CN108427271A - Pressurized-water reactor nuclear power plant primary Ioops coolant temperature control method - Google Patents
Pressurized-water reactor nuclear power plant primary Ioops coolant temperature control method Download PDFInfo
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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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The present invention relates to a kind of pressurized-water reactor nuclear power plant primary Ioops coolant temperature control methods respectively to analyze one loop of nuclear power station temperature control system using PSO identifications and two kinds of intelligent algorithms of adaptive symmetry ambiguity PID, to the optimal control of complete paired systems.First part, initial fitting is carried out to controlled device response data, it is then based on PSO algorithm models and advanced optimizes identification to it, the essence of PSO algorithm models is that the solution representated by particle follows individual and global extremum to be updated in the form of vector calculus in continuous space, and random global search is carried out on this basis, improve precision, search efficiency and the convergence capabilities of algorithm.Second part, for pick out come system transter carry out PID controller design.The method of the present invention has the advantage of data identification precision height and control effect stabilization, advanced intelligent can be promoted to control research and application on correlation engineering field, to improve the controlled level of system.
Description
Technical field
It is the present invention relates to a kind of temprature control method, more particularly to a kind of based on PSO identifications and adaptive symmetry ambiguity PID
Pressurized-water reactor nuclear power plant primary Ioops coolant temperature control method.
Background technology
It generally requires to obtain the mathematical model of system, traditional method (two-point method or approximation method etc.) in Process Control System
The data that step response is acquired are done to system and are fitted identification, the identification function tentatively obtained, general identification precision is high.
Secondly, in terms of subsequent control strategy, PID control is one of the control strategy to grow up earliest again, due to the letter of its algorithm
List, Stability and dependability are good, and proper control performance can be provided for many control objects, was widely used in program-controlled
In system and motion control, in particular for the deterministic control system of mathematical models can be established, however, being given birth in actual industrial
Often there is non-linear, time-varying Hurst index during production, cannot reach ideal control using traditional conventional PID controller
Effect.And the research of related intelligent algorithm, then it is one of the major technique of modern project neighborhood optimization control.
The discrete point of the response of process channel System Discrimination Main Basiss step disturbance carries out the identification of model, therefore main
Discuss the acquiring method of step response method.By applying the phase step response signals of an input to primary Ioops temperature control system,
Then the step response observation for obtaining system carrys out the transmission function of identification system.Using the step response curve drawn out, so
It is suitble to regular step response curve using tangential method either two-point method come approximate transfer function, tangential method and two-point method afterwards,
And area-method can be used for being recognized in the case of step response curve is irregular, but area-method is computationally intensive.Work as step
When response curve comparison rule, approximation method, semilog method, tangential method and two-point method can relatively efficiently export transmission function,
But the versatility of these methods is poor, and computational accuracy depends on instrument of surveying and mapping；When irregular shape is presented in step response curve
When, area-method may be used, and there is be easy to be absorbed in Local Minimum area-method.So there is grain again in recent years
Subgroup optimizes the related INTELLIGENT IDENTIFICATION means such as PSO algorithms.
One during the PID controller parameter of temperature control channel is adjusted and the construction of nuclear power station is debugged after the completion is important
Work, the quality of parameter setting directly affects the quality of system operation.Traditional adjusts the people for mostly using that experiment and examination are gathered
Work Tuning, this method are difficult to find the pid parameter of global optimum, therefore the system quality after adjusting more depends on work
The experience of Cheng personnel.Currently, the method that PID is adjusted has：Setting method based on the identification of controlled process image parameter；Based on pattern
The expert system of identification is adjusted.And general PID is without adjusting, encountering such as nuclear power plant's temperature, to control non-linear routine right
When claiming data, it just will appear the difference of control, to influence control effect.
Therefore, research one kind can be suitably used for various validity test signals and the higher general discrimination method of precision is with important
Theory with real value meaning.
Invention content
The present invention be directed to non-linear, the time-varying Hurst index during actual industrial production, using traditional routine
PID controller cannot reach the problem of ideal control effect, it is proposed that a kind of pressurized-water reactor nuclear power plant primary Ioops coolant temperature
Control method is recognized by the PSO temperature jump response datas first obtained to the operation of nuclear power replicating machine, improves data identification
Precision improves the response time of system, the robustness of stability and system then with adaptive symmetry ambiguity PID control.
The technical scheme is that：A kind of pressurized-water reactor nuclear power plant primary Ioops coolant temperature control method, by temperature tune
The controlled device order transfer function of sectionIndicate, T1, T2 be respectively two-term coefficient with it is primary
Term coefficient, K, which is gain, to be worth to from the stable state of response, and T1 and T2 obtain excellent as particle progress particle group optimizing PS0 algorithms
Change the parameter of T1 and T2；The error e and error rate ec of desired temperature Ts and actual temperature T is defeated as fuzzy controller
Enter, the correction value of three parameters P, I, D of PID controller are exported as fuzzy controller, and PID control is sent in fuzzy controller output
Device；The error e of desired temperature Ts and actual temperature T send PID controller, PID controller output control controlled device.
The beneficial effects of the present invention are：Pressurized-water reactor nuclear power plant primary Ioops coolant temperature control method of the present invention, the party
Method can improve identification precision, response time and the robustness of System Discrimination function, simultaneously under the premise of ensureing that system is stablized
It is conducive to reduce systematic error again, ensures the reliability of whole system process identification and control, the safety to ensure nuclear power station is flat
Steady operation, reduces failure rate.
Description of the drawings
Fig. 1 is pressurized-water reactor nuclear power plant primary Ioops coolant temperature control schematic diagram of the present invention；
Fig. 2 is that the PSO that the present invention uses recognizes flow chart；
Fig. 3 is traditional PI D principle assumption diagrams；
Fig. 4 is the adaptive symmetry ambiguity PID theory structure illustratons of model of the present invention；
Fig. 5 is the adaptive symmetry ambiguity PID principle flow charts of the present invention；
Fig. 6 is that PSO of the present invention recognizes function error figure；
Fig. 7 is the adaptive symmetry ambiguity PID of the present invention and traditional PI D comparison diagrams.
Specific implementation mode
As shown in Figure 1 is the pressurized-water reactor nuclear power plant primary Ioops coolant temperature of PSO algorithm combining adaptive symmetry ambiguities PID
Control method is spent, Ts is desired temperature in figure, and T is actual temperature, Err temperature deviations.System is right by being blurred to deviation
The proportional integration and the differential gain for the symmetry ambiguity PID rule dynamic tunings PID that should be responded.In the object link of control loop,
Here object link can regard the generalized controlled object comprising actuator target transfer function and transmitter as, be distinguished by PSO
The data fitting for knowing algorithm combination open-loop response, can optimize transfer function model, raising transmission function and real object it is accurate
Degree.
It is illustrated in figure 2 the PSO identification flow charts that the present invention uses.It is recognized with PSO intelligent algorithms, is write here
Include main three functions inside PSO principal functions and subfunction, wherein principal function, fitness function F, renewal speed function V,
Update position function current_position；Tens groups of data are inputted inside subfunction, using two rank ssystem transfer functions, if
Set relevant load transfer function coefficient.
Vi=Vi+c1rand () (g-Xi)+c2rand () (Nbesti-Xi) (1)
Xi=Xi+Vi (2)
C1 and c2 is to accelerate constant in formula, is respectively regulated to the preferably particle direction flight of global preferably particle and individual most
Big step-length, if too small, particle can cause to fly to target area suddenly, or fly over possibly remote from target area if too big
Target area.Suitable c1, c2 can accelerate to restrain and be not easy to be absorbed in local optimum.Rand () is the random number between 0 to 1.
G is that population lives through to obtain desired positions, and Nbesti is the desired positions that lizii is lived through, and Vi and Xi is updated in above formula
Speed and position.Particle every one-dimensional flight speed no more than the maximum speed Vmax that algorithm is set.It is arranged larger
Vmax can ensure the ability of searching optimum of particle populations, and Vmax is smaller, and the local search ability of particle swarm optimization algorithm adds
By force.
Here it is general controlled device to need analysis system exponent number method using particle cluster algorithm Optimal Identification transmission function
It can be reduced to second-order system, as shown in formula (3), using the method for undetermined coefficients define the transmission letter of optimization to be identified here
Number, T1, T2 are respectively two-term coefficient and Monomial coefficient, and K, which is system gain, to be worth to from the stable state of response.Therefore grain
The parameter that subgroup mainly optimizes is the numerical value of T1 and T2, corresponding with algorithm, two-dimensional initial by randomly generating one first
Array respectively represents T1 and T2, then current optimum position is judged by fitness function and the position and speed more than passing through more
The parameter of new function iteration optimization T1 and T2, until meeting end condition.
Then, it after obtaining satisfactory identification function, is compared with the function of initial fitting before.Then, to its into
The optimal control link of the adaptive symmetry ambiguity PID of row, at this point, establish the adaptive fuzzy controller of 2 inputs 3 output here
Regular symmetric library and membership function, the controller are three of PID controller using error e and error rate ec as input
The correction value of parameter P, I, D are as output.And it compares, and then obtains adaptive symmetrical with traditional PID control method
The related superior function of fuzzy.
Correctness to illustrate the invention and feasibility, to what is acquired on the replicating machine of Daya Bay nuclear power plant's 900MW units
Temperature data carries out simulating, verifying.The experiment parameter is the response data that Operation at full power operating mode adds 5% negative step signal.46 groups
Data, in every group of data, first number is represented to the run time after step signal, and second number represents open cycle system step sound
The data that coolant temperature changes over time are answered, the specific data that emulate are：
0,310.07；1,309.15；2,308.95；3,308.98；4,309.07；5,309.11；6,309；7,308.9；
8,308.83；9,308.81；10,308.81；
11,308.8；12,308.8；13,308.81；14,308.83；15,308.85；16,308.84；17,308.82；
18,308.81；19,308.81；20,308.81；
21,308.81；22,308.8；23,308.8；24,308.8；25,308.8；26,308.8；27,308.79；28,
308.79；29,308.78；30,308.78；
31,308.78；32,308.78；33,308.77；34,308.77；35,308.77；36,308.77；37,
308.76；38,308.76；39,308.76；40,308.76；
41,308.76；42,308.76；43,308.76；44,308.76；45,308.76；
Attached drawing 3 shows that traditional PI D theory structures, Fig. 4 show adaptive symmetry ambiguity PID theory structure models, Fig. 5
It is adaptive symmetry ambiguity PID principle flow charts.
In Fig. 3 traditional PI D structures, r (t) is reference-input signal, and (e) deviation signal, u (t) believe t in order to control in order to control
Number, y (t) is controlled system output signal.Wherein control deviation signal (e) t=r (t)-y (t) control signal u (t)
Design parameter inside PSO principal functions is as follows：
Population scale n=10；Maximum iteration bird_setp=500；Dimension dim=2；The C1 Studying factors C1 of PSO
=0.1；The C2 Studying factors C2=0.1 of PSO；PSO inertia weights, w=0.9；
Fitness, renewal speed function, update position function inside PSO principal functions are respectively
F=mean (abs (step (sys, 0：45)-a(：, 2)))；
V=w*v+c1* (R1.* (local_best_position-current_position))+c2* (R2.*
(globl_best_position-current_position))；
Current_position=current_position+v；
46 groups of data are inputted inside subfunction, are recognized as using two rank ssystem transfer functions,
Num=[k]；
Den=[T1 T2 1]；
Sys=tf (num, den)；
PSO Optimal Identification order transfer function parameters K=1.21, T1, T2 is as follows；
As a result the parameter value of TI, T2
Ans=0.220400390912389
1.063230164362370
System order transfer function is
S=tf (1.21, [ans ' 1])
S=1.21
-----------------
0.2204s^2+1.063s+1
Error analysis：Observation chart 6, abscissa are iterations, and ordinate is to recognize relative error, maximum error in figure
0.67%；The numerical value and initial data of the time domain response for the transmission function calculated by two-point method known to two above-mentioned curves
The numerical value of difference is mostly present between -1% to 1%, is met the requirements.
According to requiring, for pid parameter adjustment fuzzy controller using two inputs, three output forms.The controller is
Using error e and error rate ec as input, the correction value of three parameters P, I, D of PID controller are as output.Take input
Error e and error rate ec and the fuzzy subset of output are { NB, NM, NS, ZO, PS, PM, PB }, element generation respectively in subset
Table is negative big, negative small in bearing, and zero, just small, center is honest.Error e and the value range of error rate ec are [- 3,3].Table 1
It is adaptive symmetry ambiguity rule list.
By the adaptive symmetry ambiguity PID (dotted line) of Fig. 7 and traditional PI D (straight line) comparing result figure, it can be seen that fuzzy
The rise time of PID control gets well in t=1s or so, effect than traditional PI D effects.By simulation result it is found that fuzzy control
System is with compared with conventional PID control, and with higher control accuracy, regulating time is short, and vulnerability to jamming is good, and it is excellent that control effect is good etc.
Point.It follows that middle the shortcomings that conventional PID controller can be overcome using fuzzy-adaptation PID control, by fuzzy control and PID control
Device combines, and maximizes favourable factors and minimizes unfavourable ones, and it is excellent not only to maintain that regulatory PID control system principle is simple, easy to use, robustness is stronger etc.
Point, and it is more preferable with greater flexibility, adjusting property, control accuracy.
Claims (1)
1. a kind of pressurized-water reactor nuclear power plant primary Ioops coolant temperature control method, which is characterized in that adjust temperature controlled pair
As with order transfer functionIt indicates, T1, T2 are respectively two-term coefficient and Monomial coefficient, and K is
Gain can be worth to from the stable state of response, and T1 and T2 carry out particle group optimizing PSO algorithms as particle and obtain optimization T1's and T2
Parameter；The error e and error rate ec of desired temperature Ts and actual temperature T is inputted as fuzzy controller, PID controller
Three parameters P, I, D correction value as fuzzy controller export, fuzzy controller output send PID controller；
The error e of desired temperature Ts and actual temperature T send PID controller, PID controller output control controlled device.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110729066A (en) * | 2019-11-02 | 2020-01-24 | 哈尔滨工程大学 | Coordination control method for unattended small pressurized water reactor |
| CN114002946A (en) * | 2021-12-31 | 2022-02-01 | 浙江中控技术股份有限公司 | Self-adaptive PID parameter setting method, system, electronic equipment and storage medium |
| CN117079848A (en) * | 2023-10-17 | 2023-11-17 | 四川大学 | Nuclear power plant primary loop optimal temperature measurement point selection method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110729066A (en) * | 2019-11-02 | 2020-01-24 | 哈尔滨工程大学 | Coordination control method for unattended small pressurized water reactor |
| CN114002946A (en) * | 2021-12-31 | 2022-02-01 | 浙江中控技术股份有限公司 | Self-adaptive PID parameter setting method, system, electronic equipment and storage medium |
| CN114002946B (en) * | 2021-12-31 | 2022-05-03 | 浙江中控技术股份有限公司 | Self-adaptive PID parameter setting method, system, electronic equipment and storage medium |
| CN117079848A (en) * | 2023-10-17 | 2023-11-17 | 四川大学 | Nuclear power plant primary loop optimal temperature measurement point selection method |
| CN117079848B (en) * | 2023-10-17 | 2023-12-19 | 四川大学 | Nuclear power plant primary loop optimal temperature measurement point selection method |
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Application publication date: 20180821 |