CN112523927B - Control method and system combining guide vane opening analog quantity closed loop control and open loop control - Google Patents
Control method and system combining guide vane opening analog quantity closed loop control and open loop control Download PDFInfo
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- CN112523927B CN112523927B CN202011418747.0A CN202011418747A CN112523927B CN 112523927 B CN112523927 B CN 112523927B CN 202011418747 A CN202011418747 A CN 202011418747A CN 112523927 B CN112523927 B CN 112523927B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
- F03B15/02—Controlling by varying liquid flow
- F03B15/04—Controlling by varying liquid flow of turbines
- F03B15/06—Regulating, i.e. acting automatically
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
- F03B15/02—Controlling by varying liquid flow
- F03B15/04—Controlling by varying liquid flow of turbines
- F03B15/06—Regulating, i.e. acting automatically
- F03B15/16—Regulating, i.e. acting automatically by power output
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B3/00—Machines or engines of reaction type; Parts or details peculiar thereto
- F03B3/16—Stators
- F03B3/18—Stator blades; Guide conduits or vanes, e.g. adjustable
- F03B3/183—Adjustable vanes, e.g. wicket gates
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- General Engineering & Computer Science (AREA)
- Control Of Water Turbines (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
The method is a brand new method for rapidly and accurately adjusting the active power of a unit and outputting a guide vane opening analog quantity control signal based on a water head, active power and guide vane opening corresponding data table in an opening mode in a mode of checking the corresponding data table and combining open-loop control and closed-loop control, and aims to solve the problems that a power closed-loop conventional pulse adjusting mode is adopted in the opening mode, the active power adjusting speed is low, the adjusting process is easily influenced by water hammer reaction and unit inertia effect, the opening control has static deviation due to deviation of the water head, the active power and the guide vane opening corresponding data table in a pure open-loop control mode, the rapid, accurate and stable control of the guide vane opening and the active power of the unit is realized, and the adjusting quality is improved.
Description
Technical Field
The invention belongs to the technical field of hydropower station computer monitoring, and particularly relates to a control method and a control system for combining closed-loop and open-loop control of opening analog quantity of guide vanes in an opening mode of a hydropower station monitoring system.
Background
At present, in the operation process of the hydroelectric generating set, a monitoring system in an opening mode generally adopts a power closed-loop conventional pulse adjusting mode, and an intermediate relay outputs opening increasing and decreasing pulses to an electric control system of a speed regulator so as to realize the control of the opening of the hydroelectric generating set. The control method is described in the invention patent of 'a hydropower station unit LCU active pulse adjusting system' (the patent number is ZL 201610327273.6) in China. According to the method, an interpolation algorithm and a correction proportion algorithm are adopted to improve the timeliness and reliability of power regulation of the active pulse regulation system of the hydropower station unit in an opening regulation mode, but due to the fact that a closed-loop proportion pulse width modulation mode is adopted structurally, the problems that the regulating speed of the opening degree and the active power of the guide vane is low, the regulating process is easily influenced by water hammer reaction and unit inertia effect and the like still exist.
Disclosure of Invention
In order to solve the technical problems, the invention provides a control method and a control system for combining opening analog quantity closed loop control and open loop control of a guide vane in an opening mode of a hydropower station monitoring system, and aims to solve the problems that when a power closed loop conventional pulse regulation mode is adopted in the opening mode, the active power regulation speed is low, the regulation process is easily influenced by water hammer reaction and unit inertia, and the opening control has static deviation due to deviation of a corresponding data table of a water head, the active power and the guide vane opening in a pure open loop control mode. The fast, accurate and stable control of the opening degree and the active power of the guide vane of the unit is realized, and the adjusting quality is improved.
The technical scheme adopted by the invention is as follows:
the first scheme is as follows:
a control method combining closed-loop and open-loop control of opening analog quantity of opening mode guide vanes of a hydropower station monitoring system comprises the following steps:
s1: initializing control parameters delta D and delta D2 of a monitoring system, a self-adding conversion coefficient k, a data table with one-to-one correspondence of a water head, active power and guide vane opening, and entering S2;
s2: monitoring system collects given value G of active power Given a Feeding power feedback G, guide vane opening feedback D and a unit water head w into S3;
s3: detecting whether the monitoring system is in an opening mode, if so, entering S4; otherwise, continuing to detect;
s4: the monitoring system detects whether AGC issues a new active power given value G or not in the opening degree mode Given the If yes, entering S5; otherwise, entering S7;
s5: the monitoring system sends a new active power given value G according to AGC Given the And a data table corresponding to the current unit water head w, the active power and the guide vane opening degree one to one, and calculating a corresponding guide vane opening degree value D Watch (A) ；
TABLE 1 waterhead, active power and guide vane aperture one-to-one correspondence data sheet
| W 1 | W 2 | … | W x-1 | W x | … | W p-1 | W p | |
| G 1 | D 1,1 | D 2,1 | … | D x-1，1 | D x，1 | … | D p-1,1 | D p，1 |
| G 2 | D 1,2 | D 2,2 | … | D x-1，2 | D x，2 | … | D p-1,2 | D p，2 |
| … | … | … | … | … | … | … | … | … |
| G y-1 | D 1，y-1 | D 2，y-1 | … | D x-1，y-1 | D x，y-1 | … | D p-1,y-1 | D p，y-1 |
| G y | D 1，y | D 2，y | … | D x-1，y | D x，y | … | D p-1,y | D p，y |
| … | … | … | … | … | … | … | … | … |
| G q-1 | D 1，q-1 | D 2，q-1 | … | D x-1，q-1 | D x，q-1 | … | D p-1,q-1 | D p，q-1 |
| G q | D 1，q | D 2，q | … | D x-1，q | D x，q | … | D p-1,q | D p，q |
If W x-1 ≤w≤W x ，G y-1 ≤g≤G y Then, then
D TABLE y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )。
D Watch y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )。
D Watch (A) ＝d TABLE y-1 +(d Table y -d TABLE y-1 )(g-G x-1 )/(G x -G x-1 ). The process proceeds to S6.
S6: control variable D1 Control 0 Assigning an initial value D and entering S7;
S7：D1 controlling n ＝D1 Control n-1 Adding step length for the control parameter by using the triangle D, and entering S8; d1 Control n-1 Is D1 Controlling n N is a positive integer;
s8: if D1 is Controlling n >D In the table, the values of, then D1' Controlling n ＝D Watch (CN) Entering S9; otherwise, D1' Controlling n ＝D1 Controlling n Entering S9;
s9: if | D Watch (CN) -D∣<Δ D2 and for the first time, enter S10; if | D Watch (A) -D∣<Δ D2 and is not primary, go to S11; otherwise, entering S12;
s10: control variable D2 Control 0 An initial value of 0 is assigned, and the process proceeds to S11;
S11：D2 controlling n ＝D2 Control n-1 +k*(G Given a -G) into S12; d2 Control n-1 Is D2 Controlling n N is a positive integer;
S12：D controlling n ＝D1’ Controlling n +D2 Controlling n Entering S13;
s13: monitoring system output guide vane opening degree analog quantity control signal D Controlling n And returns to S2.
A control system combining opening analog quantity closed loop control and open loop control of opening modes of a hydropower station monitoring system comprises:
the table look-up calculation module, the circulating self-adding module I, the amplitude limiting module, the circulating self-adding module II and the adder are arranged in the table look-up calculation module;
a table look-up calculation module for acquiring given active power G Given a And unit water head w, water head finding, active power and guide vane opening degree one-to-one correspondence data table calculation, and output calculation result D Watch (CN) Feeding the amplitude limiting module;
a cyclic self-adding module for monitoring active power given G Given the Changing enable signal, collecting guide vane opening signal D, and controlling the change when the enable signal actsQuantity D1 Control 0 Assigning an initial value D; the first circulation self-adding module continuously pairs the control variable D1 Controlling n The step length Delta D of the circulating self-adding control parameter is output to D1 Controlling n Feeding the amplitude limiting module;
amplitude limiting module for collecting D output from table look-up calculation module Watch (A) And D1 output of a circulating self-adding module Controlling n To D1, pair Controlling n Performing amplitude limiting output with maximum value of D Watch (A) (ii) a The limiting module controls a guide vane opening degree analog quantity control signal D1' Controlling n Outputting to an adder; a second cyclic self-adding module for monitoring | D Watch (CN) -D∣<Delta D2 enable signal and active power given G is collected Given a Power feedback G and conversion coefficient k, and controls variable D2 when enable signal is activated Control 0 Assigning an initial value of 0; continuous pair control variable D2 of circulating self-adding module II Controlling n Cyclic self-addition of k (G) Given a -G) output D2 Controlling n Feeding the adder;
the adder is used for acquiring D1 'output by the amplitude limiting module' Controlling n And D2 output by the second cyclic self-adding module Controlling n After addition, an analog quantity control signal D of the opening degree of the guide vane is output Controlling n And a feed governor electronic control system.
Scheme two is as follows:
a control method for combining opening analog quantity closed loop and segmented open loop control of a guide vane in an opening mode of a hydropower station monitoring system comprises the following steps:
step 1: initializing data of control parameters delta D, delta D1 and delta D2 of the monitoring system, a self-adding conversion coefficient k, a water head, active power and a guide vane opening one-to-one correspondence table, and entering the step 2;
step 2: monitoring system collection variable active power given value G Given the And feeding power feedback G, guide vane opening feedback D and a unit water head w into the step 3.
And 3, step 3: detecting whether the monitoring system is in an opening mode, if so, entering a step 4; otherwise, the detection is continued.
And 4, step 4: the monitoring system detects whether AGC issues a new active power given value G or not in the opening degree mode Given a If yes, go to step 5(ii) a Otherwise, entering the step 6;
and 5, step 5: the monitoring system sends a new active power given value G according to AGC Given the And the current unit water head w, the active power and the guide vane opening degree one-to-one correspondence data table is used for calculating the corresponding guide vane opening degree value D Watch (A) 。
A water head, active power and guide vane opening degree one-to-one correspondence data table is shown in a table 1, p, q, x and y in the table 1 are positive integers, x is larger than 1 and smaller than or equal to p, y is larger than 1 and smaller than or equal to q, and Dx and y are guide vane opening degrees corresponding to Wx water head Gy active power.
TABLE 1 waterhead, active power and guide vane aperture one-to-one correspondence data sheet
If W x-1 ≤w≤W x ，G y-1 ≤g≤G y And then:
D TABLE y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )。
D Watch y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )。
D Watch (CN) ＝d TABLE y-1 +(d Watch y -d TABLE y-1 )(g-G x-1 )/(G x -G x-1 ). And entering the step 6.
And 6, step 6: if | D Watch (CN) -D ≧ D1 and for the first time, entering step 7; if | D Watch (CN) -D ≧ DeltaD 1 and is non-primary, go to step 8; if | D Watch (A) -D∣<Delta D1 is the first time, and the step 10 is entered; if | D Watch (A) -D∣<Δ D1 and is non-primary, step 11 is entered.
And 7, step 7: controlled variable D1 Control 0 Assigning an initial value D, and entering the step 8。
And 8, step 8: d1 Controlling n ＝D1 Control n-1 Step D, the step length is increased for the control parameter, and the step 9 is entered; d1 Control n-1 Is D1 Controlling n N is a positive integer;
and 9, step 9: if D1 Controlling n >K1*D Watch (CN) Then D1' Controlling n ＝K1*D Watch (CN) Entering the step 13; otherwise, D1' Controlling n ＝D1 Controlling n And entering the step 13.
Step 10: control variable D1 Control 0 And assigning an initial value D and entering the step 11.
And 11, step 11: d1 Controlling n ＝D1 Control n-1 And D, entering the step 12, wherein D is the step length of the change of the control parameters.
And (12) step: if D1 Controlling n <D Watch (A) Then D1' Controlling n ＝D Watch (A) Entering the step 13; otherwise, D1' Controlling n ＝D1 Controlling n And entering the step 13.
Step 13: if | D Watch (A) -D∣<Delta D2 is the first time, and the 14 th step is entered; if | D Watch (A) -D∣<Delta D2 is not the primary time, and the step 15 is entered; otherwise, step 16 is entered.
Step 14: control variable D2 Control 0 And an initial value of 0 is assigned, and the step 15 is entered.
Step 15: d2 Controlling n ＝D2 Control n-1 +k*(G Given the -G), step 16 is entered. D2 Control n-1 Is D2 Controlling n N is a positive integer;
step 16: d Controlling n ＝D1’ Controlling n +D2 Controlling n And entering the step 17.
And step 17: monitoring system output guide vane opening degree analog quantity control signal D Controlling n And returning to the step 2.
A control system combining opening simulation quantity closed loop control and section open loop control of an opening mode guide vane of a hydropower station monitoring system comprises:
the table look-up calculation module comprises a first cyclic self-adding module, a first amplitude limiting module, a second cyclic self-subtracting module, a second amplitude limiting module, a selector module, a second cyclic self-adding module and an adder;
a table look-up calculation module for acquiring active power given G Given a Calculating a unit water head w, checking a water head, calculating an active power and guide vane opening degree one-to-one correspondence table, and outputting a calculation result D Watch (A) And the first amplitude limiting module and the second amplitude limiting module are provided.
A first circulating self-adding module for monitoring the active power given G Given a Change and | _ D Watch (A) -D ≧ Δ D1 enable signal, and acquire guide vane opening signal D. When the enable signal is activated for the first time, D1 Control 0 And assigning an initial value D. Cyclic self-adding module one continuously pair D1 Controlling n The step length Delta D of the cyclic self-adding control parameter is output as D1 Controlling n To the first clipping module.
A first amplitude limiting module for collecting D output by the table look-up calculation module Watch (A) And D1 output of a circulating self-adding module Controlling n To D, to Controlling n Performing amplitude limiting output with maximum value of K1 x D Watch (A) . K1 is usually 1.4. Outputting guide vane opening degree analog quantity control signal D1' Controlling n Channel 0 is given to the selector module.
A cycle auto-subtract module for monitoring active power given G Given a Change and | _ D Watch (A) -D∣<Enabling a signal delta D1, and collecting a guide vane opening signal D. When the enable signal is activated for the first time, D1 Control 0 And assigning an initial value D. The circulating self-decreasing module continuously pairs with D1 Controlling n The step length Delta D of the circulating self-reduction control parameter is output as D1 Controlling n And the second time is sent to an amplitude limiting module II.
Amplitude limiting module II for collecting D output by table look-up calculating module Watch (CN) And D1 output of the cycle self-subtraction module Controlling n To D1, pair Controlling n Performing amplitude limiting output with minimum value of D Watch (A) . Outputting guide vane opening degree analog quantity control signal D1' Controlling n Channel 1 to the selector module.
A selector module monitoring | D Watch (A) -D∣<Selecting a signal according to the delta D1, and acquiring a guide vane opening degree analog quantity control signal D1 'output to the selector module by the first amplitude limiting module and the second amplitude limiting module' Controlling n . When | D Watch (CN) -D∣<Delta D1 isWhen the signals are met, the selector module selects the channel 0 to output the guide vane opening degree analog quantity control signal D1 'output to the selector module by the amplitude limiting module I' Controlling n (ii) a When | D Watch (A) -D∣<When the delta D1 is met, the selector module selects the guide vane opening degree analog quantity control signal D1 'output to the selector module by the channel 1 and the amplitude limiting module II' Controlling n The selector module controls the guide vane opening degree analog quantity control signal D1' Controlling n Output to the adder 5.
A second cyclic self-adding module for monitoring | D Watch (A) -D∣<Delta D2 enable signal and active power given G is collected Given a Power feedback G and conversion factor k. When the enable signal is active, D2 Control 0 An initial value of 0 was assigned. Circulating self-adding module II continuously pairs D2 Controlling n Cyclic self-addition of k (G) Given a -G) output D2 Controlling n To the adder.
The adder collects D1 'output by the selector module' Controlling n And D2 output by the second cyclic self-adding module Controlling n Adding up and outputting guide vane opening degree analog quantity control signal D Controlling n And (3) an electronic control system for the speed regulator.
And a third scheme is as follows:
a control method combining opening simulation variable integral closed loop and segmented open loop control of a guide vane in an opening mode of a hydropower station monitoring system comprises the following steps:
Step 4, the monitoring system detects whether AGC issues a new active power given value G or not in the opening degree mode Given a If yes, entering step 5; otherwise, go to step 6.
The water head, active power and guide vane opening degree one-to-one correspondence data table is shown in table 1, in the table 1, p, q, x and y are positive integers, x is more than 1 and less than or equal to p, y is more than 1 and less than or equal to q, and Dx and y are guide vane opening degrees corresponding to Wx water head Gy active power;
TABLE 1 waterhead, active power and guide vane opening degree one-to-one correspondence data sheet
| W 1 | W 2 | … | W x-1 | W x | … | W p-1 | W p | |
| G 1 | D 1,1 | D 2,1 | … | D x-1，1 | D x，1 | … | D p-1,1 | D p，1 |
| G 2 | D 1,2 | D 2,2 | … | D x-1，2 | D x，2 | … | D p-1,2 | D p，2 |
| … | … | … | … | … | … | … | … | … |
| G y-1 | D 1，y-1 | D 2，y-1 | … | D x-1，y-1 | D x，y-1 | … | D p-1,y-1 | D p，y-1 |
| G y | D 1，y | D 2，y | … | D x-1，y | D x，y | … | D p-1,y | D p，y |
| … | … | … | … | … | … | … | … | … |
| G q-1 | D 1，q-1 | D 2，q-1 | … | D x-1，q-1 | D x，q-1 | … | D p-1,q-1 | D p，q-1 |
| G q | D 1，q | D 2，q | … | D x-1，q | D x，q | … | D p-1,q | D p，q |
If W x-1 ≤w≤W x ，G y-1 ≤g≤G y Then, then
D TABLE y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )。
D Watch y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )。
D Watch (CN) ＝d TABLE y-1 +(d Watch y -d TABLE y-1 )(g-G x-1 )/(G x -G x-1 ). And 6, entering the step 6.
Step 12, if D1 Controlling n <D Watch (A) And then D1' Controlling n ＝D Watch (A) Entering step 13; otherwise, D1' Controlling n ＝D1 Controlling n Proceed to step 13.
Step 13, if | D Watch (CN) -D∣<Δ D2 and for the first time, go to step 14; if | D Watch (A) -D∣<Δ D2 and is not primary, go to step 15; otherwise, go to step 17;
step 14, controlling variable D2 Control 0 An initial value of 0 is assigned and the process proceeds to step 15.
Step 15, if | D Watch (CN) -D∣<If Δ D3, k = k2, go to step 16; otherwise, k = k1, step 16 is entered.
Step 16, D2 Controlling n ＝D2 Control n-1 +k*(G Given a -G) into step 17. D2 Control n-1 Is D2 Controlling n N is a positive integer.
Step 17, D Controlling n ＝D1’ Controlling n +D2 Controlling n Proceed to step 18.
Step 18, the monitoring system outputs a guide vane opening degree analog quantity control signal D Controlling n And returning to the step 2.
A control system combining opening analog quantity variable integral closed loop and segmented open loop control of opening mode guide vanes of a hydropower station monitoring system comprises: the device comprises a table look-up calculation module, a first cyclic self-addition module, a first amplitude limiting module, a second cyclic self-subtraction module, a second amplitude limiting module, a first selector module, a second cyclic self-addition module, a second selector module and an adder;
a table look-up calculation module for acquiring the active power given G Given the Calculating a unit water head w, checking a water head, calculating an active power and guide vane opening degree one-to-one correspondence table, and outputting a calculation result D Watch (A) And the first and second amplitude limiting modules are provided.
A first circulation self-adding module monitors active power given G Given the Change and | _ D Watch (CN) -D∣<Enabling a signal delta D1, and collecting a guide vane opening signal D. When the enable signal is first activated, D1 Controlling An initial value D is assigned. Circulating self-adding module I continuously pairs D1 Control of The step length Delta D of the circulating self-adding control parameter is output to D1 Controlling n To the first clipping module.
Amplitude limiting module I, collecting D output by table look-up calculation module Watch (A) And D1 output of a circulating self-adding module Controlling n To D, to Controlling n Performing amplitude limiting output with maximum value of K1 x D Watch (CN) . K1 is usually 1.4. Output guide vane opening degree analog quantity control signal D1' Controlling n Giving the selector module a channel 0.
A circulation self-reduction module for monitoring the active power given G Given the Change and | _ D Watch (CN) -D∣<Enabling a signal delta D1, and collecting a guide vane opening signal D. When the enable signal is activated for the first time, D1 Control 0 An initial value D is assigned. The circulating self-decreasing module continuously pairs with D1 Controlling n The step length Delta D of the circulating self-reduction control parameter is output to D1 Controlling n And the second signal is sent to an amplitude limiting module II.
Amplitude limiting module II for collecting D output from table look-up calculation module Watch (A) And D1 output by the circulation self-subtraction module Controlling n To D1 Controlling n Performing amplitude limiting output with minimum value of D Watch (A) . Output guide vane opening degree analog quantity control signal D1' Controlling n A channel 1 is given to the selector module.
The first selector module monitors | D Watch (CN) -D∣<Selecting a signal according to the delta D1, and acquiring a guide vane opening degree analog quantity control signal D1 'output to the selector module I by the amplitude limiting module I and the amplitude limiting module II' Controlling n . When | D Watch (A) -D∣<When the delta D1 is not met, a first selection channel 0 of the selector module outputs a first guide vane opening degree analog quantity control signal D1 'output to the first selector module by the first amplitude limiting module' Controlling n (ii) a When | D Watch (A) -D∣<When the delta D1 is met, the first selector module selection channel 1 outputs a guide vane opening degree analog quantity control signal D1 'output by the second amplitude limiting module to the first selector module' Controlling n The first selector module controls the guide vane opening degree analog quantity control signal D1' Controlling n And outputting the output to an adder.
A second cyclic self-adding module for monitoring | -D Watch (A) -D∣<Delta D2 enable signal and active power given G is collected Given a Power feedback G and conversion coefficient k output by the selector module II. When the enable signal is active, D2 Control 0 An initial value of 0 was assigned. Circulating self-adding module II continuously pairs D2 Controlling n Cyclic self-adding of k (G) Given the -G) output D2 Controlling n To the adder.
A second selector module for monitoring | -D Watch (A) -D∣<The Δ D3 selects the signal whose channel 0 acquires the conversion coefficient k1 and whose channel 1 acquires the conversion coefficient k2. When | D Watch (A) -D∣<When the delta D3 is not satisfied, the second selector module selects a channel 0 and outputs a conversion coefficient k1; when | D Watch (A) -D∣<And when the delta D3 is met, the second selector module selects the channel 1 and outputs a conversion coefficient k2, and the second selector module outputs the conversion coefficient k to the second cyclic self-adding module.
The adder acquires D1 'output by the selector module' Controlling n And D2 output by the second cyclic self-adding module Controlling n After addition, an analog quantity control signal D of the opening degree of the guide vane is output Controlling n And a feed governor electronic control system.
The invention has the following technical effects:
1): the control method has the characteristics of quick open-loop control, has the advantage of small overshoot of segmented open-loop control, and has the advantage of precision of the PID closed-loop control of the speed regulator because the closed-loop control of the monitoring system does not have the advantages of good speed, small overshoot and no static error after stable regulation, thereby simultaneously meeting the requirements of good speed and stability in the regulation process and improving the quality of dynamic and static regulation.
2): the first scheme of the invention is as follows: a control method combining opening analog quantity closed loop and open loop control of opening modes of guide vanes of a hydropower station monitoring system has the following three advantages:
the method has the advantages that (1) the method has the characteristic of rapid open-loop control, so that the rapidity of the adjusting process is improved.
Advantage (2), have the accurate advantage of closed-loop control, adjust stable back no static difference, improved dynamic and static regulation quality.
The method has the advantages that (3) the problem of overlarge overshoot caused by the fact that the adjusting speed is too fast can be avoided through the segmented open-loop control, and therefore the adjusting quality of the adjusting process is improved.
3): the second scheme of the invention: a control method for combining opening analog quantity closed loop and segmented open loop control of opening modes of guide vanes of a hydropower station monitoring system has the following four advantages of (1), (2), (3) and (4):
the method has the advantage of (1) quick open-loop control, thereby improving the speed of the adjusting process.
Advantage (2), have the accurate advantage of closed-loop control, adjust stable back no static difference, improved dynamic and static regulation quality.
The method has the advantages that the problem of overlarge overshoot caused by the fact that the adjusting speed is too high can be avoided through the segmented open-loop control, and therefore the adjusting quality of the adjusting process is improved.
The method has the advantages that (4) the performance and quality of small-amplitude or tail-end adjustment of the opening degree and active power of the guide vane of the unit can be improved through variable integral closed-loop control.
4): the third scheme of the invention: a control method combining opening simulation variable integral closed loop and segmented open loop control of a guide vane in an opening mode of a hydropower station monitoring system has the five advantages of (1), (2), (3), (4) and (5);
the method has the advantages that (1) the method has the characteristic of rapid open-loop control, so that the rapidity of the adjusting process is improved.
Advantage (2), have the accurate advantage of closed-loop control, adjust stable back no static difference, improved dynamic and static regulation quality.
The method has the advantages that (3) the problem of overlarge overshoot caused by the fact that the adjusting speed is too fast can be avoided through the segmented open-loop control, and therefore the adjusting quality of the adjusting process is improved.
The method has the advantages that (4) the performance and quality of small-amplitude or tail-end adjustment of the opening degree and active power of the guide vane of the unit can be improved through variable integral closed-loop control.
Advantage (5), avoid receiving the influence of water hammer reaction and unit inertia effect in the accommodation process through open loop control, reduce the risk that whole control system dispersed the oscillation.
Drawings
FIG. 1 is a control system diagram of a hydropower station monitoring system opening mode guide vane opening analog quantity closed-loop and open-loop control combination.
FIG. 2 is a flow chart of a control method for combining closed-loop and open-loop control of opening analog quantity of guide vanes in an opening mode of a hydropower station monitoring system.
FIG. 3 is a control system diagram of a hydropower station monitoring system opening mode guide vane opening analog quantity closed loop and segmented open loop control combined in the invention.
FIG. 4 is a flow chart of a control method for combining opening analog quantity closed loop and segmented open loop control of an opening mode guide vane of a hydropower station monitoring system.
FIG. 5 is a control system diagram of the combination of opening simulation variable integral closed loop and segmented open loop control of the guide vane opening in the hydropower station monitoring system opening mode of the invention.
FIG. 6 is a flow chart of a control method for combining opening analog quantity integral closed loop and segmented open loop control of guide vane opening in an opening mode of a hydropower station monitoring system.
Detailed Description
The first embodiment is as follows:
a control method and a structure for combining closed-loop and open-loop control of opening analog quantity of guide vanes in an opening mode of a hydropower station monitoring system are disclosed. The method is based on a water head, active power and guide vane opening corresponding data table, under an opening mode, a brand new method for checking the corresponding data table, combining open-loop control and closed-loop control is adopted to quickly and accurately adjust the active power of a unit and output guide vane opening analog quantity control signals, and aims to solve the problems that a power closed-loop conventional pulse adjusting mode is adopted under the opening mode, the adjusting speed of the active power is low, the adjusting process is easily influenced by water hammer reaction and unit inertia effect, and under a pure open-loop control mode, the opening control has static deviation due to deviation of the water head, the active power and the guide vane opening corresponding data table, so that the quick, accurate and stable control of the guide vane opening and the active power of the unit is realized, and the adjusting quality is improved.
The guide vane opening open-loop control is particularly suitable for the situation of large-amplitude quick adjustment of the guide vane opening and the active power of the unit. Open-loop control can effectively avoid receiving the influence of diversion pipeline water hammer reaction and unit inertia effect in the hydroelectric set adjustment process, reduces the risk that the whole control system appears stator aperture and active power and disperses the oscillation.
The guide vane opening closed-loop control is particularly suitable for the situation of small amplitude or tail end accurate adjustment of the guide vane opening and active power of the unit. Calculating the opening D of the guide vane by looking up the table according to the switching condition of the segmented open-loop control and the closed-loop control Watch (A) The absolute value of the difference value of the opening D of the guide vane is smaller than delta D2.
The invention discloses a control method for combining closed-loop and open-loop control of opening analog quantity of opening mode guide vanes of a hydropower station monitoring system, which comprises the following detailed process steps:
s1: initializing control parameters delta D and delta D2 of a monitoring system, a self-adding conversion coefficient k, a data table with one-to-one correspondence of a water head, active power and guide vane opening, and entering S2;
s2: monitoring system collects given value G of active power Given the Feeding power feedback G, guide vane opening degree feedback D and a unit water head w into S3;
s3: detecting whether the monitoring system is in an opening mode, if so, entering S4; otherwise, continuing to detect;
s4: the monitoring system detects whether AGC issues a new active power given value G or not in the opening degree mode Given a If yes, entering S5; otherwise, entering S7;
s5: the monitoring system sends a new active power given value G according to AGC Given the And a data table corresponding to the current unit water head w, the active power and the guide vane opening degree one to one, and calculating a corresponding guide vane opening degree value D Watch (A) ；
TABLE 1 waterhead, active power and guide vane opening degree one-to-one correspondence data sheet
If W x-1 ≤w≤W x ，G y-1 ≤g≤G y Then, then
D TABLE y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )。
D Watch y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )。
D Watch (A) ＝d TABLE y-1 +(d Watch y -d TABLE y-1 )(g-G x-1 )/(G x -G x-1 ). The process proceeds to S6.
S6: control variable D1 Control 0 Assigning an initial value D and entering S7;
S7：D1 controlling n ＝D1 Control n-1 Step D, the step length is increased for the control parameter, and S8 is entered; d1 Control n-1 Is D1 Controlling n N is a positive integer.
S8: if D1 is Controlling n >D In the table, the values of, then D1' Controlling n ＝D Watch (A) Entering S9; otherwise, D1' Controlling n ＝D1 Controlling n The process proceeds to S9.
S9: if | D Watch (A) -D∣<Δ D2 and for the first time, enter S10; if | D Watch (A) -D∣<Δ D2 and is not primary, go to S11; otherwise, entering S12;
s10: control variable D2 Control 0 An initial value of 0 is assigned, and the process proceeds to S11;
S11：D2 controlling n ＝D2 Control n-1 +k*(G Given the -G), go to S12; d2 Control n-1 Is D2 Controlling n N is a positive integer.
S12：D Controlling n ＝D1’ Controlling n +D2 Controlling n The process proceeds to S13;
s13: monitoring system output guide vane opening degree analog quantity control signal D Controlling n And returning to S2.
A control system combining opening analog quantity closed loop control and open loop control of opening modes of a hydropower station monitoring system comprises:
the table look-up calculation module 1, the cyclic self-adding module I2, the amplitude limiting module 3, the cyclic self-adding module II 4 and the adder 5;
a table look-up calculation module 1 for acquiring active power given G Given the And unit water head w, water head finding, active power and guide vane opening degree one-to-one correspondence data table calculation, and output calculation result D Watch (CN) To the amplitude limiting module 3;
a cyclic self-adding module 2 for monitoring the active power given G Given a Changing enable signal, collecting guide vane opening degree signal D, and controlling variable D1 when enable signal acts Control 0 Assigning an initial value D; the circulation self-adding module I2 continuously pairs the control variable D1 Controlling n The step length Delta D of the circulating self-adding control parameter is output to D1 Controlling n To the amplitude limiting module 3;
a limiting module 3 for collecting D output by the table look-up calculation module 1 Watch (CN) And D1 output by the cyclic self-adding module I2 Controlling n To D1, pair Controlling n Performing amplitude limiting output with maximum value of D Watch (A) (ii) a The amplitude limiting module 3 controls a guide vane opening degree analog quantity control signal D1' Controlling n Output to the adder 5;
a second cyclic self-adding module 4 for monitoring | D Watch (CN) -D∣<Delta D2 enable signal and active power given G are collected Given the Power feedback G and conversion coefficient k, and controls variable D2 when enable signal is activated Control 0 Assigning an initial value of 0; the second circulation self-adding module 4 continuously pairs the control variable D2 Controlling n Cyclic self-adding of k (G) Given the -G) output D2 Controlling n To the adder 5;
additionAnd the device 5 is used for collecting D1 'output by the amplitude limiting module 3' Controlling n And D2 output by the second circulation self-adding module 4 Controlling n After addition, an analog quantity control signal D of the opening degree of the guide vane is output Controlling n And (3) an electronic control system for the speed regulator.
The flow chart of the control method for combining the opening analog quantity closed loop control and the open loop control of the opening mode guide vane of the hydropower station monitoring system is shown in figure 2.
Example two:
in order to further improve the speed of the adjusting process and avoid the problem of overlarge overshoot caused by overhigh adjusting speed, optimization improvement is carried out on the basis of a control method and a control structure for combining opening degree analog quantity closed-loop and open-loop control of an opening mode guide vane of a hydropower station monitoring system, segmented open-loop control is realized, and the control method and the control structure for combining the opening degree analog quantity closed-loop and the segmented open-loop control of the opening mode guide vane of the hydropower station monitoring system are formed. The method is based on a water head, active power and guide vane opening degree corresponding data table, under an opening degree mode, a brand new method for checking the corresponding data table, combining segmented open-loop control and integral closed-loop control is adopted to quickly and accurately adjust the active power of a unit, and outputting guide vane opening degree analog quantity control signals, and the method aims to solve the problems that a power closed-loop conventional pulse adjusting mode is adopted under the opening degree mode, the adjusting speed of the active power is low, the adjusting process is easily influenced by water hammer reaction and unit inertia effect, and under a pure open-loop control mode, the opening degree control has static deviation due to deviation of the water head, the active power and the guide vane opening degree corresponding data table, and the like, and meanwhile, the phenomenon of serious overshoot caused by the over-high adjusting speed is inhibited, the quick, accurate and stable control of the guide vane opening degree and the active power of the unit is realized, and the adjusting quality is improved.
The invention discloses a control method for combining opening analog quantity closed loop control and segmented open loop control of opening modes of guide vanes of a hydropower station monitoring system.
The guide vane opening subsection open-loop control is particularly suitable for the situation of large-amplitude rapid adjustment of the guide vane opening and the active power of the unit, and is generally divided into two sections, wherein the gain coefficient K1 of the former sectionThe gain coefficient of the latter section is usually equal to 1, and the aim is to prevent the opening of the guide vane of the unit and the adjustment process of the active power from being seriously overshot, and improve the adjustment quality. Calculating the opening D of the guide vane by looking up the table according to the sectional switching condition Watch (CN) The absolute value of the difference value with the opening D of the guide vane is smaller than Delta D1. The segmented open-loop control can effectively avoid the influence of the water hammer reaction of the water diversion pipeline and the inertia effect of the water turbine generator set in the adjusting process, and reduces the risk of the divergence oscillation of the guide vane opening and the active power of the whole control system.
The guide vane opening closed-loop control is particularly suitable for the situation of small-amplitude or tail end accurate adjustment of the guide vane opening and active power of the unit. Calculating the opening D of the guide vane by looking up the table under the switching condition of the segmented open-loop control and the closed-loop control Watch (CN) The absolute value of the difference value with the opening D of the guide vane is smaller than delta D2.
The invention discloses a control method for combining opening analog quantity closed loop and subsection open loop control of an opening mode guide vane of a hydropower station monitoring system, which comprises the following detailed process steps of:
step 1: initializing control parameters delta D, delta D1 and delta D2 of the monitoring system, a self-adding conversion coefficient k, a water head, active power and guide vane opening one-to-one correspondence table data, and entering the step 2;
step 2: monitoring system collection variable active power given value G Given the And feeding power feedback G, guide vane opening feedback D and a unit water head w into the step 3.
And 3, step 3: detecting whether the monitoring system is in an opening mode, if so, entering a step 4; otherwise, the detection is continued.
And 4, step 4: the monitoring system detects whether AGC issues a new active power given value G or not in the opening degree mode Given the If yes, entering the step 5; otherwise, entering the step 6;
and 5, step 5: the monitoring system sends a new active power given value G according to AGC Given a And the current unit water head w, the active power and the guide vane opening degree one-to-one correspondence data table is used for calculating the corresponding guide vane opening degree value D Watch (A) 。
The data table of the one-to-one correspondence of the water head, the active power and the opening degree of the guide vane is shown in the table 1, p, q, x and y are positive integers, x is more than 1 and less than or equal to p, y is more than 1 and less than or equal to q, and Dx and y are the opening degrees of the guide vane corresponding to the Wx water head Gy active power)
TABLE 1 waterhead, active power and guide vane aperture one-to-one correspondence data sheet
| W 1 | W 2 | … | W x-1 | W x | … | W p-1 | W p | |
| G 1 | D 1,1 | D 2,1 | … | D x-1，1 | D x，1 | … | D p-1,1 | D p，1 |
| G 2 | D 1,2 | D 2,2 | … | D x-1，2 | D x，2 | … | D p-1,2 | D p，2 |
| … | … | … | … | … | … | … | … | … |
| G y-1 | D 1，y-1 | D 2，y-1 | … | D x-1，y-1 | D x，y-1 | … | D p-1,y-1 | D p，y-1 |
| G y | D 1，y | D 2，y | … | D x-1，y | D x，y | … | D p-1,y | D p，y |
| … | … | … | … | … | … | … | … | … |
| G q-1 | D 1，q-1 | D 2，q-1 | … | D x-1，q-1 | D x，q-1 | … | D p-1,q-1 | D p，q-1 |
| G q | D 1，q | D 2，q | … | D x-1，q | D x，q | … | D p-1,q | D p，q |
If W x-1 ≤w≤W x ，G y-1 ≤g≤G y And then:
D TABLE y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )。
D Watch y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )。
D Watch (A) ＝d TABLE y-1 +(d Watch y -d TABLE y-1 )(g-G x-1 )/(G x -G x-1 ). And 6, entering the step 6.
And 6, step 6: if | D Watch (CN) -D ≧ D1 and for the first time, entering step 7; if | D Watch (CN) -D ≧ DeltaD 1 and is non-primary, go to step 8; if | D Watch (A) -D∣<Delta D1 is the first time, and the step 10 is entered; if | D Watch (A) -D∣<Δ D1 and is non-primary, step 11 is entered.
And 7, step 7: control variable D1 Control 0 And assigning an initial value D, and entering the step 8.
And 8, step 8: d1 Controlling n ＝D1 Control n-1 Step 9, entering a step size increase step for control parameters; d1 Control n-1 Is D1 Controlling n N is a positive integer.
Step 9: if D1 Controlling n >K1*D Watch (CN) Then D1' Controlling n ＝K1*D Watch (CN) Entering the step 13; otherwise, D1' Controlling n ＝D1 Controlling n And entering the step 13.
Step 10: control variable D1 Control 0 And assigning an initial value D and entering the step 11.
And 11, a step of: d1 Controlling n ＝D1 Control n-1 And D, entering the step 12, wherein D is the step length of the change of the control parameters.
Step 12: if D1 Controlling n <D Watch (CN) Then D1' Controlling n ＝D Watch (A) Entering the step 13; otherwise, D1' Controlling n ＝D1 Controlling n And entering the step 13.
Step 13: if | D Watch (A) -D∣<Delta D2 is the first time, and the 14 th step is entered; if | D Watch (A) -D∣<Delta D2 is not primary, and the step 15 is entered; otherwise, step 16 is entered.
Step 14: control variable D2 Control 0 And assigning an initial value of 0 and entering the step 15.
Step 15: d2 Controlling n ＝D2 Control n-1 +k*(G Given a -G), step 16 is entered. D2 Control n-1 Is D2 Controlling n N is a positive integer.
Step 16: d Controlling n ＝D1’ Controlling n +D2 Controlling n And entering the step 17.
And step 17: monitoring system outputs guide vane opening degree analog quantity control signal D Controlling n And returning to the step 2.
A control system combining opening analog quantity closed loop control and subsection open loop control of opening modes of a hydropower station monitoring system comprises:
the device comprises a table look-up calculation module 1, a first circulating self-adding module 2, a first amplitude limiting module 6, a second circulating self-subtracting module 7, a second amplitude limiting module 8, a selector module 9, a second circulating self-adding module 4 and an adder 5;
a table look-up calculation module 1 for acquiring the active power given G Given a Calculating a unit water head w, a water head checking table, an active power table and a guide vane opening degree one-to-one correspondence table, and outputting a calculation result D Watch (A) To clipping block one 6 and clipping block two 8.
A cyclic self-adding module 2 for monitoring the active power given G Given the Change and | D Watch (CN) -D ≧ Δ D1 enable signal, and acquire guide vane opening signal D. When the enable signal is first activated, D1 Control 0 Assigned an initial value D. Circulating self-adding module 2 continuously pairs D1 Controlling n The step length Delta D of the circulating self-adding control parameter is output to D1 Controlling n To clipping block one 6.
A first amplitude limiting module 6 for collecting D output by the table look-up calculation module 1 Watch (CN) And D1 output by the cyclic self-adding module I2 Controlling n To D, pair Controlling n Performing amplitude limiting output with maximum value of K1 × D Watch (A) . K1 is usually 1.4. Output guide vane opening degree analog quantity control signal D1' Controlling n The selector module 9 is given channel 0.
A cyclic self-decreasing module 7 for monitoring the active power given G Given the Change and | _ D Watch (A) -D∣<Enabling a signal delta D1, and collecting a guide vane opening signal D. When the enable signal is first activated, D1 Control 0 And assigning an initial value D. The circulation self-subtraction module 7 continuously pairs D1 Controlling n The step length Delta D of the circulating self-reduction control parameter is output to D1 Controlling n To clipping block two 8.
A second amplitude limiting module 8 for collecting D output by the table look-up calculation module 1 Watch (A) And D1 output by the cycle self-subtraction module 7 Controlling n To D1, pair Controlling n Performing amplitude limiting output with minimum value of D Watch (A) . Outputting guide vane opening degree analog quantity control signal D1' Controlling n To the selector module 9 channel 1.
A second cyclic self-adding module 4 for monitoring | D Watch (A) -D∣<Delta D2 enable signal and active power acquisitionGiven G Given a Power feedback G and conversion factor k. When the enable signal is active, D2 Control 0 An initial value of 0 was assigned. The circulating self-adding module II 4 is continuously paired with the D2 Controlling n Cyclic self-adding of k (G) Given a -G) output D2 Controlling n To the adder 5.
The adder 5 collects D1 'output by the selector module 9' Controlling n And D2 output by the cyclic self-adding module II 4 Controlling n Adding up and outputting guide vane opening degree analog quantity control signal D Controlling n And (3) an electronic control system for the speed regulator.
The flow chart of the control method combining the opening analog quantity closed loop and the segmented open loop control of the opening mode guide vane of the hydropower station monitoring system is shown in FIG. 4.
Example three:
in order to further improve the performance and quality of small-amplitude or tail-end adjustment of the opening degree and active power of the guide vane of the unit, optimization improvement is carried out on the basis of a control method and a structure of a hydropower station monitoring system opening degree mode guide vane opening degree analog quantity closed loop and subsection open loop control combined, subsection open loop control is realized, and a control method and a structure of the hydropower station monitoring system opening degree mode guide vane opening degree analog quantity integral closed loop and subsection open loop control combined are formed.
The method is based on a water head, active power and guide vane opening degree corresponding data table, in an opening degree mode, a brand new method for checking the corresponding data table, combining segmented open-loop control and variable integral closed-loop control is adopted to quickly and accurately adjust the active power of a unit, and outputting guide vane opening degree analog quantity control signals, and the method aims to solve the problems that a power closed-loop conventional pulse adjusting mode is adopted in the opening degree mode, the adjusting speed of the active power is low, the adjusting process is easily influenced by water hammer reaction and unit inertia effect, in a pure open-loop control mode, the opening degree control has static deviation due to deviation of the water head, the active power and the guide vane opening degree corresponding data table, and the like, meanwhile, the serious overshoot phenomenon caused by the excessively high adjusting speed is inhibited, the small amplitude or tail end adjusting performance and quality of the guide vane opening degree and the active power of the unit are improved, the quick, accurate and stable control of the guide vane opening degree and the active power of the unit is realized, and the adjusting quality is improved.
The invention discloses a control method for combining opening analog quantity variable integral closed loop control and sectional open loop control of an opening mode guide vane of a hydropower station monitoring system, which adopts a control method of firstly performing sectional open loop control and then performing variable integral closed loop control.
The segmented open-loop control of the guide vane opening is particularly suitable for the situation of large-amplitude rapid adjustment of the guide vane opening and the active power of the unit, and is generally divided into two sections, wherein the gain coefficient K1 of the former section is generally larger than 1 in order to improve the speed of adjustment of the guide vane opening and the active power of the unit, and the gain coefficient of the latter section is generally equal to 1 in order to prevent serious overshoot in the adjustment process of the guide vane opening and the active power of the unit and improve the adjustment quality. Calculating the opening D of the guide vane by looking up the table according to the sectional switching condition Watch (CN) The absolute value of the difference value with the opening D of the guide vane is smaller than Delta D1. The segmented open-loop control can effectively avoid the influence of the water hammer reaction of the water diversion pipeline and the inertia effect of the water turbine generator set in the adjusting process, and reduces the risk of the divergence oscillation of the guide vane opening and the active power of the whole control system.
The guide vane opening closed-loop control is particularly suitable for the situation of small amplitude or tail end accurate adjustment of the guide vane opening and active power of the unit. The guide vane opening subsection variable integral closed-loop control can improve the performance and quality of small amplitude or tail end adjustment of the guide vane opening and active power of the unit. Calculating the opening D of the guide vane by looking up the table according to the switching condition of the variable integral closed-loop control Watch (A) The absolute value of the difference value with the opening D of the guide vane is less than delta D3.
Calculating the opening D of the guide vane by looking up the table under the switching condition of the segmented open-loop control and the closed-loop control Watch (A) The absolute value of the difference value with the opening D of the guide vane is smaller than delta D2.
The invention discloses a control method for combining opening analog quantity variable integral closed loop and segmented open loop control of an opening mode guide vane of a hydropower station monitoring system, which comprises the following detailed process steps of:
Step 4, the monitoring system detects whether AGC issues a new active power given value G or not in the opening degree mode Given a If yes, entering step 5; otherwise, go to step 6.
The data table of the one-to-one correspondence of the water head, the active power and the guide vane opening is shown in table 1, wherein p, q, x and y in table 1 are positive integers, x is more than 1 and less than or equal to p, y is more than 1 and less than or equal to q, and Dx and y are guide vane openings corresponding to the Wx water head Gy active power;
TABLE 1 waterhead, active power and guide vane opening degree one-to-one correspondence data sheet
| W 1 | W 2 | … | W x-1 | W x | … | W p-1 | W p | |
| G 1 | D 1,1 | D 2,1 | … | D x-1，1 | D x，1 | … | D p-1,1 | D p，1 |
| G 2 | D 1,2 | D 2,2 | … | D x-1，2 | D x，2 | … | D p-1,2 | D p，2 |
| … | … | … | … | … | … | … | … | … |
| G y-1 | D 1，y-1 | D 2，y-1 | … | D x-1，y-1 | D x，y-1 | … | D p-1,y-1 | D p，y-1 |
| G y | D 1，y | D 2，y | … | D x-1，y | D x，y | … | D p-1,y | D p，y |
| … | … | … | … | … | … | … | … | … |
| G q-1 | D 1，q-1 | D 2，q-1 | … | D x-1，q-1 | D x，q-1 | … | D p-1,q-1 | D p，q-1 |
| G q | D 1，q | D 2，q | … | D x-1，q | D x，q | … | D p-1,q | D p，q |
If W x-1 ≤w≤W x ，G y-1 ≤g≤G y Then, then
D TABLE y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )。
D Watch y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )。
D Watch (CN) ＝d TABLE y-1 +(d Watch y -d TABLE y-1 )(g-G x-1 )/(G x -G x-1 ). And entering the step 6.
Step 12, if D1 Controlling n <D Watch (CN) And then D1' Controlling n ＝D Watch (CN) Entering step 13; otherwise, D1' Controlling n ＝D1 Controlling n Then, the process proceeds to step 13.
Step 13, if | D Watch (CN) -D∣<Δ D2 and primary, go to step 14; if | D Watch (CN) -D∣<Delta D2 and is not primary, go to step 15; otherwise, go to step 17;
step 14, controlling variable D2 Control 0 An initial value of 0 is assigned and the process proceeds to step 15.
Step 15, if | D Watch (A) -D∣<D3, then k = k2, proceed to step 16; otherwise, k = k1, step 16 is entered.
Step 16, D2 Controlling n ＝D2 Control n-1 +k*(G Given a -G) step 17 is entered. D2 Control n-1 Is D2 Controlling n N is a positive integer.
Step 17, D Controlling n ＝D1’ Controlling n +D2 Controlling n Proceed to step 18.
Step 18, the monitoring system outputs a guide vane opening degree analog quantity control signal D Controlling n And returning to the step 2.
A control system combining opening simulation variable integral closed loop and segmented open loop control of a guide vane in an opening mode of a hydropower station monitoring system comprises: the device comprises a table look-up calculation module 1, a first circulating self-adding module 2, a first amplitude limiting module 6, a second circulating self-subtracting module 7, a second amplitude limiting module 8, a first selector module 10, a second circulating self-adding module 4, a second selector module 11 and an adder 5;
a table look-up calculation module 1 for acquiring the active power given G Given a Calculating a unit water head w, a water head checking table, an active power table and a guide vane opening degree one-to-one correspondence table, and outputting a calculation result D Watch (A) To clipping block one 6 and clipping block two 8.
A circulation self-adding module I2 monitors active power given G Given the Change and | D Watch (CN) -D∣<Enabling a signal delta D1, and collecting a guide vane opening signal D. When the enable signal is activated for the first time, D1 Controlling And assigning an initial value D. Circulating self-adding module I2 continuously pairs D1 Control of The step length Delta D of the circulating self-adding control parameter is output to D1 Controlling n To clipping block one 6.
A first amplitude limiting module 6 for collecting D output by the table look-up calculation module 1 Watch (A) And D1 output by the cyclic self-adding module I2 Controlling n To D, to Controlling n Performing amplitude limiting output with maximum value of K1 × D Watch (CN) . K1 is usually 1.4. Outputting guide vane opening degree analog quantity control signal D1' Controlling n The selector module is given a 10 channel 0.
A circulation self-reduction module 7 for monitoring the active power given G Given the Change and | D Watch (A) -D∣<Enabling a signal delta D1, and collecting a guide vane opening signal D. When the enable signal is activated for the first time, D1 Control 0 And assigning an initial value D. The circulation self-subtraction module 7 continuously pairs D1 Controlling n The step length Delta D of the circulating self-reduction control parameter is output to D1 Controlling n To clipping block two 8.
A second amplitude limiting module 8 for collecting D output by the table look-up calculation module 1 Watch (A) And D1 output by the cycle self-subtraction module 7 Controlling n To D1 Controlling n Performing amplitude limiting output with minimum value of D Watch (CN) . Output guide vane opening degree analog quantity control signal D1' Controlling n Channel 1 is given to selector module one 10.
A selector module one 10, monitoring | -D Watch (A) -D∣<Selecting a signal according to the delta D1, and acquiring a guide vane opening degree analog quantity control signal D1 'output to a selector module I10 by a first amplitude limiting module 6 and a second amplitude limiting module 8' Controlling n . When | D Watch (CN) -D∣<When the delta D1 is not met, the selector module I10 selects the channel 0 to output the amplitude limiting module I6 and outputs the guide vane opening degree analog quantity control signal D1 'to the selector module I10' Controlling n (ii) a When | D Watch (CN) -D∣<When the delta D1 is met, the selector module I10 selects the guide vane opening degree analog quantity control signal D1 'of the channel 1 output amplitude limiting module II 8 output to the selector module I10' Controlling n The selector module I10 controls the guide vane opening degree analog quantity control signal D1' Controlling n Output to the adder 5.
A second cyclic self-adding module 4 for monitoring | D Watch (CN) -D∣<Delta D2 enable signal and active power given G is collected Given the Power feedback G and the conversion coefficient k output by the second selector module 11. When the enable signal is active, D2 Control 0 An initial value of 0 was assigned. The circulating self-adding module II 4 is continuously paired with the D2 Controlling n Cyclic self-adding of k (G) Given a -G) output D2 Controlling n To the adder 5.
A second selector module 11 for monitoring | -D Watch (A) -D∣<The Δ D3 selects the signal whose channel 0 acquires the conversion coefficient k1 and whose channel 1 acquires the conversion coefficient k2. When | D Watch (CN) -D∣<When the delta D3 is not satisfied, the second selector module 11 selects the channel 0 and outputs a conversion coefficient k1; when | D Watch (A) -D∣<When the delta D3 is met, the second selector module 11 selects the channel 1 and outputs a conversion coefficient k2, and the second selector module 11 outputs the conversion coefficient k to the second cyclic self-adding module 4.
An adder 5 for collecting D1 'output by the selector module I10' Controlling n And D2 output by the second circulation self-adding module 4 Controlling n After addition, an analog quantity control signal D of the opening degree of the guide vane is output Controlling n And (3) an electronic control system for the speed regulator.
The flow chart of the control method combining the opening analog quantity integral closed loop and the segmented open loop control of the opening mode guide vane of the hydropower station monitoring system is shown in FIG. 6.
Claims (3)
1. A control method for combining closed-loop and open-loop control of opening degree analog quantity of guide vanes in an opening degree mode of a hydropower station monitoring system is characterized by comprising the following steps of:
s1: initializing control parameters delta D and delta D2 of a monitoring system, a self-adding conversion coefficient k, a water head, active power and guide vane opening degree one-to-one corresponding data table, and entering S2;
s2: active power set value G collected by monitoring system Given a Feeding power feedback G, guide vane opening degree feedback D and a unit water head w into S3;
s3: detecting whether the monitoring system is in an opening mode, if so, entering S4; otherwise, continuing to detect;
s4: the monitoring system detects whether AGC issues a new active power given value G or not in the opening degree mode Given a If yes, entering S5; otherwise, entering S7;
s5: the monitoring system sends a new active power given value G according to AGC Given a And the current unit water head w, the active power and the guide vane opening degree one-to-one correspondence data table is used for calculating the corresponding guide vane opening degree value D Watch (A) ；
S6: controlled variable D1 Control 0 Assigning an initial value D, and entering S7;
S7：D1 controlling n ＝D1 Control n-1 Adding step length for the control parameter by using the triangle D, and entering S8; d1 Control n-1 Is D1 Controlling n N is a positive integer;
s8: if D1 Controlling n ＞D In the table, the values of, then D1' Controlling n ＝D Watch (CN) Entering S9; otherwise, D1' Controlling n ＝D1 Controlling n Entering S9;
s9: if | D Watch (CN) -D | is < Δ D2 and for the first time, into S10; if | D Watch (CN) -D | <Δd2 and is non-primary, entering S11; otherwise, entering S12;
s10: controlled variable D2 Control 0 An initial value of 0 is assigned, and the process proceeds to S11;
S11：D2 controlling n ＝D2 Control n-1 +k*(G Given a -G), go to S12; d2 Control n-1 Is D2 Controlling n N is a positive integer;
S12：D controlling n ＝D1’ Controlling n +D2 Controlling n The process proceeds to S13;
s13: monitoring system outputs guide vane opening degree analog quantity control signal D Controlling n And returns to S2.
2. The hydropower station monitoring system opening model guide vane opening analog quantity closed-loop and open-loop control combined control method according to claim 1, characterized in that:
in S5, the data table of the one-to-one correspondence of the active power and the guide vane opening degree is shown in the table 1,
TABLE 1 waterhead, active power and guide vane opening degree one-to-one correspondence data sheet
If W x-1 ≤w≤W x ，G y-1 ≤g≤G y Then:
D TABLE y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )；
D Watch y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )；
D Watch (A) ＝D TABLE y-1 +(D Watch y -D TABLE y-1 )(g-G x-1 )/(G x -G x-1 ) (ii) a The process proceeds to S6.
3. The control method for combining the closed-loop and open-loop control of the opening degree analog quantity of the guide vane in the opening degree mode of the hydropower station monitoring system according to claim 1, is characterized in that: comprising a control system comprising: the table look-up calculation module (1), the cyclic self-adding module I (2), the amplitude limiting module (3), the cyclic self-adding module II (4) and the adder (5);
a table look-up calculation module (1) for acquiring the given G of the active power Given the Calculating a unit water head w, a water checking head, active power and guide vane opening degree one-to-one corresponding data table, and outputting a calculation result D Watch (A) To the amplitude limiting module (3);
a cyclic self-adding module (2) for monitoring the active power given G Given the Changing enable signal, collecting guide vane opening degree signal D, and controlling variable D1 when enable signal acts Control 0 Assigning an initial value D; the cyclic self-adding module I (2) continuously pairs the control variable D1 Controlling n The step length Delta D of the cyclic self-adding control parameter is output as D1 Controlling n To the amplitude limiting module (3);
an amplitude limiting module (3) for collecting D output by the table look-up calculation module (1) Watch (A) And D1 output by the cyclic self-adding module I (2) Controlling n To D1 Controlling n Performing amplitude limiting output with maximum value of D Watch (A) (ii) a The amplitude limiting module (3) controls a guide vane opening degree analog quantity control signal D1' Controlling n Output to an adder (5);
a second cyclic self-adding module (4) for monitoring | D Watch (CN) -D | <ΔD2 enable signal and active power given G is collected Given a Power feedback G and conversion coefficient k, and controls variable D2 when enable signal is activated Control 0 Assigning an initial value of 0; the second (4) of the cyclic self-adding module continuously pairs the control variable D2 Controlling n Cyclic self-adding of k (G) Given a -G) output D2 Controlling n An adder (5);
the adder (5) is used for acquiring D1 'output by the amplitude limiting module (3)' Controlling n And D2 output by the cyclic self-adding module II (4) Controlling n After addition, an analog quantity control signal D of the opening degree of the guide vane is output Controlling n And (3) an electronic control system for the speed regulator.
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