CN110847111B - Method for acquiring hydropower station gate scheduling parameters based on semi-physical simulation - Google Patents
Method for acquiring hydropower station gate scheduling parameters based on semi-physical simulation Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
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Abstract
The invention provides a method for acquiring a hydropower station gate dispatching parameter based on semi-physical simulation, which comprises the following steps: combing modeling service data aiming at a flood discharge gate of a hydropower station; defining simulation units according to the modeling service data in a classified manner; constructing each simulation unit through an entity model or a mathematical model; and connecting the simulation units through physical signals and carrying out hydropower station gate opening and closing simulation experiments to obtain hydropower station gate dispatching parameters. Aiming at the defects of the prior art, the invention provides a method for acquiring the gate scheduling parameters of the hydropower station based on semi-physical simulation, which simulates various complex hydrological environments and scheduling constraints and reduces the burden of manual calculation; the performance and efficiency of the scheduling algorithm can be conveniently verified, and the cost and risk of actual field experiments are reduced.
Description
Technical Field
The invention relates to the technical field of water conservancy systems, in particular to a method for acquiring a hydropower station gate dispatching parameter based on semi-physical simulation.
Background
The hydropower station is a very important water conservancy facility, gives consideration to various benefits such as flood control, power generation, shipping, ecology and the like, and generates great economic value and social value. The control management work of the hydropower station is rather complicated and difficult. Especially in flood season, as the hydropower station is provided with a plurality of different types of water drainage units (gates), and the opening conditions of different gates are complicated and changeable, the requirement on linkage response speed is high. Therefore, dispatching personnel of the hydropower station need to comprehensively consider various factors and perform complicated and time-consuming manual calculation and test according to operation experience so as to obtain an optimized and efficient dispatching instruction.
Due to the fact that complexity considered by manual calculation is limited, the method is difficult to deal with variable natural conditions, an optimal scheme is usually difficult to obtain by gate scheduling calculation, a lot of social benefits and economic benefits are wasted, and a lot of risks are hidden. In addition, the gate needs to be frequently operated in the test process, the cost is very high, the safety and the service life of the gate are adversely affected, extra risks are brought, and the scheduling difficulty of a downstream power station is increased.
How to better handle changeable environmental factor, consider various benefits and the safety of power station self, quick high efficiency confirms the gate and opens and close the scheme, under the prerequisite that satisfies flood control safety, maximize excavation economic benefits and social, reduce scheduling personnel working strength, improve the power station life-span, have very important meaning.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for acquiring the gate scheduling parameters of the hydropower station based on semi-physical simulation, which simulates various complex hydrological environments and scheduling constraints and reduces the burden of manual calculation; the performance and efficiency of the scheduling algorithm can be conveniently verified, and the cost and risk of actual field experiments are reduced.
The invention provides a method for acquiring a hydropower station gate dispatching parameter based on semi-physical simulation, which comprises the following steps:
combing modeling service data aiming at a flood discharge gate of a hydropower station; defining simulation units according to the modeling service data in a classified manner; constructing each simulation unit through an entity model or a mathematical model; and connecting the simulation units through physical signals and carrying out hydropower station gate opening and closing simulation experiments to obtain hydropower station gate dispatching parameters.
In the above technical solution, the modeling service data includes: the shape, state and constraint of the flood discharge facility, and the application water level range, the maximum opening difference of adjacent gates, the maximum opening difference of symmetrical gates, the opening sequence of the gates, the maximum opening, the minimum opening and the state of the gates; the initial conditions of the hydropower station comprise an initial starting water level, a reservoir flow forecasting process, a gate initial state and a power generation operation plan; the constraint conditions of the reservoir comprise a lowest highest water level, a minimum maximum storage capacity, a minimum maximum flow and a gate opening interval; the characteristic data of the hydropower station operation comprises a water level reservoir capacity curve, a downward discharge capacity curve and a tail water level flow relation table.
In the technical scheme, a mathematical model is established and a simulation unit is defined according to modeling service data of the hydropower station gate and reasonable division according to functions, service complexity and coupling degree.
In the technical scheme, the simulation unit comprises a gate simulation unit, a reservoir simulation unit, a dispatching simulation unit and a hydrological environment simulation unit;
the gate simulation unit models and simulates shapes, states and constraints of different flood discharging facilities. Different flood discharge facilities comprise surface holes, middle holes, bottom holes, flood discharge holes, flap doors and the like, and the states and constraints comprise an application water level range, a maximum opening difference of adjacent gates, a maximum opening difference of symmetrical gates, a gate opening sequence, a maximum opening, a minimum opening and a gate state;
the reservoir simulation unit models and simulates initial conditions, states and constraints of a reservoir, wherein the initial conditions of the reservoir comprise information such as initial starting water level, reservoir flow forecasting process, initial state of a gate, power generation operation plan and the like, and the constraints comprise lowest and highest water levels, minimum and maximum storage capacity, minimum and maximum flow and gate opening intervals;
the scheduling simulation unit models and simulates scheduling characteristic data of the hydropower station, and the scheduling characteristic data comprises a water level reservoir capacity curve, a downward discharge capacity curve and a tail water level flow relation table;
the hydrological environment simulation unit models and simulates the hydrological environment of the hydropower station.
In the technical scheme, the entity model is provided with a sensor and a controller, the entity model is used for simulating the shapes and states of different flood discharge facilities, the controller receives physical signals sent by other simulation units and is used for taking the running state of the entity model as input information of the simulation unit, and the sensor is used for acquiring simulation related data as output information of the simulation unit and sending the output information to other simulation units in the form of the physical signals.
In the above technical solution, the type of the physical signal includes an analog quantity, a digital quantity, a serial signal or a TCP/IP signal.
In the technical scheme, the simulation unit based on the mathematical model is provided with a board card capable of acquiring and exciting physical signals; the board card for collecting the physical signals receives the physical signals sent by other simulation units and converts the physical signals into digital quantity as the input of a mathematical model; and the board card for exciting the physical signals converts the output of the mathematical model into physical signals and sends the physical signals to other simulation units.
In the above technical solution, the method for making the solid model includes the following steps:
A. firstly, vector information of the hydropower station and the surrounding environment is obtained. The vector information refers to dimension information of the hydropower station such as size, length, height, reservoir capacity and flow of the hydropower station.
B. Acquiring vector information in a laboratory, including the size, length, width and height of the laboratory;
C. comparing according to the vector information to obtain a scale of the mini entity model;
D. and manufacturing a mini entity model according to the scale, and installing a sensor and a controller.
In the above technical solution, the method for constructing the simulation unit based on the mathematical model includes the following steps:
building a mathematical model and simulating in an MATLAB/Simulink environment of a development host; converting the mathematical model into a binary code capable of running under a real-time simulation machine by using a Simulink tool; downloading the generated binary codes to a real-time simulation machine through a simulation management tool for running; the real-time simulator is used for collecting and exciting various physical signals in real time.
The invention provides a hydropower station gate dispatching parameter obtaining method based on semi-physical simulation. Various hydrological conditions and scheduling constraints are simulated in a laboratory environment and are connected through various physical signals and various semi-physical simulation units. The semi-physical simulation technology can truly simulate various complex hydrological environments and scheduling constraints, and reduces the burden of manual calculation; the performance and efficiency of the scheduling algorithm can be conveniently verified, and the cost and risk of actual field experiments are reduced. The simulation and optimization of the operation of the hydropower station gate can be completed in a laboratory environment through the method, the working efficiency is improved, the cost and the risk of external field realization are reduced, and the loss of actual equipment is reduced. The invention defines the signal protocol connected with each other by dividing different simulation units, thereby improving the expansibility of the simulation system. The invention defines two types of simulation unit types, is beneficial to the convenience of the upgrade of the simulation system and improves the maintainability. The invention adopts the semi-physical simulation technology, can approach the actual operating environment as much as possible, improves the reliability of the simulation system result, and can more conveniently apply the result to the actual operating environment.
Drawings
FIG. 1 is a schematic diagram of the architecture of the present invention;
FIG. 2 is a schematic signal transmission diagram of each simulation unit of the present invention;
FIG. 3 is a schematic diagram of simulation unit partitioning according to the present invention;
FIG. 4 is a solid model construction flow diagram;
FIG. 5 is a block diagram of a real-time simulator running a mathematical model;
FIG. 6 is a real-time simulator simulation scenario running a mathematical model
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in the figure, the invention discloses a hydropower station gate dispatching parameter obtaining method based on semi-physical simulation, which mainly aims to perform mathematical modeling on a hydropower station and then simulate a mathematical model in a semi-physical simulation mode so as to obtain hydropower station gate dispatching parameters and achieve the purpose of gate opening and closing optimization. The method mainly comprises the following steps:
1. and combing the modeling service data aiming at the flood discharge gate of the hydropower station.
1) The hydropower station has various flood discharge facilities including surface holes, middle holes, bottom holes, flood discharge holes, flap gates and the like. The shapes, states and constraints of different flood discharge facilities are different, and the shapes, the states and the constraints comprise an application water level range, a maximum opening difference of adjacent gates, a maximum opening difference of symmetrical gates, a gate opening sequence, a maximum opening, a minimum opening, a gate state and the like.
2) The initial conditions of the hydropower station need to be considered, and the initial conditions comprise information such as initial starting and regulating water level, reservoir flow forecasting process, initial state of a gate, power generation operation plan and the like.
3) The reservoir has many constraints including the constraints of lowest and highest water level, minimum and maximum storage capacity, minimum and maximum flow, gate opening interval and the like.
4) The hydropower station also has various characteristic data including a water level reservoir capacity curve, a downward discharge capacity curve, a tail water level flow relation table and the like during operation.
2. And aiming at the hydropower station gate modeling service data, reasonably dividing according to functions, service complexity and coupling degree, establishing a mathematical model and defining a simulation unit.
1) And defining a gate simulation unit. The gate simulation unit models and simulates the shapes, states and constraints of different flood discharge facilities. Different flood discharge facilities comprise surface holes, middle holes, bottom holes, flood discharge holes, flap doors and the like, and the states and constraints comprise an application water level range, a maximum opening difference of adjacent gates, a maximum opening difference of symmetrical gates, a gate opening sequence, a maximum opening, a minimum opening, a gate state and the like.
2) And defining a reservoir simulation unit. The reservoir simulation unit models and simulates initial conditions, states and constraints of a reservoir, the initial conditions of the reservoir comprise information such as initial starting water level, reservoir flow forecasting process, initial state of a gate, power generation operation plan and the like, and the constraints comprise lowest and highest water levels, minimum and maximum storage capacity, minimum and maximum flow, gate opening intervals and the like.
3) And defining a scheduling simulation unit. The dispatching simulation unit models and simulates dispatching characteristic data of the hydropower station, and the dispatching characteristic data comprise a water level reservoir capacity curve, a downward discharge capacity curve, a tail water level flow relation table and the like.
4) And defining a hydrological environment simulation unit. The hydrological environment simulation unit models and simulates the hydrological environment of the hydropower station.
3. The simulation unit has two realization types, one is a simulated mini solid model, such as a mini gate, a mini reservoir and the like, and is realized by manual production; the other is a real-time computer running a mathematical model.
The simulation units of different implementation types are connected through real and unified physical signals. The types of physical signals include common analog signals such as voltage-current signals, digital signals, and other signals such as serial ports, TCP/IP signals, etc., as shown in fig. 3.
1) The simulation unit of the mini-mockup is essentially a mini-mockup, which is equipped with controllers and sensors. The controller receives physical signals sent by other simulation units to control the state of the controller; the sensor collects simulation related data and sends the data to other simulation units in the form of physical signals. The simulation unit of the mini-mockup is used to implement a simulation unit that is temporarily difficult or impossible to model. The process of making the mini mockup is shown in fig. 4 and described below:
the manufacturing step 1: firstly, vector information of the hydropower station and the surrounding environment is obtained. The vector information refers to dimension information of the hydropower station such as size, length, height, reservoir capacity and flow of the hydropower station.
And a manufacturing step 2: vector information in the laboratory is obtained, including the size, length, width, height, etc. of the laboratory. The mini-mockup is eventually deployed in the laboratory, so the laboratory is sized.
And 3, a manufacturing step: and comparing according to the vector information to obtain the scale of the mini entity model.
And a manufacturing step 4: and manufacturing a mini entity model according to the scale, and installing a sensor. The materials and processes for modeling are not different from the sand table modeling which is common in the market. The difference is that the size of the model is strictly required, such as reservoir capacity, flood discharge tunnel flow, size and length of the flood discharge tunnel, etc. The difference is that after the model is manufactured, a sensor is additionally arranged to monitor various hydrological signals including water level, flow speed and the like, and the hydrological signals are converted into various physical signals such as voltage, current and the like.
2) The real-time computer simulation unit for running the mathematical model is essentially a real-time computer for running a real-time operating system, and is provided with a board card capable of acquiring and exciting physical signals. The board card for collecting the physical signals can receive the physical signals sent by other simulation units and convert the physical signals into digital quantity as the input of a mathematical model; and the board card for exciting the physical signals converts the output of the mathematical model into physical signals and sends the physical signals to other simulation units. A real-time simulator simulation unit running a mathematical model is used to implement a simulation unit that can be modeled mathematically. The structure of a simulation unit of a real-time simulator running a mathematical model is shown in fig. 5, and the simulation process is as follows:
simulation step 1: and (4) building a mathematical model and simulating under an MATLAB/Simulink environment of a development host. The development host refers to a common desktop running a Windows operating system.
MATLAB is a commercial mathematical software produced by MathWorks company in America, is mainly used for algorithm development, data visualization, data analysis, numerical calculation and the like, and is widely applied to a plurality of fields such as scientific research, engineering calculation and the like.
Simulink is a graphical modeling tool in MATLAB and is widely used in modeling and simulation of linear systems, nonlinear systems, digital control, and digital signal processing. Simulink provides a graphical design interface, a module is used as a functional unit and is connected through a signal line, a user sets parameters through a parameter setting dialog box of the module, and simulation results are displayed in numerical values, images and the like. Simulink provides a wide variety of powerful module libraries. Under the development process based on model design, designers can use Simulink to perform model simulation and early design verification, and can also generate codes such as C/C + +, PLC and the like, even binary executable codes of various hardware platforms, and the binary executable codes are directly applied to platforms such as PC, MCU, DSP and the like, thereby playing an important role in software development.
And (2) simulation: the mathematical model is converted into binary code that can be run under a real-time simulator using the Simulink tool. The real-time emulator refers to a computer capable of running a real-time operating system. There are a number of commercial real-time operating systems available on the market today, including VxWorks, μ Clinux, μ C/OS-II, and others. The real-time simulator is provided with a board card capable of acquiring and exciting various physical signals. The physical signal includes a common amount of voltage, amount of current, and the like.
And (3) simulation: and downloading the generated binary codes to a real-time simulation machine through a simulation management tool to run. Therefore, the real-time simulator can collect and excite various physical signals in real time. There are a variety of simulation management tools available on the market today.
Take the dsace real-time simulation system as an example. The dSPACE real-time simulation system is a development and test working platform of a set of MATLAB/Simulink-based control system developed by the Germany dSPACE company under a real-time environment. The dSPACE real-time simulation system can easily combine a mathematical model and hardware drive together to run on a real-time simulator. Taking a simple scene fig. 6 as an example, the physical signal acquisition module acquires a physical signal such as a voltage signal of 0.5V, the acquired value is 0.5, the acquired value is output to the mathematical model module, the mathematical model module divides the voltage signal by 2 to become 0.25, and the physical signal output module sends out the physical signal with a current signal of 0.25A.
3) The choice of the implementation type of the simulation unit depends on the actual situation. When the simulated service is complex and the simulated mathematical model is difficult to determine or is not determined temporarily, the simulation unit can be realized by manually manufacturing the mini entity model, the specified physical signal protocol is used for connecting and communicating with other simulation units, and when the later condition is mature and the mathematical model is designed, the mathematical model is changed to operate in a computer operating a real-time operating system. The mode of only upgrading and replacing the simulation units is needed, physical signals among other simulation units or between connected simulation units are not changed, and the expansibility of simulation can be greatly improved.
4) And the physical signals connected with different simulation units are used for representing various signal information in the actual work of the hydropower station. For example, the water level height may be replaced by an analog quantity of the voltage signal, as shown in fig. 2.
4. And (3) after the various simulation units in the step (2) are realized, connecting the various simulation units through cables to start a hydropower station gate opening and closing simulation experiment, and verifying and optimizing the mathematical model in the step (1).
1) Cables are used to transmit physical signals of a unified standard.
2) The simulation experiment can be repeatedly operated in a laboratory environment, and the cost and the risk of an external field experiment are reduced. The simulation experiment can quickly verify the correctness of the mathematical model, and can stop the experiment and modify the model at any time. The simulation experiment can quickly verify a plurality of groups of simulation parameters to obtain an optimized scheme.
5. After the result of the hydropower station gate opening and closing simulation experiment reaches the expected target, the method can be applied to actual hydropower station gate opening and closing control in various ways.
The method comprises the following steps:
1) setting the parameter information which is subjected to simulation verification and optimization in actual hydropower station gate opening and closing control equipment;
2) and converting the mathematical model subjected to simulation verification and optimization into a binary executable code, and operating in the real hydropower station gate opening and closing embedded control equipment.
And converting the mathematical model subjected to simulation verification and optimization into an actual large-scale integrated circuit chip, and applying the actual large-scale integrated circuit chip to actual hydropower station gate opening and closing control equipment.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (6)
1. A method for obtaining hydropower station gate dispatching parameters based on semi-physical simulation is characterized by comprising the following steps:
combing modeling service data aiming at a flood discharge gate of a hydropower station; defining simulation units according to the modeling service data in a classified manner; constructing each simulation unit through an entity model or a mathematical model; connecting all simulation units through physical signals and carrying out hydropower station gate opening and closing simulation experiments to obtain hydropower station gate dispatching parameters;
the physical model is provided with a sensor and a controller, the physical model is used for simulating the shapes and the states of different flood discharge facilities, the controller receives physical signals sent by other simulation units, the running state of the physical model is used as input information of the simulation units, and the sensor is used for acquiring simulation related data as output information of the simulation units and sending the output information to other simulation units in the form of physical signals;
a board card capable of acquiring and exciting physical signals is installed on the simulation unit based on the mathematical model; the board card for collecting the physical signals receives the physical signals sent by other simulation units and converts the physical signals into digital quantity as the input of a mathematical model; the board card for exciting the physical signal converts the output of the mathematical model into a physical signal and sends the physical signal to other simulation units;
the simulation unit comprises a gate simulation unit, a reservoir simulation unit, a dispatching simulation unit and a hydrological environment simulation unit;
the gate simulation unit models and simulates shapes, states and constraints of different flood discharge facilities; different flood discharge facilities comprise surface holes, middle holes, bottom holes, flood discharge holes and flap doors, and the states and constraints comprise an application water level range, a maximum opening difference of adjacent gates, a maximum opening difference of symmetrical gates, a gate opening sequence, a maximum opening, a minimum opening and a gate state;
the reservoir simulation unit models and simulates initial conditions, states and constraints of a reservoir, wherein the initial conditions of the reservoir comprise an initial starting water level, a reservoir flow forecasting process, a gate initial state and power generation operation plan information, and the constraints comprise a lowest maximum water level, a minimum maximum storage capacity, a minimum maximum flow and a gate opening interval;
the scheduling simulation unit models and simulates scheduling characteristic data of the hydropower station, and the scheduling characteristic data comprises a water level reservoir capacity curve, a downward discharge capacity curve and a tail water level flow relation table;
the hydrological environment simulation unit models and simulates the hydrological environment of the hydropower station.
2. The method for acquiring the dispatching parameters of the gate of the hydropower station based on the semi-physical simulation according to claim 1, wherein the modeling service data comprises: the shape, state and constraint of the flood discharge facility, and the application water level range, the maximum opening difference of adjacent gates, the maximum opening difference of symmetrical gates, the opening sequence of the gates, the maximum opening, the minimum opening and the state of the gates; the initial conditions of the hydropower station comprise an initial starting water level, a reservoir flow forecasting process, a gate initial state and a power generation operation plan; the constraint conditions of the reservoir comprise a lowest highest water level, a minimum maximum storage capacity, a minimum maximum flow and a gate opening interval; the characteristic data of the hydropower station operation comprises a water level reservoir capacity curve, a drainage capacity curve and a tail water level flow relation table.
3. The method for acquiring the dispatching parameters of the hydropower station gate based on the semi-physical simulation as claimed in claim 1, wherein the mathematical model is established and the simulation unit is defined according to modeling service data of the hydropower station gate and reasonable division according to functions, service complexity and coupling degree.
4. The method for acquiring the hydropower station gate dispatching parameter based on the semi-physical simulation as claimed in claim 1, wherein the type of the physical signal comprises an analog quantity, a digital quantity, a serial port signal or a TCP/IP signal.
5. The method for acquiring the dispatching parameters of the gate of the hydropower station based on the semi-physical simulation as claimed in claim 3, wherein the manufacturing method of the solid model comprises the following steps:
A. firstly, acquiring vector information of a hydropower station and a surrounding environment, wherein the vector information refers to a plurality of dimension information of the size, the length, the height, the reservoir capacity and the flow of the hydropower station;
B. acquiring vector information in a laboratory, including the size, length, width and height of the laboratory;
C. comparing according to the vector information to obtain a scale of the mini entity model;
D. and manufacturing a mini entity model according to the scale, and installing a sensor and a controller.
6. The method for acquiring the dispatching parameters of the gate of the hydropower station based on the semi-physical simulation as claimed in claim 3, wherein the method for constructing the simulation unit based on the mathematical model comprises the following steps:
building a mathematical model and simulating in an MATLAB/Simulink environment of a development host; converting the mathematical model into a binary code capable of running under a real-time simulation machine by using a Simulink tool; downloading the generated binary codes to a real-time simulation machine through a simulation management tool for running; the real-time simulator is used for collecting and exciting various physical signals in real time.
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| CN113885426A (en) * | 2021-10-14 | 2022-01-04 | 江苏徐工工程机械研究院有限公司 | Automatic generation method, test method and visual test system for PLC (programmable logic controller) codes of excavator control program |
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