized bed boiler in real time according to the actual value and the target value of the steam pressure of the fluidized bed boiler, adjusting the straw combustion amount entering the fluidized bed boiler in real time according to the calculation result of the straw combustion amount by the automatic tracking control system for the circulating fluidized bed boiler combustion, and repeating the steps in this way to realize the load-variable steam pressure of the straw direct-fired circulating fluidized bed boiler to the target value PrAutomatic tracking control of (2).
The invention has the following beneficial effects: 1. the variable-load steam pressure tracking control method of the straw direct-fired circulating fluidized bed boiler only has one design parameter, and is simple in design, easy to understand, simple and convenient to implement on line and high in practicability; 2. the straw direct-fired circulating fluidized bed boiler can automatically realize calculation and adjustment control of the straw combustion amount when the steam pressure deviates from a target value under variable load, thereby being suitable for more complicated and various variable load working conditions, meeting the arching requirement of the straw direct-fired circulating fluidized bed boiler on the rapid load steam consumption and improving the control level of the operation of the combustion system of the straw direct-fired circulating fluidized bed boiler.
Drawings
Fig. 1 is a real-time steam pressure tracking curve of a straw direct-fired circulating fluidized bed boiler, wherein a dotted line is a real-time steam pressure target value curve of the straw direct-fired circulating fluidized bed boiler, and a solid line is a real-time steam pressure response curve of the straw direct-fired circulating fluidized bed boiler.
FIG. 2 is a real-time straw combustion amount curve of the straw direct-fired circulating fluidized bed boiler.
Detailed Description
The method of the present invention is described in further detail below with reference to the accompanying drawings.
Referring to fig. 1 and 2, a variable-load steam pressure tracking control method for a straw direct-fired circulating fluidized bed boiler comprises the following steps:
1) considering a three-order continuous time dynamic model of variable load steam pressure and straw fuel quantity of the straw direct-fired circulating fluidized bed boiler, referring to formula (1):
wherein t represents a time variable; x is the number of1Represents the vapor pressure, MPa, of the circulating fluidized bed boiler; x is the number of2Representing the change speed of the steam pressure of the circulating fluidized bed boiler; x is the number of3Representing the change acceleration of the steam pressure of the circulating fluidized bed boiler; "·" denotes the first derivative of the corresponding variable; m represents the straw fuel amount for combustion, t/h; the constant G represents the steady-state gain of the steam pressure of the circulating fluidized bed boiler; constant T1、T2And tau respectively represents the pressure time constant, the steam pressure time constant and the time lag, s, of the circulating fluidized bed boiler drum;
2) and defining an integral quantity q (t) of the variable-load steam pressure tracking deviation of the straw direct-fired circulating fluidized bed boiler, and referring to a formula (2):
wherein the symbol s represents an integration time variable within the integrator; prRepresenting a target value of the steam pressure of the straw direct-fired circulating fluidized bed boiler; the first derivative of the integral quantity q (t) is calculated, see formula (3):
wherein,representing a first derivative of the vapor pressure tracking deviation integral quantity to a time variable;
3) combining the formula (1) and the formula (3), establishing a continuous time expansion state space model of variable load steam pressure and straw fuel quantity of the straw direct-fired circulating fluidized bed boiler, and referring to the formula (4):
wherein, the column vector z ═ x1,x2,x3,q]TThe superscript T represents the vector transposition; matrices A, B and C are respectively
4) And setting a parameter mu >0, and designing a tracking control law for calculating the straw combustion amount of the variable-load steam pressure tracking control system of the straw direct-fired circulating fluidized bed boiler at the time t, wherein the tracking control law refers to an expression (5):
M(t)＝-μBWz(t) (5)
wherein, the matrix W is a positive definite symmetric matrix, is calculated by a MatLab function care, and is shown in a formula (6):
wherein, the matrix I4Is an identity matrix of 4 orders;
5) the actual value and the target value of the steam pressure of the straw direct-fired circulating fluidized bed boiler are measured and read on line, the straw combustion amount of the circulating fluidized bed boiler is calculated in real time according to the formula (5), and the automatic combustion control system of the circulating fluidized bed boiler adjusts the straw combustion amount entering the circulating fluidized bed boiler in real time according to the calculation result of the straw combustion amount;
in the next control period, the actual value and the target value of the steam pressure of the circulating fluidized bed boiler are measured and read again, the straw combustion amount of the circulating fluidized bed boiler is calculated in real time according to the formula (5), the automatic combustion control system of the circulating fluidized bed boiler adjusts the straw combustion amount entering the circulating fluidized bed boiler in real time according to the calculation result of the straw combustion amount, and the steps are repeated in this way, so that the variable load steam pressure of the straw direct-fired circulating fluidized bed boiler is adjusted to the target value PrAutomatic tracking control of (2).
The embodiment is a variable-load steam pressure tracking control process of a straw direct-fired circulating fluidized bed boiler, and the method specifically comprises the following operations:
1. in a parameter setting interface, inputting constant values G-5 and T in a variable load steam pressure tracking control process of the straw direct-fired circulating fluidized bed boiler1＝5、T290 and τ 20; inputting a controller parameter mu;
2. clicking a debugging button on a configuration interface to enter a debugging interface, starting a CPU (central processing unit) of a main control computer to call a pre-programmed tracking control program to debug and determine a controller parameter mu, and the specific process is as follows: comprehensively considering the comprehensive performance among the overshoot of the steam pressure response, the tracking adjustment time, the damping effect and the straw combustion amount of the straw direct-fired circulating fluidized bed boiler according to the value and the adjustment rule of the parameter mu, adjusting the parameter mu to be 0.0015, and storing the adjustment result in a computer storage unit RAM;
3. clicking a 'operation' button on a configuration interface, starting a CPU (central processing unit) of a control computer of the straw direct-fired circulating fluidized bed boiler to read parameters of a variable-load steam pressure tracking control process model and parameters of a controller of the straw direct-fired circulating fluidized bed boiler, and executing 'straw direct-fired' controlA variable load steam pressure tracking control program of the circulating fluidized bed boiler, which reads the actual value and the target value of the steam pressure of the circulating fluidized bed boiler through online measurement, calculates and controls the combustion amount of straws entering the circulating fluidized bed boiler, and realizes the aim of the steam pressure target value P of the straw direct-fired circulating fluidized bed boilerrAutomatic tracking control of (2). When the next control period is reached, the actual value and the target value of the steam pressure of the circulating fluidized bed boiler are measured and read on line, then the whole execution process is repeated, and the steps are repeated in such a way, so that the target value P of the steam pressure of the straw direct-fired circulating fluidized bed boiler to the steam pressure is realizedrAutomatic tracking control of (2).
The actual tracking control effect is shown in fig. 1 and fig. 2, fig. 1 is a real-time steam pressure tracking curve of the straw direct-fired circulating fluidized bed boiler, wherein a dotted line is a real-time steam pressure target value curve of the straw direct-fired circulating fluidized bed boiler, and a solid line is a real-time steam pressure response curve of the straw direct-fired circulating fluidized bed boiler; FIG. 2 is a real-time straw combustion amount curve of the straw direct-fired circulating fluidized bed boiler.
The above illustrates the automatic tracking control effect of the variable-load steam pressure of the straw direct-fired circulating fluidized bed boiler, which is shown by the embodiment of the invention and has excellent control performance. It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that any modifications made within the spirit of the invention and the scope of the appended claims fall within the scope of the invention.
Claims (1)
1. A variable-load steam pressure tracking control method for a straw direct-fired circulating fluidized bed boiler is characterized by comprising the following steps: the method comprises the following steps:
1) considering a three-order continuous time dynamic model of variable load steam pressure and straw fuel quantity of the straw direct-fired circulating fluidized bed boiler, referring to formula (1):
wherein t representsA time variable; x is the number of1Represents the vapor pressure, MPa, of the circulating fluidized bed boiler; x is the number of2Representing the change speed of the steam pressure of the circulating fluidized bed boiler; x is the number of3Representing the change acceleration of the steam pressure of the circulating fluidized bed boiler; "·" denotes the first derivative of the corresponding variable; m represents the straw fuel amount for combustion, t/h; the constant G represents the steady-state gain of the steam pressure of the circulating fluidized bed boiler; constant T1、T2And tau respectively represents the pressure time constant, the steam pressure time constant and the time lag, s, of the circulating fluidized bed boiler drum;
2) and defining an integral quantity q (t) of the variable-load steam pressure tracking deviation of the straw direct-fired circulating fluidized bed boiler, and referring to a formula (2):
wherein the symbol s represents an integration time variable within the integrator; prRepresenting a target value of the steam pressure of the straw direct-fired circulating fluidized bed boiler; the first derivative of the integral quantity q (t) is calculated, see formula (3):
wherein,representing a first derivative of the vapor pressure tracking deviation integral quantity to a time variable;
3) combining the formula (1) and the formula (3), establishing a continuous time expansion state space model of variable load steam pressure and straw fuel quantity of the straw direct-fired circulating fluidized bed boiler, and referring to the formula (4):
wherein, the column vector z ═ x1,x2,x3,q]TThe superscript T represents the vector transposition; matrix A, B and C scoreIs otherwise provided with
4) And setting a parameter mu >0, and designing a tracking control law for calculating the straw combustion amount of the variable-load steam pressure tracking control system of the straw direct-fired circulating fluidized bed boiler at the time t, wherein the tracking control law refers to an expression (5):
M(t)＝-μBWz(t) (5)
wherein, the matrix W is a positive definite symmetric matrix, is calculated by a MatLab function care, and is shown in a formula (6):
wherein, the matrix I4Is an identity matrix of 4 orders;
5) the actual value and the target value of the steam pressure of the straw direct-fired circulating fluidized bed boiler are measured and read on line, the straw combustion amount of the circulating fluidized bed boiler is calculated in real time according to the formula (5), and the automatic combustion control system of the circulating fluidized bed boiler adjusts the straw combustion amount entering the circulating fluidized bed boiler in real time according to the calculation result of the straw combustion amount; in the next control period, the actual value and the target value of the steam pressure of the circulating fluidized bed boiler are measured and read again, the straw combustion amount of the circulating fluidized bed boiler is calculated in real time according to the formula (5), the automatic combustion control system of the circulating fluidized bed boiler adjusts the straw combustion amount entering the circulating fluidized bed boiler in real time according to the calculation result of the straw combustion amount, and the steps are repeated in this way, so that the variable load steam pressure of the straw direct-fired circulating fluidized bed boiler is adjusted to the target value PrAutomatic tracking control of (2).
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| PCT/CN2018/110347 WO2019114402A1 (en) | 2017-12-13 | 2018-10-16 | Variable load steam pressure tracking control method for straw direct-fired circulating fluidized bed boiler |
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| CN105588122B (en) * | 2015-12-22 | 2018-02-13 | 山东中实易通集团有限公司 | A kind of fuel control method and system applied to CFBB |
| CN108119909B (en) * | 2017-12-13 | 2019-03-05 | 浙江工业大学 | Variable-load steam pressure tracking control method for straw direct-fired circulating fluidized bed boiler |
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| CN108119909A (en) | 2018-06-05 |
| WO2019114402A1 (en) | 2019-06-20 |
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