CN111443594B - Boiler oxygen tracking control method based on estimation model - Google Patents
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- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 title claims abstract description 86
- 229910052760 oxygen Inorganic materials 0.000 title claims abstract description 86
- 239000001301 oxygen Substances 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000009471 action Effects 0.000 claims abstract description 30
- 230000008859 change Effects 0.000 claims description 17
- 238000012937 correction Methods 0.000 claims description 12
- 239000003245 coal Substances 0.000 claims description 9
- 238000012546 transfer Methods 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 3
- 230000006866 deterioration Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000013211 curve analysis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D11/00—Control of flow ratio
- G05D11/02—Controlling ratio of two or more flows of fluid or fluent material
- G05D11/13—Controlling ratio of two or more flows of fluid or fluent material characterised by the use of electric means
- G05D11/131—Controlling ratio of two or more flows of fluid or fluent material characterised by the use of electric means by measuring the values related to the quantity of the individual components
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
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Abstract
The invention discloses a boiler oxygen tracking control method based on an estimation model, which adopts dynamic characteristics based on oxygen deviation and air supply quantity requirements under the working condition of a boiler, and determines the estimated fast acting quantity and the optimal time of action of an air supply actuator through an estimation model controller, so that the problem that the oxygen quantity is rapidly changed under the disturbance condition of external factors to enable the oxygen quantity to be rapidly restored to the vicinity of a set value under the working condition is solved, and the PID closed-loop control is combined to inhibit the deterioration condition of the oxygen deviation, thereby obviously improving the robustness of a system.
Description
Technical Field
The invention relates to a boiler oxygen tracking control method based on an estimation model, and belongs to the field of nonlinear control of boiler oxygen of coal-fired units of thermal power plants.
Background
The boiler oxygen is an important parameter for controlling an air supply system of a large coal-fired unit, the tracking condition of a set value of the boiler oxygen directly affects boiler efficiency and NOx emission concentration, particularly under a variable working condition, the boiler can realize the rapid response of load by rapidly adjusting the coal supply amount and the air supply amount, so that the oxygen is excessively deviated from the set value, the traditional PID closed loop control has a reverse regulation effect in the actual adjustment process due to the characteristic of oxygen delay, the combustion working condition of the boiler is unstable, and partial units block the PID output of the oxygen under the conditions of variable load or abnormal coal supply of the unit, so that the phenomena of the instantaneous concentration of NOx is raised, the boiler efficiency is low and the like are caused.
In the research of most of oxygen optimization control at present, the set value of the oxygen is optimized mainly by boiler efficiency and NOx indexes, and the problems of abnormal oxygen tracking, adjustment lag and the like under the conditions of equipment changes such as fans, fuel fluctuation and heat value fluctuation, dynamic working conditions and abnormal working conditions are not solved by adopting the traditional PID closed-loop control on the control of oxygen automatic tracking.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a boiler oxygen tracking control method based on an estimation model, which solves the problems that the oxygen quantity is rapidly changed under the disturbance condition of external factors to enable the oxygen quantity to be rapidly recovered to the vicinity of a set value under the working condition, and the system robustness is remarkably improved by combining PID closed-loop control to inhibit the deterioration condition of the oxygen quantity deviation.
The invention solves the problems by adopting the following technical scheme: a boiler oxygen tracking control method based on an estimation model is characterized in that: when the oxygen quantity generates large deviation under external disturbance, the quick action quantity output based on the estimation model directly acts on the air quantity adjusting actuator of the blower to quickly pull back the oxygen quantity, and the air quantity set value is adjusted by combining the oxygen quantity PID closed-loop control output oxygen quantity coefficient, and the air quantity is adjusted to approach the oxygen quantity set value through the air supply PID.
Based on the dynamic characteristics of oxygen deviation and the air supply quantity requirement under the working condition of the boiler, the estimated fast acting quantity and the optimal time of the action of the air supply actuator are determined through an estimated model controller, and the estimated model controller specifically comprises the following steps:
d1: collecting deviation E and air quantity set value A of a real-time value of boiler oxygen quantity and an oxygen quantity set value, and performing differential calculation on the oxygen quantity deviation E to obtain a deviation change rate DE, wherein the oxygen quantity deviation E, the deviation change rate DE and the air quantity set value A are used as input variables of an estimation model controller, and the air quantity set value A is obtained from total coal feeding quantity M through an air-coal function; taking the fast action correction U and the action delay correction time T of the fan control actuator as the output quantity of the estimated model controller;
d2: the fast motion correction amount U of the fan actuator of the estimation model controller in D1 is specifically:
calculating to obtain a quick action correction U of the fan actuator according to the first formula group;
the first formula group is:
wherein a is an adjustable deviation limit, LAG { [ DELAY (U) 1 ,T)],T G Is an inertial link with a variable inertial time constant and a transfer function of
The input signal being a function DELAY (U) 1 T), S is Laplace transformation operator, T G An adjustable inertial time constant is set;
d3: function DELAY (U) in the first formula group in D2 1 T) is a pure delay element with a transfer function of
The input signal is a reference action quantity U1 of a fan actuator, S is a Laplacian transformation operator, and T is pure delay time;
d4: the reference action amount U1 of the fan actuator in D3 is specifically:
calculating according to a second formula to obtain a reference action quantity U1 of the fan actuator
The second formula is: u (U) 1 ＝F 1 (E,DE)×F 2 (A)；
Continuous piecewise function
(k 1, k2 … kn; b1, b2, … bn are constants) as motion components estimated from the oxygen amount deviation and the oxygen amount deviation change rate, i, j being weight values of the oxygen amount deviation E and the oxygen amount deviation change rate DE in the second formula, respectively;
continuous piecewise function
(l 1 ,l 2 …l n ；m 1 ,m 2 ,…m n Constant) as an action component coefficient estimated from the total air volume setting value;
d5: the pure delay time T in D3 is specifically:
obtaining delay time T according to a third formula group;
the third formula is:
(p 1 ,p 2 …p n ；q 1 ,q 2 …q n constant), and α, β are weight values of the oxygen amount deviation E and the oxygen amount deviation change rate DE in the third formula, respectively.
Compared with the prior art, the invention has the following advantages and effects: based on the traditional closed-loop control of the oxygen quantity PID and the air supply PID, the invention analyzes and researches the action quantity and oxygen quantity change data of the air quantity control executor of the air feeder by introducing the oxygen quantity deviation, the oxygen quantity deviation change rate and the air supply quantity set value, uses the estimation model formula to perform configuration operation on the unit DCS, and adjusts parameters of the model to obtain the effect of quick response to the deviation dynamic condition caused by the disturbance of the working condition of the boiler, quickly reduces the deviation of the oxygen quantity and the set value, and performs closed-loop control on the small deviation by the PID, thereby effectively solving the control difficulty existing in the control of the oxygen quantity of the boiler, having the advantages of quick tracking speed, small overshoot and strong anti-interference capability.
Drawings
FIG. 1 is a schematic block diagram of a control system in accordance with an embodiment of the present invention;
FIG. 2 is a diagram of a DCS logic configuration of an estimation model in an embodiment of the present invention;
fig. 3 is a graph of the control result of the present invention during actual operation.
Detailed Description
The present invention will be described in further detail by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and not limited to the following examples.
Referring to fig. 1 to 2, in the present embodiment, when a large deviation occurs in the oxygen amount under external disturbance, a fast motion amount output based on an estimation model directly acts on an air volume adjustment actuator of a blower to quickly pull back the oxygen amount, and an oxygen amount PID closed-loop control output oxygen amount coefficient is combined to adjust an air volume set value, and the air volume is adjusted to approach the oxygen amount set value by the air supply PID.
Based on the dynamic characteristics of oxygen deviation and the air supply quantity requirement under the working condition of the boiler, the estimated fast acting quantity and the optimal time of the action of the air supply actuator are determined through an estimated model controller, and the estimated model controller specifically comprises the following steps:
d1: collecting deviation E and air quantity set value A of a real-time value of boiler oxygen quantity and an oxygen quantity set value, and performing differential calculation on the oxygen quantity deviation E to obtain a deviation change rate DE, wherein the oxygen quantity deviation E, the deviation change rate DE and the air quantity set value A are used as input variables of an estimation model controller, and the air quantity set value A is obtained from total coal feeding quantity M through an air-coal function; taking the fast action correction U and the action delay correction time T of the fan control actuator as the output quantity of the estimated model controller;
d2: the fast motion correction amount U of the fan actuator of the estimation model controller in D1 is specifically:
calculating to obtain a quick action correction U of the fan actuator according to the first formula group;
the first formula group is:
wherein a is an adjustable deviation limit, LAG { [ DELAY (U) 1 ,T)],T G Is an inertial link with a variable inertial time constant and a transfer function of
The input signal being a function DELAY (U) 1 T), S is Laplace transformation operator, T G An adjustable inertial time constant is set;
D3：D2the function DELAY (U) 1 T) is a pure delay element with a transfer function of
The input signal is a reference action quantity U1 of a fan actuator, S is a Laplacian transformation operator, and T is pure delay time;
d4: the reference action amount U1 of the fan actuator in D3 is specifically:
calculating according to a second formula to obtain a reference action quantity U1 of the fan actuator
The second formula is: u (U) 1 ＝F 1 (E,DE)×F 2 (A)；
Continuous piecewise function
(k 1, k2 … kn; b1, b2, … bn are constants) as motion components estimated from the oxygen amount deviation and the oxygen amount deviation change rate, i, j being weight values of the oxygen amount deviation E and the oxygen amount deviation change rate DE in the second formula, respectively;
continuous piecewise function
(l 1 ,l 2 …l n ；m 1 ,m 2 ,…m n Constant) as an action component coefficient estimated from the total air volume setting value;
d5: the pure delay time T in D3 is specifically:
obtaining delay time T according to a third formula group;
the third formula is:
(p 1 ,p 2 …p n ；q 1 ,q 2 …q n constant), and α, β are weight values of the oxygen amount deviation E and the oxygen amount deviation change rate DE in the third formula, respectively.
From the data curve analysis of fig. 3, after the disturbance appears suddenly in the coal feeding amount, the air quantity set value also changes, the blower liquid couple is recovered after the air quantity PID output is started quickly, at this time, the oxygen amount has a quick descending trend after a period of delay, the oxygen amount is difficult to be restrained quickly to continue to descend rapidly only by means of the oxygen amount PID, and when the oxygen amount deviation is larger than 0.3, the estimation module outputs the quick action amount of the blower liquid couple, so that the deterioration of the oxygen amount is restrained successfully, and the oxygen amount is recovered to the vicinity of the set value.
The on-site actual put-into-operation result shows that the provided boiler oxygen tracking control method based on the estimation model effectively solves the control difficulty existing in boiler oxygen control, has a control effect superior to PID control, and has the advantages of high tracking speed, small overshoot and strong anti-interference capability.
What is not described in detail in this specification is all that is known to those skilled in the art.
Although the present invention has been described with reference to the above embodiments, it should be understood that the invention is not limited to the embodiments described above, but is capable of modification and variation without departing from the spirit and scope of the present invention.
Claims (1)
1. A boiler oxygen tracking control method based on an estimation model is characterized in that: when the oxygen quantity generates large deviation under external disturbance, the quick action quantity output based on the estimation model directly acts on the air quantity adjusting actuator of the air blower to quickly pull back the oxygen quantity, and the air quantity setting value is adjusted by combining the oxygen quantity PID closed-loop control output oxygen quantity coefficient, and the air quantity is adjusted to approach the oxygen quantity setting value through the air supply PID;
based on the dynamic characteristics of oxygen deviation and the air supply quantity requirement under the working condition of the boiler, the estimated fast acting quantity and the optimal time of the action of the air supply actuator are determined through an estimated model controller, and the estimated model controller specifically comprises the following steps:
d1: collecting deviation E and air quantity set value A of a real-time value of boiler oxygen quantity and an oxygen quantity set value, and performing differential calculation on the oxygen quantity deviation E to obtain a deviation change rate DE, wherein the oxygen quantity deviation E, the deviation change rate DE and the air quantity set value A are used as input variables of an estimation model controller, and the air quantity set value A is obtained from total coal feeding quantity M through an air-coal function; taking the fast action correction U and the action delay correction time T of the fan control actuator as the output quantity of the estimated model controller;
d2: the fast motion correction amount U of the fan actuator of the estimation model controller in D1 is specifically:
calculating to obtain a quick action correction U of the fan actuator according to the first formula group;
the first formula group is:
wherein a is an adjustable deviation limit, LAG { [ DELAY (U) 1 ,T)],T G Is an inertial link with a variable inertial time constant and a transfer function of
The input signal being a function DELAY (U) 1 T), S is Laplace transformation operator, T G An adjustable inertial time constant is set;
d3: function DELAY (U) in the first formula group in D2 1 T) is a pure delay element with a transfer function of
The input signal is a reference action quantity U1 of a fan actuator, S is a Laplacian transformation operator, and T is pure delay time;
d4: the reference action amount U1 of the fan actuator in D3 is specifically:
calculating according to a second formula to obtain a reference action quantity U1 of the fan actuator
The second formula is: u (U) 1 ＝F 1 (E,DE)×F 2 (A)；
Continuous piecewise function
k1, k2 … kn, b1, b2 … bn are constants as a change rate by the oxygen amount deviation and the oxygen amount deviationThe estimated action components i and j are weight values of the oxygen deviation E and the oxygen deviation change rate DE in a second formula respectively;
continuous piecewise function
l 1 、l 2 …l n 、m 1 、m 2 …m n As a constant, as an action component coefficient estimated from the total air volume setting value;
d5: the pure delay time T in D3 is specifically:
obtaining delay time T according to a third formula group;
the third formula is:
p 1 、p 2 …p n 、q 1 、q 2 …q n the values α and β are weights of the oxygen amount deviation E and the oxygen amount deviation change rate DE in the third formula, respectively, as constants.
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| US5832468A (en) * | 1995-09-28 | 1998-11-03 | The United States Of America As Represented By The Administrator Of The Environmental Protection Agency | Method for improving process control by reducing lag time of sensors using artificial neural networks |
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| JPH09125122A (en) * | 1995-10-30 | 1997-05-13 | Taiyo Chuki Co Ltd | Method for controlling oxygen concentration corresponding to molten metal tapping temperature in vertical type quick melting furnace |
| CN101581454A (en) * | 2009-06-09 | 2009-11-18 | 南通大学 | Industrial boiler combustion controlling system adopting predictive functional controller based on characteristic model |
| CN104061588A (en) * | 2014-07-17 | 2014-09-24 | 烟台龙源电力技术股份有限公司 | Low-nitrogen combustion control method and system based on secondary air door air regulation control |
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