CN111694274B - 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 PDFInfo
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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 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. 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
Technical Field
The invention relates to a thermal control technology, in particular to a thermal 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 thermodynamic equipment need to be researched, but also the soft environment for the operation of the thermodynamic system needs to be 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:
wherein x is the state quantity of the supercritical thermal power generating unit, and u ═ uF uW uV]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 of supercritical thermal power generating unitWater flow uW，uVThe main steam valve opening of the supercritical thermal power generating unit is defined as y ═ yF yE yP]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:
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:
wherein,
is the transfer input, K is the H infinity controller parameter,
it is the state of the transition that is,
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:
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:
wherein,
is in an amplified state
Is determined by the estimated value of (c),
is that
The derivative of (a) of (b),
is the coefficient matrix of the augmented system, L is the observer gain,
is an estimate of the output of the device,
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:
where S is a given semi-positive definite symmetric matrix used to adjust the estimated velocity 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 main steam pressure, enthalpy and power generation power of the steam turbine generator, and the operation quantities are pulverized coal quantity, feed water flow and main steam control 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 infinite 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 according to 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:
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 ]F uW uV]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 ═ yF yE yP]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 fossil power plantPThe 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:
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 a state disturbance matrix and an output disturbance 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, d0,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:
wherein,
is in an amplified state, and is,
is a matrix of coefficients of the augmented system,
(23) The following forms of observers are used to estimate state disturbances, output disturbances and system states:
wherein,
is in an amplified state
Is determined by the estimated value of (c),
is that
The derivative of (a) of (b),
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:
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:
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
Specifically by the formula:
(42) compute branch input
Specifically by the formula:
wherein,
is the transfer input, K is the H infinity controller parameter, K ═ PQ-1The matrix P and the matrix Q are obtained by solving the following feasibility problem:
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:
(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 (4)
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); wherein:
the thermal object module (3) is a supercritical thermal power generating unit, and the form of the supercritical thermal power generating unit is as follows:
wherein x is the state quantity of the supercritical thermal power generating unit, and u ═ uF uW uV]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 unitVIs the opening of a main steam valve of a supercritical thermal power generating unit, y is [ y [ ]F yE yP]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 method comprises the following steps that (1) the power generation power of a steam turbine generator of a supercritical thermal power generating unit is obtained, and 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;
the target value calculation module (2) is of the form:
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, A, B, C and D are system matrixes of the supercritical thermal power generating unit, BdAnd DvRespectively representing a state disturbance matrix and an output disturbance matrix, and d and v respectively representing the state disturbance and the output disturbance of the supercritical thermal power unit model;
the H-infinity controller is formed as follows:
wherein,
is the transfer input, K is the H infinity controller parameter,
it is the state of the transition that is,
is the estimated state, xtIs the target state;
parameter K ═ PQ of H infinite controller-1The matrix P and the matrix Q are obtained by solving the following feasibility problem:
the matrix P and the matrix Q are matrixes to be solved, the matrix Q is a positive definite symmetric matrix, the matrix T is a matrix transposition symbol, the matrix I is a unit matrix, the matrixes A, B, C and D are system matrixes of the supercritical thermal power generating unit, and the matrix BwAnd DwIs a noise matrix;
the generalized augmented state observer module (4) is of the form:
wherein,
is in an amplified state
Is determined by the estimated value of (c),
is that
The derivative of (a) of (b),
is the coefficient matrix of the augmented system, L is the observer gain,
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;
n is the order of the observer, A and C are 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.
2. The thermodynamic process H infinite control system based on disturbance feedback compensation according to claim 1, wherein the state disturbance d and the output disturbance v of the supercritical thermal power unit model in the supercritical thermal power unit are in the following forms:
d＝d0+d1t+…+diti；
v＝v0+v1t+…+viti；
wherein, d0,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.
3. The H infinite control system for the thermal process based on disturbance feedback compensation according to claim 1, wherein the order n in the generalized augmented state observer module (4) is greater than or equal to the order i of the disturbance.
4. 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:
wherein S is a given semi-positive definite symmetric matrix used for adjusting the estimated speed of the observer,
is a coefficient matrix of the augmented system.
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