CN111694274A - Thermodynamic process H infinite control system based on disturbance feedback compensation - Google Patents

Thermodynamic process H infinite control system based on disturbance feedback compensation Download PDF

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CN111694274A
CN111694274A CN202010423610.8A CN202010423610A CN111694274A CN 111694274 A CN111694274 A CN 111694274A CN 202010423610 A CN202010423610 A CN 202010423610A CN 111694274 A CN111694274 A CN 111694274A
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disturbance
state
generating unit
thermal power
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CN111694274B (en
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潘蕾
陈琛
沈炯
李益国
吴啸
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Southeast University
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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 discloses a thermodynamic process H infinite control system based on disturbance feedback compensation.A system generalized amplification state observer module obtains state disturbance estimation and output disturbance estimation based on input and object output; the target value calculation module calculates a target state and a target input based on the state disturbance estimation, the output disturbance estimation and the output set value; subtracting the target state from the estimated state to obtain a transfer state, and entering an H infinite controller module to obtain transfer input; the transfer input and the target input are added to obtain a final control input, and the final control input acts on the thermal object module. The disturbance is processed in a layering way, so that the anti-interference performance of the thermal system is effectively enhanced, and the operation safety and the economical efficiency of the thermal system are further improved; in addition, the method does not need the state of the system to be measurable, and has better compensation performance for high-order disturbance.

Description

Thermodynamic process H infinite control system based on disturbance feedback compensation
Technical Field
The invention relates to a thermotechnical control technology, in particular to a thermotechnical process H infinite control system based on disturbance feedback compensation.
Background
With the rapid development of modern industrial production, the energy problem has become the bottleneck of sustainable development of national economy in China. In order to adhere to the national energy strategy of 'heavy development and light saving', relieve the contradiction between energy and economic development and promote the sustainable development of energy, on one hand, renewable energy and new energy need to be vigorously developed, the energy structure is optimized and the power supply is stabilized; the existing conventional energy sources must be reasonably utilized. Thermodynamic systems are the main source of energy supply and energy consumers, and must be developed towards high efficiency and low pollution. Therefore, not only the hard environment, the optimized design and the system transformation of the thermal equipment are researched, but also the soft environment for the operation of the thermal system is researched, and the management operation level and the control level of the production process are improved.
The operating conditions of the thermal process are severe, various noise signals are more, and how to inhibit the noise influence becomes a difficult problem. In addition, modeling errors, model mismatch and various unknown disturbances can degrade the performance of the controller and even affect the stability of the closed loop system. Therefore, the design of a control system which gives consideration to noise suppression and unknown interference compensation has important significance on the operation safety and the economical efficiency of the thermal process.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a thermodynamic process H infinite control system based on disturbance feedback compensation, which considers the capabilities of noise suppression and unknown disturbance compensation to improve the anti-interference performance of the system and further improve the safety and the economical efficiency of the operation of the thermodynamic process.
The technical scheme is as follows: the control system comprises an H infinite controller module, a target value calculation module, a thermal object module and a generalized amplification state observer module; the generalized amplification state observer module obtains state disturbance estimation and output disturbance estimation based on input and object output; the target value calculation module calculates a target state and a target input based on the state disturbance estimation, the output disturbance estimation and the output set value; subtracting the target state from the state estimation output by the generalized amplification state observer module to obtain a transfer state, and entering an H infinite controller module to obtain a transfer input; the transfer input and the target input are added to obtain a final control input, and the final control input acts on the thermal object module.
Optionally, the thermal object module is a supercritical thermal power generating unit.
Preferably, the supercritical thermal power generating unit is in the form of:
Figure BDA0002497874960000021
wherein x is the state quantity of the supercritical thermal power generating unit, and u ═ uFuWuV]TIs the input quantity u of the supercritical thermal power generating unitFIs the amount of pulverized coal u of the supercritical thermal power generating unitWFeed water flow u of supercritical thermal power generating unitW，uVThe main steam valve opening of the supercritical thermal power generating unit is defined as y ═ yFyEyP]TIs the output quantity y of the supercritical thermal power generating unitFIs the main steam pressure y of the supercritical thermal power generating unitEIs the enthalpy value y of the supercritical thermal power generating unitPThe power generation power of a turbonator of the supercritical thermal power generating unit, and the (A, B, C and D) are system matrixes of the supercritical thermal power generating unit; d and v are respectively the state disturbance and the output disturbance of the supercritical thermal power unit model, w is the measurement noise, BdAnd DvRespectively a state disturbance matrix and an output disturbance matrix, BwAnd DwIs a noise matrix.
Preferably, the form of the state disturbance d and the output disturbance v in the supercritical thermal power generating unit is as follows:
d＝d0+d1t+…+diti；
v＝v0+v1t+…+viti；
wherein d is0,d1,…,diIs the coefficient of the state disturbance d, v0,v1,…,viIs the coefficient of the output disturbance v, i is the order of the disturbance, and t is the current simulation time.
Preferably, the target value calculation module (2) is of the form:
Figure BDA0002497874960000022
wherein, yrIs the set value of main steam pressure, enthalpy value and power generation power of the steam turbine generator, xtAnd utThe main steam pressure and the enthalpy of the supercritical thermal power generating unit and the power generation power of the steam turbine generator reach set values.
Preferably, the H-infinity controller is in the form:
Figure BDA0002497874960000023
wherein the content of the first and second substances,
Figure BDA0002497874960000024
is the transfer input, K is the H infinity controller parameter,
Figure BDA0002497874960000025
it is the state of the transition that is,
Figure BDA0002497874960000026
is the estimated state, xtIs the target state.
Preferably, the parameter K of the H infinite controller is PQ-1The matrix P and the matrix Q are obtained by solving the following feasibility problem:
Figure BDA0002497874960000031
the matrixes P and Q are matrixes to be solved, Q is a positive definite symmetric matrix, T is a matrix transposition symbol, and I is an identity matrix.
Preferably, the generalized augmented state observer module (4) is of the form:
Figure BDA0002497874960000032
wherein the content of the first and second substances,
Figure BDA0002497874960000033
is in an amplified state
Figure BDA0002497874960000034
Is determined by the estimated value of (c),
Figure BDA0002497874960000035
is that
Figure BDA0002497874960000036
The derivative of (a) of (b),
Figure BDA00024978749600000310
is the coefficient matrix of the augmented system, L is the observer gain,
Figure BDA0002497874960000037
is an estimate of the output of the device,
Figure BDA0002497874960000038
n is the order of the observer.
Preferably, the order n in the generalized augmented state observer module (4) is equal to or greater than the order i of the disturbance.
Preferably, the observer gain L ═ X in the generalized extended state observer module (4)-1N, matrix X and matrix N are obtained by solving the following feasibility problem:
Figure BDA0002497874960000039
where S is a given semi-positive definite symmetric matrix used to adjust the estimated speed of the observer.
Has the advantages that: compared with the prior art, the invention has the following beneficial effects:
(1) the invention carries out layered processing on the disturbance, effectively enhances the anti-interference performance of the thermal system, and further improves the operation safety and the economical efficiency of the thermal system.
(2) In addition, the invention is designed based on object input and output signals, and the state of the system is not required to be measurable.
(3) The method has better compensation performance for the high-order disturbance due to better estimation performance of the generalized amplification state observer for the high-order disturbance.
Drawings
FIG. 1 is a schematic diagram of a supercritical thermal power generating unit in an embodiment;
FIG. 2 is a schematic diagram of a control system according to the present invention;
fig. 3 is a control system implementation method according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Taking the coordination control of the supercritical thermal power generating unit as an example.
The coordinated control system of the supercritical thermal power generating unit is a typical thermal process and has great influence on the safe and economic operation of a power plant. As shown in fig. 1, the output quantities of the supercritical thermal power generating unit are respectively main steam pressure, enthalpy and power generation power of the steam turbine generator, and the operation quantities are respectively pulverized coal quantity, feed water flow and main steam regulating valve opening. In addition, the unit is disturbed more during operation, such as coal quality change, model mismatch and the like.
As shown in fig. 2, the control system of the present invention includes an H infinity controller module 1, a target value calculation module 2, a thermal object module 3 (in this embodiment, a supercritical thermal power generating unit), and a generalized amplification state observer module 4; the generalized amplification state observer module 4 obtains state disturbance estimation and output disturbance estimation based on input (including pulverized coal quantity, feed water flow and main steam valve opening) and output (including main steam pressure, enthalpy and power generation power of a steam turbine generator) of the supercritical thermal power generating unit; the target value calculation module 2 calculates a target state and a target input (including a target pulverized coal amount, a target feedwater flow and a target main steam valve opening) of the supercritical thermal power generating unit based on the state disturbance estimation, the output disturbance estimation, the main steam pressure, the enthalpy value and the set value of the power generation power of the steam turbine generator; the state estimation output by the generalized amplification state observer module subtracts a target state to obtain a transfer state, and the transfer state enters an H infinite controller module 1 to obtain transfer input (including transfer pulverized coal quantity, transfer feedwater flow and transfer main steam valve opening); the transfer input and the target input are added to obtain the final pulverized coal amount, the feed water flow and the main steam valve opening, and the final pulverized coal amount, the feed water flow and the main steam valve opening act on a thermal object module 3 (in the embodiment, a supercritical thermal power generating unit).
As shown in fig. 3, the control system of the present invention is implemented by the following steps:
(1) collecting the field operation data of the supercritical thermal power generating unit, including pulverized coal quantity, water supply flow, main steam valve opening, main steam pressure, enthalpy and steam turbine power generation data, and establishing a continuous state space model as follows:
Figure BDA0002497874960000041
wherein x is the state quantity of the supercritical thermal power generating unit, the model (1) is obtained through a data identification method, x has no specific physical significance, and u is [ u ]FuWuV]TIs the input quantity u of the supercritical thermal power generating unitFIs the amount of pulverized coal u of the supercritical thermal power generating unitWFeed water flow u of supercritical thermal power generating unitW，uVThe main steam valve opening of the supercritical thermal power generating unit is defined as y ═ yFyEyP]TIs the output quantity y of the supercritical thermal power generating unitFIs the main steam pressure y of the supercritical thermal power generating unitEIs the enthalpy value y of the supercritical thermal power generating unitPThe power generation power of a turbine generator of the supercritical thermal power generating unit, and the (A, B, C and D) are system matrixes of the supercritical thermal power generating unit.
(2) Estimating state disturbance, output disturbance and system state based on the generalized amplification state observer, and specifically comprising the following steps:
(21) the continuous state space model equation (1) is rewritten as the following model including unknown disturbances and measurement noise:
Figure BDA0002497874960000051
wherein d and v are respectively the state disturbance and the output disturbance of the supercritical thermal power unit model, w is the measurement noise, BdAnd DvRespectively, the state perturbation matrix and the outputDisturbance matrix, BwAnd DwIs a noise matrix.
The form of the state disturbance d and the output disturbance v in the thermal object module is as follows:
d＝d0+d1t+…+diti(3)；
v＝v0+v1t+…+viti(4)；
wherein d is0,d1,…,diIs the coefficient of the state disturbance d, v0,v1,…,viIs the coefficient of the output disturbance v, i is the order of the disturbance, and t is the current simulation time.
(22) The model equation (2) including unknown interference and measurement noise is rewritten into the following amplification state space model:
Figure BDA0002497874960000052
wherein the content of the first and second substances,
Figure BDA0002497874960000053
is in an amplified state, and is,
Figure BDA0002497874960000054
is a matrix of coefficients of the augmented system,
Figure BDA0002497874960000061
n is the order of the observer.
(23) The following forms of observers are used to estimate state disturbances, output disturbances and system states:
Figure BDA0002497874960000062
wherein the content of the first and second substances,
Figure BDA0002497874960000063
is in an amplified state
Figure BDA0002497874960000064
Is determined by the estimated value of (c),
Figure BDA0002497874960000065
is that
Figure BDA0002497874960000066
The derivative of (a) of (b),
Figure BDA0002497874960000067
is the estimated value of the output, L is the observer gain, L ═ X-1N, matrix X and matrix N are obtained by solving the following feasibility problem:
Figure BDA0002497874960000068
where S is a given semi-positive definite symmetric matrix used to adjust the estimated speed of the observer. The order n in the generalized augmented state observer module must be greater than or equal to the order i of the disturbance.
(3) Calculating a target state x based on a target value calculation moduletAnd input utSpecifically, the following formula is used:
Figure BDA0002497874960000069
wherein, yrIs the set value of main steam pressure, enthalpy value and power generation power of the steam turbine generator, xtAnd utThe main steam pressure and the enthalpy of the supercritical thermal power generating unit and the power generation power of the steam turbine generator reach set values respectively, and the set values are input (including target pulverized coal quantity, target feedwater flow and target main steam valve opening).
(4) The method comprises the following steps of calculating a control quantity u of the supercritical thermal power generating unit based on an H infinite controller:
(41) computing a transition state
Figure BDA00024978749600000610
Specifically by the formula:
Figure BDA00024978749600000611
(42) compute branch input
Figure BDA00024978749600000612
Specifically by the formula:
Figure BDA0002497874960000071
wherein the content of the first and second substances,
Figure BDA0002497874960000072
is the transfer input, K is the H infinite controller parameter, K ═ PQ-1The matrix P and the matrix Q are obtained by solving the following feasibility problem:
Figure BDA0002497874960000073
the matrixes P and Q are matrixes to be solved, Q is a positive definite symmetric matrix, T is a matrix transposition symbol, and I is an identity matrix.
(43) Calculating the control quantity u of the supercritical thermal power generating unit, specifically according to the following formula:
Figure BDA0002497874960000074
(5) and adjusting the pulverized coal quantity, the feed water flow and the opening of the main steam valve according to the obtained control quantity u, so as to realize the control of the main steam pressure, the enthalpy value and the power generation power of the steam turbine.
In conclusion, different from the conventional H infinite control, all unknown interferences are directly inhibited, the method carries out layered processing on the interferences, the interferences such as model mismatch, modeling errors and the like are estimated by adopting a generalized amplification state observer, then the interferences are subjected to feedback compensation through a target value calculator, and the unknown noise interferences are inhibited through the H infinite controller.

Claims (10)

1. A thermotechnical process H infinite control system based on disturbance feedback compensation is characterized by comprising an H infinite controller module (1), a target value calculation module (2), a thermotechnical object module (3) and a generalized amplification state observer module (4); the generalized amplification state observer module (4) obtains state disturbance estimation and output disturbance estimation based on input and object output; the target value calculation module (2) calculates a target state and a target input based on the state disturbance estimation, the output disturbance estimation and the output set value; subtracting a target state from the state estimation output by the generalized amplification state observer module to obtain a transfer state, and entering an H infinite controller module (1) to obtain a transfer input; the transfer input and the target input are added to obtain the final control input, and the final control input acts on the thermal object module (3).
2. The thermodynamic process H infinite control system based on disturbance feedback compensation according to claim 1, wherein the thermodynamic object module (3) is a supercritical thermal power generating unit.
3. A thermal process H infinite control system based on disturbance feedback compensation according to claim 2, wherein the supercritical thermal power generating unit is of the form:
Figure FDA0002497874950000011
wherein x is the state quantity of the supercritical thermal power generating unit, and u ═ uFuWuV]TIs the input quantity u of the supercritical thermal power generating unitFIs the amount of pulverized coal u of the supercritical thermal power generating unitWFeed water flow u of supercritical thermal power generating unitW，uVThe main steam valve opening of the supercritical thermal power generating unit is defined as y ═ yFyEyP]TIs the output quantity y of the supercritical thermal power generating unitFIs the main steam pressure y of the supercritical thermal power generating unitEIs the enthalpy value y of the supercritical thermal power generating unitPThe power generation power of a turbonator of the supercritical thermal power generating unit, and the (A, B, C and D) are system matrixes of the supercritical thermal power generating unit; d and v are respectively the state disturbance and the output of the supercritical thermal power unit modelPerturbation, w is measurement noise, BdAnd DvRespectively a state disturbance matrix and an output disturbance matrix, BwAnd DwIs a noise matrix.
4. A thermodynamic process H infinite control system based on disturbance feedback compensation according to claim 2, wherein the form of state disturbance d and output disturbance v in the supercritical thermal power generating unit is as follows:
d＝d0+d1t+…+diti；
v＝v0+v1t+…+viti；
wherein d is0,d1,…,diIs the coefficient of the state disturbance d, v0,v1,…,viIs the coefficient of the output disturbance v, i is the order of the disturbance, and t is the current simulation time.
5. The thermodynamic process H infinite control system based on disturbance feedback compensation according to claim 1, wherein the target value calculation module (2) is of the form:
Figure FDA0002497874950000021
wherein, yrIs the set value of main steam pressure, enthalpy value and power generation power of the steam turbine generator, xtAnd utThe main steam pressure and enthalpy of the supercritical thermal power generating unit and the power generation power of the steam turbine generator reach set values, and the input is shown in the specification, (A, B, C and D) are system matrixes of the supercritical thermal power generating unit, and B is a system matrix of the supercritical thermal power generating unitdAnd DvThe state disturbance matrix and the output disturbance matrix are respectively, and d and v are respectively the state disturbance and the output disturbance of the supercritical thermal power unit model.
6. A thermodynamic process H infinite control system based on disturbance feedback compensation as claimed in claim 1, wherein the H infinite controller is of the form:
Figure FDA0002497874950000022
wherein the content of the first and second substances,
Figure FDA0002497874950000023
is the transfer input, K is the H infinity controller parameter,
Figure FDA0002497874950000024
it is the state of the transition that is,
Figure FDA0002497874950000025
is the estimated state, xtIs the target state.
7. A thermal process H infinite control system based on disturbance feedback compensation as claimed in claim 1, wherein the H infinite controller has a parameter K ═ PQ-1The matrix P and the matrix Q are obtained by solving the following feasibility problem:
Figure FDA0002497874950000026
the matrixes P and Q are matrixes to be solved, Q is a positive definite symmetric matrix, T is a matrix transposition symbol, I is a unit matrix, (A, B, C and D) are system matrixes of the supercritical thermal power generating unit, and B is a system matrix of the supercritical thermal power generating unitwAnd DwIs a noise matrix.
8. The thermodynamic process H infinite control system based on disturbance feedback compensation according to claim 1, wherein the generalized augmented state observer module (4) is in the form of:
Figure FDA0002497874950000027
wherein the content of the first and second substances,
Figure FDA0002497874950000028
is amplification ofStatus of state
Figure FDA0002497874950000029
Is determined by the estimated value of (c),
Figure FDA00024978749500000210
is that
Figure FDA00024978749500000211
The derivative of (a) of (b),
Figure FDA00024978749500000212
is the coefficient matrix of the augmented system, L is the observer gain,
Figure FDA00024978749500000213
is an output estimated value, y is an output quantity of the supercritical thermal power generating unit, and u is an input quantity of the supercritical thermal power generating unit;
Figure FDA0002497874950000031
n is the order of the observer, (A, C) is the system matrix of the supercritical thermal power generating unit, BdAnd DvThe state disturbance matrix and the output disturbance matrix are respectively, d and v are respectively the state disturbance and the output disturbance of the supercritical thermal power generating unit model, and x is the state quantity of the supercritical thermal power generating unit.
9. The thermodynamic process H infinite control system based on disturbance feedback compensation according to claim 1, wherein the order n in the generalized amplification state observer module (4) is greater than or equal to the order i of the disturbance.
10. The H infinite control system for thermal process based on disturbance feedback compensation as claimed in claim 1, wherein observer gain L ═ X in the generalized augmented state observer module (4)-1N, matrix X and matrix N are obtained by solving the following feasibility problem:
Figure FDA0002497874950000032
wherein S is a given semi-positive definite symmetric matrix used for adjusting the estimated speed of the observer,
Figure FDA0002497874950000033
is a coefficient matrix of the augmented system.
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