CN110850710A - Hydroelectric generating set control optimization method based on model-free adaptive control - Google Patents
Hydroelectric generating set control optimization method based on model-free adaptive control Download PDFInfo
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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Abstract
The invention relates to a hydroelectric generating set control optimization method based on model-free adaptive control. The method utilizes the characteristic of model-free adaptive control, combines sliding mode approximation rule control and a longicorn beard intelligent optimization algorithm, and realizes the improvement of the control quality of the hydraulic turbine set. The hydropower generating unit control optimization method based on model-free adaptive control selects the longicorn beard intelligent optimization algorithm, and can realize quick parameter setting on the basis of no need of physical parameter information of a control system.
Description
Technical Field
The invention relates to a hydroelectric generating set control optimization method based on model-free adaptive control.
Background
The energy Internet is a new form of future development of the energy industry, is the deep fusion of energy production, transmission, storage, consumption and market, and is an important direction for new development of future energy power grids. The hydroelectric generating set plays an important role in the energy Internet, has the characteristics of quick start and stop and quick load adjustment, and generally bears the important tasks of peak regulation and frequency modulation, so that the reasonable control strategy setting is very important for ensuring the safe, stable and economic operation of the water-single set.
At present, the control strategy of the speed regulator of the hydroelectric generating set is generally conventional PID control, the control strategy is set by manufacturers, different PID parameters are adopted under different control modes, however, the PID parameters cannot meet the requirements of different working conditions, and the PID control effect is poor under the condition of transition process or variable working condition regulation. And other control strategies such as sliding mode control, neural network control, fuzzy control and the like, physical information of a controlled system is required in the design stage of the controller, the difficulty of accurately modeling the complex nonlinear time-varying system such as a hydroelectric generating set is high, the model-free adaptive controller can also realize accurate control of the controller without the information of the controlled system, and the response speed of the control can be further improved by combining with the sliding mode approach law control.
Disclosure of Invention
The invention aims to provide a hydroelectric generating set control optimization method based on model-free adaptive control.
In order to achieve the purpose, the technical scheme of the invention is as follows: a hydroelectric generating set control optimization method based on model-free adaptive control utilizes the characteristic of model-free adaptive control and combines sliding mode approximation rule control and a Tianniu whisker intelligent optimization algorithm to realize the quick setting of control parameters of a hydroelectric generating set.
In an embodiment of the present invention, the method specifically includes the following steps:
step S1, determining the format of the model-free sliding mode self-adaptive controller, outputting a criterion function and a pseudo gradient criterion function, inputting and outputting time scales Ly and Lu, sliding mode coefficients of the sliding mode part of the controller and corresponding parameter initial values;
s2, collecting input and output signals of a controlled system, and controlling the controlled system;
and S3, optimizing specific key parameters in the controller, performing heuristic optimization by adopting a longicorn algorithm, and optimizing the working conditions of different water heads by combining different error integral criterion functions to obtain an optimal parameter combination.
Compared with the prior art, the invention has the following beneficial effects: the method of the invention does not need physical information of a controlled system in the design stage of the model-free adaptive controller, avoids the influence caused by insufficient modeling precision of the water turbine, is combined with sliding mode approach law control, can accelerate control response speed while controlling overshoot, adopts a Tianniu whisker algorithm in numerous intelligent optimization algorithms for setting internal parameters of the controller, has the advantages of fast convergence and low operation cost, and can ensure the stable and fast optimization process, thereby ensuring the safe, stable, economical and efficient operation of the hydroelectric generating set.
Drawings
Fig. 1 is a structural block diagram of a water turbine optimizing control system.
Fig. 2 is an operation flow of the MFAC sliding mode controller.
FIG. 3 is a comparison of the effect of a PID controller and an MFAC sliding mode controller under a rated working condition.
Fig. 4 is a comparison of the effect of the PID controller and the MFAC sliding mode controller under 0.9 times of rated operating conditions.
Fig. 5 is a comparison of the effect of the PID controller and the MFAC sliding mode controller under 1.1 times of the rated operating condition.
Detailed Description
The technical scheme of the invention is specifically explained below by combining the attached drawings 1-5.
Referring to fig. 1-2, the invention provides a hydroelectric generating set control optimization method based on model-free adaptive control, which utilizes the characteristic of model-free adaptive control and combines sliding mode approximation rule control and a longicorn beard intelligent optimization algorithm to realize the rapid setting of control parameters of the hydroelectric generating set.
The following is a specific implementation of the present invention.
Along with the step-by-step construction of an energy internet, the functions of the hydroelectric generating set are more and more important, and the safe and stable operation of the hydroelectric generating set needs to be guaranteed by a reasonable control strategy. The optimization control strategy adopted by the invention mainly comprises the following steps:
1. determining the format of the model-free sliding mode adaptive controller, outputting a criterion function and a pseudo gradient criterion function, inputting and outputting time scales Ly and Lu, sliding mode coefficients of a sliding mode part of the controller, corresponding parameter initial values and the like.
2. After the design of the controller is finished, parameter optimization is carried out on the internal parameters of the controller by adopting a longicorn whisker algorithm, a corresponding optimization objective function is determined, and a longicorn whisker optimization calculation formula is as follows:
Xnew＝Xold-step*dir*sign(fl-fr)
step＝θ*step
3. and continuously acquiring input and output data of the water turbine system, inputting the data into the controller and the optimizing module, and repeatedly optimizing to determine the optimal parameters lambda and gamma of the controller.
4. After the optimal parameters are determined, the controller determines a pseudo gradient value according to the input and output signals and gives the magnitude of a control signal:
ucontrol＝ueq+uapproach to＝uMFAC+γuApproach to
Referring to fig. 3-5, by adopting the above technical scheme disclosed by the invention, the following beneficial effects are obtained: the hydroelectric generating set control optimization method based on model-free adaptive control provided by the embodiment of the invention combines a model-free adaptive controller with a sliding mode controller, ensures that parameter information of a water turbine system is not needed in the design stage of the controller, avoids the problem of poor controller quality caused by insufficient modeling precision, improves the dynamic response quality of control compared with a PID (proportion integration differentiation) type controller, optimizes the internal parameters of the controller by adopting a Tianniu whisker algorithm to obtain an optimal parameter combination, has the characteristics of rapid convergence and higher optimization precision in the current intelligent search algorithm, and finally uses the optimal parameter controller for simulation to verify the control effectiveness.
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.
Claims (2)
1. A hydroelectric generating set control optimization method based on model-free adaptive control is characterized in that the characteristic of model-free adaptive control is utilized, and the fast setting of control parameters of the hydroelectric generating set is realized by combining sliding mode approximation rule control and a longicorn beard intelligent optimization algorithm.
2. The hydroelectric generating set control optimization method based on model-free adaptive control according to claim 1, comprising the following steps:
step S1, determining the format, output criterion function and pseudo gradient criterion function of the model-free sliding mode adaptive controller, and inputting and outputting time scale
The sliding mode coefficient of the controller sliding mode part and the corresponding parameter initial value;
s2, collecting input and output signals of a controlled system, and controlling the controlled system;
and step S3, optimizing the key parameters in the controller, performing heuristic optimization by adopting a Tianniu algorithm, and optimizing the working conditions of different water heads by combining different error integral criterion functions to obtain an optimal parameter combination.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111327040A (en) * | 2020-03-25 | 2020-06-23 | 上海电力大学 | Data-driven direct-current micro-grid power and voltage control method and device |
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Inventor after: Xiao Zhihuai Inventor after: Huang Guangbin Inventor after: Liu Yuhong Inventor after: Xiong Qi Inventor after: Wang Xin Inventor after: Liu Dong Inventor after: Peng Yunshui Inventor after: Chen Shang Inventor before: Xiao Zhihuai Inventor before: Huang Guangbin Inventor before: Liu Yuhong Inventor before: Huang Yichong Inventor before: Peng Yunshui Inventor before: Chen Shang Inventor before: Wang Xin Inventor before: Liu Dong |
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Application publication date: 20200228 |