CN112523928B - Control method and system combining guide vane opening analog quantity segmented open-loop control and variable parameter PID closed-loop control of speed regulator - Google Patents

Control method and system combining guide vane opening analog quantity segmented open-loop control and variable parameter PID closed-loop control of speed regulator Download PDF

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CN112523928B
CN112523928B CN202011418711.2A CN202011418711A CN112523928B CN 112523928 B CN112523928 B CN 112523928B CN 202011418711 A CN202011418711 A CN 202011418711A CN 112523928 B CN112523928 B CN 112523928B
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control
controlling
guide vane
watch
active power
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CN112523928A (en
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涂勇
陈自然
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China Yangtze Power Co Ltd
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China Yangtze Power Co Ltd
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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
    • F03B15/08—Regulating, i.e. acting automatically by speed, e.g. by measuring electric frequency or liquid flow
    • F03B15/12—Regulating, i.e. acting automatically by speed, e.g. by measuring electric frequency or liquid flow with retroactive action
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/84—Modelling or simulation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/40—Type of control system
    • F05B2270/402—Type of control system passive or reactive, e.g. using large wind vanes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/40—Type of control system
    • F05B2270/404—Type of control system active, predictive, or anticipative
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/60—Control system actuates through
    • F05B2270/604—Control system actuates through hydraulic actuators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/70—Type of control algorithm
    • F05B2270/706—Type of control algorithm proportional-integral-differential
    • 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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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Water Turbines (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

A control method and system for combining guide vane opening analog quantity subsection open-loop control and speed regulator PID closed-loop control 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, the monitoring system adopts a mode of checking the corresponding data table and subsection open-loop control to output a guide vane opening analog quantity control signal, a speed regulating system adopts a PID closed-loop control mode and outputs a hydraulic follow-up system control signal, and the combination of the two is a brand new method for quickly and accurately regulating the active power of a unit, aiming at solving the problems that a power closed-loop conventional pulse regulation mode is adopted under the opening mode, the regulation speed of the active power is slow, the regulation 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 caused by deviation of the water head, the active power and the guide vane opening corresponding data table, and meanwhile, the phenomenon of serious overshoot caused by excessively high regulation speed is inhibited.

Description

Control method and system combining guide vane opening analog quantity segmented open-loop control and variable parameter PID closed-loop control of speed regulator
Technical Field
The invention belongs to the field of hydropower station computer monitoring systems, and particularly relates to a control method and a control system for combining guide vane opening analog quantity segmented open-loop control and variable parameter PID closed-loop control of a speed regulator in 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 Chinese invention patent LCU active pulse adjusting system of hydropower station unit (patent number: ZL 201610327273.6). 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 segmentation open-loop control of guide vanes of a hydropower station monitoring system with variable parameter PID closed-loop control of a speed regulator, aiming at solving the problems that a power closed-loop conventional pulse regulation mode is adopted in an 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 data table corresponding to the water head, the active power and the opening of the guide vanes in a pure open-loop control mode; meanwhile, the phenomenon of serious overshoot caused by excessively high regulation speed is inhibited, the performance and the quality of small-amplitude or tail-end regulation of the opening degree and the active power of the guide vane of the unit are improved, the quick, accurate and stable real-time control of the opening degree and the active power of the guide vane of the unit is realized, and the regulation quality is improved.
The technical scheme adopted by the invention is as follows:
the first scheme is as follows:
a control method combining opening analog quantity subsection open-loop control of opening mode guide vane of a hydropower station monitoring system and PID closed-loop control of a speed regulator is characterized by comprising the following steps: a monitoring system part control method and a speed regulation system part control method;
the control method for the monitoring system part comprises the following steps:
step 1, initializing control parameters delta D and delta D1 of a monitoring system and data of a one-to-one correspondence table of a water head, active power and the opening degree of a guide vane, and entering step 2.
Step 2, collecting variable active power given value G by monitoring systemGiven aAnd feeding a water head w of the unit and the opening degree of the guide vane back to D, and entering the step 3.
Step 3, detecting whether the monitoring system is in an opening mode, if so, entering step 4; otherwise, continuing the detection.
Step 4, the monitoring system detects whether AGC issues a new active power given value G or not in the opening degree modeGiven aIf yes, entering the step 5; otherwise, step 6 is entered.
Step 5, the monitoring system sends a new active power given value G according to AGCGiven aAnd 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 DWatch (A)。
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
W1 W2 … Wx-1 Wx … Wp-1 Wp
G1 D1,1 D2,1 … Dx-1，1 Dx，1 … Dp-1,1 Dp，1
G2 D1,2 D2,2 … Dx-1，2 Dx，2 … Dp-1,2 Dp，2
… … … … … … … … …
Gy-1 D1，y-1 D2，y-1 … Dx-1，y-1 Dx，y-1 … Dp-1,y-1 Dp，y-1
Gy D1，y D2，y … Dx-1，y Dx，y … Dp-1,y Dp，y
… … … … … … … … …
Gq-1 D1，q-1 D2，q-1 … Dx-1，q-1 Dx，q-1 … Dp-1,q-1 Dp，q-1
Gq D1，q D2，q … Dx-1，q Dx，q … Dp-1,q Dp，q
If Wx-1≤w≤Wx，Gy-1≤g≤GyThen, then
DTABLE y-1＝Dx-1，y-1+(Dx，y-1-Dx-1，y-1)(w-Wx-1)/(Wx-Wx-1)。
DTable y＝Dx-1，y+(Dx，y-Dx-1，y)(w-Wx-1)/(Wx-Wx-1)。
DWatch (A)＝dTABLE y-1+(dWatch y-dTABLE y-1)(g-Gx-1)/(Gx-Gx-1). And 6, entering the step 6.
Step 6, if | -DWatch (A)-D ≧ Δ D1 and for the first time, go to step 7; if | DWatch (A)-D ≧ Δ D1 and is non-primary, go to step 8; if | DWatch (A)-D∣<Δ D1 and for the first time, entering step 10; if | DWatch (A)-D∣<Δ D1 and is non-primary, step 11 is entered.
Step 7, control variable D1Control 0And assigning an initial value D, and entering the step 8.
Step 8, D1Controlling n＝D1Control n-1And D, entering the step 9, wherein D is the step length of the change of the control parameters. D1Control n-1Is D1Controlling nN is a positive integer.
Step 9, if D1Controlling n>K1*DWatch (A)And then D1'Controlling n＝K1*DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nAnd entering the step 13.
Step 10, control variable D1Control 0And assigning an initial value D, and entering the step 11.
Step 11, D1Controlling n＝D1Control n-1And D, entering the step 12, wherein D is the control parameter change step length. D1Control n-1Is D1Controlling nN is a positive integer.
Step 12, if D1Controlling n<DWatch (A)And then D1'Controlling n＝DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nAnd entering the step 13.
Step 13, the monitoring system outputs a guide vane opening degree analog quantity control signal D1'Controlling nAnd returning to the step 2.
The partial control method of the speed regulation system comprises the following steps:
s1, the speed control system data Δ D2 is initialized, and the process advances to S2.
S2, collecting guide vane opening degree analog quantity control signal D1 'output by a monitoring system through a speed regulating system'Controlling nAnd the opening value D of the corresponding guide vane calculated by table lookupWatch (A)Guide vane opening degree feedback D, active power given GGiven aPower feedback GnAnd PID parameter vector k (kp, ki, kd), proceed to S3.
S3, the speed regulating system detects whether the speed regulating system is in the opening degree mode, if so, the control system enters S4; otherwise, continuing the detection.
S4, if | -DWatch (A)-D∣<Δ D2 and first time, enter S5; if | DWatch (A)-D∣<Δ D2 and not primary, proceed to S6; otherwise, the process proceeds to S7.
S5, control variable D2Control 0The process proceeds to S6 with an initial value of 0.
S6、D2Controlling n＝D2Control n-1+kp*GGiven a+ki*(GGiven a-Gn)+kd*(Gn-Gn-1)，Gn-1The power feedback signal collected for the previous cycle. Proceed to S7. D2Control n-1Is D2Controlling nN is a positive integer.
S7、DControlling n＝D1’Control n-1+D2Control n-1The process proceeds to S8. D1'Control n-1Is D1'Controlling nN is a positive integer.
S8 and speed regulating systemOutput guide vane opening degree analog quantity control signal DControlling nAnd (5) returning to S2 for the electric control part of the hydraulic follow-up system, n + +.
A control system combining hydropower station guide vane opening analog quantity subsection open-loop control and speed regulator PID closed-loop control comprises: a monitoring system part and a speed regulating system part;
the monitoring system part comprises a table look-up calculation module, a cyclic self-adding module, a first amplitude limiting module, a cyclic self-subtracting module, a second amplitude limiting module and a selector module;
a table look-up calculation module for acquiring active power given GGiven aCalculating 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 DWatch (A)And the first and second amplitude limiting modules are provided.
A circulation self-adding module for monitoring the active power given GGiven aChange and | DWatch (A)-D∣<Δ D1 enables the signal and collects the guide vane opening feedback D. When the enable signal is activated for the first time, DControl 0And assigning an initial value D. The circulation self-adding module continuously pairs with D1Controlling nThe step length Delta D of the cyclic self-adding control parameter is output D1Controlling nTo the first clipping module.
Amplitude limiting module I, collecting D output by table look-up calculation moduleWatch (CN)And D1 output from the cyclic self-adding moduleControlling nTo D1Controlling nPerforming amplitude limiting output with maximum value of K1 × DWatch (A). K1 was generally taken to be 1.4. Outputs a guide vane opening degree analog quantity control signal D1'Controlling n Channel 0 is given to the selector module.
A circulation self-reduction module for monitoring the active power given GGiven aChange and | _ DWatch (CN)-D∣<Δ D1 enables the signal and collects the guide vane opening feedback D. When the enable signal is activated for the first time, DControl 0And assigning an initial value D. Continuous pair of circulation self-decreasing modules D1Controlling nThe step size Delta D of the cyclic self-reduction control parameter is output D1Controlling nTo the first clipping module.
Amplitude limiting module II for collecting D output from table look-up calculation moduleWatch (CN)And D1 output from the cycle self-subtraction moduleControlling nTo D1Controlling nPerforming amplitude limiting output with minimum value ofDWatch (CN). Outputs a guide vane opening degree analog quantity control signal D1'Controlling n Channel 1 to the selector module.
A selector module for monitoring | DWatch (A)-D∣<Selecting a signal by 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 | DWatch (A)-D∣<When the delta D1 is not satisfied, the selector module selects the channel 0, and outputs a guide vane opening degree analog quantity control signal D1 'output by the amplitude limiting module I to the selector module'Controlling n(ii) a When | DWatch (A)-D∣<When the delta D1 is met, the selector module selects the channel 1, and outputs the guide vane opening degree analog quantity control signal D1 'of the second amplitude limiting module to the selector module'Controlling n. The selector module controls a guide vane opening degree analog quantity control signal D1'Controlling nAnd the output is sent to an electronic control system of the speed regulator.
The speed governing system part includes: the system comprises a PID module, an adder and an electric control part of a hydraulic servo system;
PID module, monitoring | DWatch (A)-D∣<Delta D2 enable signal and collect active power given GGiven aPower feedback GnAnd a PID parameter vector k (kp, ki, kd). When the enable signal is active, D2Control 0An initial value of 0 was assigned. D2Controlling n＝D2Control n-1+kp*GGiven a+ki*(GGiven a-Gn)+kd*(Gn-Gn-1)。Gn-1The power feedback signal collected for the previous cycle. PID module output D2Control ofTo the adder. D2Control n-1Is D2Controlling nN is a positive integer.
The adder collects D1 'output by the selector module of the monitoring system'Controlling nAnd D2 output by PID moduleControlling nAdding up and outputting guide vane opening degree analog quantity control signal DControlling nAnd an electric control part is provided for the hydraulic follow-up system.
The electric control part of the hydraulic follow-up system collects the guide vane opening degree analog quantity control signal D output by the adderControlling nAfter being processed, the electric control signal B of the hydraulic follow-up system is outputControl of。
Scheme II:
a control method combining opening analog quantity subsection open-loop control of opening mode guide vane of a hydropower station monitoring system and variable parameter PID closed-loop control of a speed regulator comprises the following steps: a monitoring system part control method and a speed regulation system part control method;
the control method for the monitoring system part comprises the following steps:
step 1, initializing control parameters delta D and delta D1 of a monitoring system and data of a one-to-one correspondence table of a water head, active power and the opening degree of a guide vane, and entering step 2.
Step 2, collecting variable active power given value G by monitoring systemGiven aAnd feeding a water head w of the unit and the opening degree of the guide vane back to the step 3.
Step 3, detecting whether the opening mode is in, if so, entering step 4; otherwise, the present detection is continued.
Step 4, the monitoring system detects whether AGC issues a new active power given value G or not in the opening degree modeGiven aIf yes, entering the step 5; otherwise, step 6 is entered.
Step 5, the monitoring system sends a new active power given value G according to AGCGiven aAnd 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 DWatch (A)。
The data table of one-to-one correspondence of the water head, the active power and the opening degree of the guide vane 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 the active power Gy of the Wx water head;
TABLE 1 waterhead, active power and guide vane opening degree one-to-one correspondence data sheet
W1 W2 … Wx-1 Wx … Wp-1 Wp
G1 D1,1 D2,1 … Dx-1，1 Dx，1 … Dp-1,1 Dp，1
G2 D1,2 D2,2 … Dx-1，2 Dx，2 … Dp-1,2 Dp，2
… … … … … … … … …
Gy-1 D1，y-1 D2，y-1 … Dx-1，y-1 Dx，y-1 … Dp-1,y-1 Dp，y-1
Gy D1，y D2，y … Dx-1，y Dx，y … Dp-1,y Dp，y
… … … … … … … … …
Gq-1 D1，q-1 D2，q-1 … Dx-1，q-1 Dx，q-1 … Dp-1,q-1 Dp，q-1
Gq D1，q D2，q … Dx-1，q Dx，q … Dp-1,q Dp，q
If Wx-1≤w≤Wx，Gy-1≤g≤GyThen, then
DTABLE y-1＝Dx-1，y-1+(Dx，y-1-Dx-1，y-1)(w-Wx-1)/(Wx-Wx-1)。
DWatch y＝Dx-1，y+(Dx，y-Dx-1，y)(w-Wx-1)/(Wx-Wx-1)。
DWatch (A)＝dTABLE y-1+(dWatch y-dTABLE y-1)(g-Gx-1)/(Gx-Gx-1). And 6, entering the step 6.
Step 6, if | -DWatch (A)-D ≧ Δ D1 and for the first time, entering step 7; if | DWatch (CN)-D ≧ Δ D1 and is non-primary, go to step 8; if | DWatch (A)-D∣<Δ D1 and for the first time, entering step 10; if | DWatch (A)-D∣<Δ D1 and is non-primary, step 11 is entered.
Step 7, control variable D1Control 0And assigning an initial value D and entering the step 8.
Step 8, D1Controlling n＝D1Control n-1And D, entering the step 9, wherein D is the step length of the change of the control parameters. D1Control n-1Is D1Controlling nN is a positive integer.
Step 9, if D1Controlling n>K1*DWatch (A)D1'Controlling n＝K1*DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nAnd entering the step 13. The gain factor K1 is typically 1.4.
Step 10, control variable D1Control 0And assigning an initial value D, and entering the step 11.
Step 11, D1Controlling n＝D1Control n-1And D, entering the step 12, wherein D is the control parameter change step length. D1Control n-1Is D1Controlling nN is a positive integer.
Step 12, if D1Controlling n<DWatch (A)And then D1'Controlling n＝DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nAnd entering the step 13.
Step 13, the monitoring system outputs a guide vane opening degree analog quantity control signal D1'Controlling nAnd returning to the step 2.
The partial control method of the speed regulation system comprises the following steps:
s1, speed control system data Δ D2 and Δ D3 are initialized, and the process advances to S2.
S2, collecting guide vane opening degree analog quantity control signal D1 'output by a monitoring system through a speed regulating system'Controlling nAnd the opening value D of the corresponding guide vane calculated by table lookupWatch (CN)Guide vane opening degree feedback D, active power given GGiven aPower feedback GnAnd PID parameter vector k1(kp1, ki1, kd1), PID parameter vector k2(kp2, ki2, kd 2). Proceed to S3.
S3, detecting whether the opening mode is achieved by the speed regulating system, and if yes, entering S4; otherwise, continuing the detection.
S4, if | -DWatch (A)-D∣<Δ D2 and first time, enter S5; if | DWatch (A)-D∣<Δ D2 and not primary, proceed to S6; otherwise, the process proceeds to S7.
S5, control variable D2Control 0The process proceeds to S6 with an initial value of 0.
S6, if | -DWatch (A)-D∣<Δ D3, then k — k2, enters S7; otherwise, k is k1, S7 is entered.
S7、D2Controlling n＝D2Control n-1+kp*GGiven a+ki*(GGiven the-Gn)+kd*(Gn-Gn-1)，Gn-1The power feedback signal collected for the previous cycle. Proceed to S8. D2Control n-1Is D2Controlling nN is a positive integer.
S8、DControlling n＝D1’Controlling n+D2Controlling nThe process proceeds to S9.
S9, and outputting guide vane opening degree analog quantity control signal D by speed regulating systemControlling nAnd (5) returning to S2 for the electric control part of the hydraulic follow-up system, n + +.
A control system combining opening analog quantity subsection open-loop control of opening mode guide vane of a hydropower station monitoring system and variable parameter PID closed-loop control of a speed regulator comprises: a monitoring system part and a speed regulating system part;
the monitoring system part comprises a table look-up calculation module, a circulating self-adding module, a first amplitude limiting module, a circulating self-subtracting module, a second amplitude limiting module and a first selector module;
a table look-up calculation module for acquiring active power given GGiven aCalculating 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 DWatch (A)And the first and second amplitude limiting modules are provided.
A circulation self-adding module for monitoring the active power given GGiven aChange and | DWatch (A)-D∣<Δ D1 enables the signal and collects the guide vane opening feedback D. When the enable signal is activated for the first time, D1Control 0An initial value D is assigned. Cyclic self-adding module continuously pair D1Controlling nThe step size Delta D of the cyclic self-adding control parameter is output D1Controlling nTo the first clipping module.
Amplitude limiting module I, collecting D output by table look-up calculation moduleWatch (A)And D1 output by the circulation self-adding moduleControlling nTo D1Controlling nPerforming amplitude limiting output with maximum value of K1 × DWatch (A). K1 was generally taken to be 1.4. Outputs a guide vane opening degree analog quantity control signal D1'Controlling nGiving the selector module a channel 0.
A circulation self-reduction module for monitoring the active power given GGiven aChange and | _ DWatch (A)-D∣<Δ D1 enables the signal and collects the guide vane opening feedback D. When the enable signal is activated for the first time, D1Control 0And assigning an initial value D. Continuous pair of circulation self-decreasing modules D1Controlling nThe step size Delta D of the control parameter is circularly and automatically reduced, and D1 is outputControlling nTo the first clipping module.
Amplitude limiting module II for collecting D output from table look-up calculation moduleWatch (CN)And D1 output from the cycle self-subtraction moduleControlling nTo D1Controlling nPerforming amplitude limiting output with minimum value of DWatch (A). Outputs a guide vane opening degree analog quantity control signal D1'Controlling nA channel 1 is given to the selector module.
The first selector module monitors | DWatch (A)-D∣<Selecting a signal by 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 | DWatch (A)-D∣<When the delta D1 is not satisfied, the first selector module selects the channel 0, and the first output amplitude limiting module outputs the first output amplitude limiting module to the selector moduleGuide vane opening degree analog quantity control signal D1'Controlling n(ii) a When | DWatch (A)-D∣<When the delta D1 is met, the channel 1 is selected by the first selector module, and the 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 analog quantity control signal D1'Controlling nAnd the output is sent to an electronic control system of the speed regulator.
The speed governing system part includes: the PID module, the selector module II, the adder and the hydraulic servo system electric control part;
PID module, monitoring | DWatch (A)-D∣<Delta D2 enable signal and collect active power given GGiven aPower feedback GnAnd a PID parameter vector k (kp, ki, kd). When the enable signal is active, D2Control 0An initial value of 0 was assigned. D2Controlling n＝D2Control n-1+kp*GGiven a+ki*(GGiven a-Gn)+kd*(Gn-Gn-1)。Gn-1The power feedback signal collected for the previous cycle. PID module output D2Controlling nTo the adder.
A second selector module for monitoring | -DWatch (CN)-D∣<Δ D3 selects a signal whose channel 0 acquires PID parameter vector k1(kp1, ki1, kd1) and channel 1 acquires PID parameter vector k2(kp2, ki2, kd 2). When | DWatch (A)-D∣<When the delta D is not satisfied, the second selector module selects a channel 0, and outputs a PID parameter vector k which is k 1; when | DWatch (A)-D∣<When the delta D is satisfied, the second selector module selects the channel 1 and outputs a PID parameter vector k which is k 2. And the second selector module outputs the PID parameter vector k (kp, ki, kd) to the PID module.
The adder collects D1 'output by the monitoring system selector module'Controlling nAnd D2 output by PID moduleControlling nAdding up and outputting guide vane opening degree analog quantity control signal DControlling nAnd an electric control part is provided for the hydraulic follow-up system.
The electric control part of the hydraulic follow-up system collects the guide vane opening degree analog quantity control signal D output by the adderControlling nAfter being processed, the electric control signal B of the hydraulic follow-up system is outputControl of。
The invention has the following technical effects:
the control method has the characteristics of quick open-loop control and the advantage of small overshoot of segmented open-loop control, and also has the advantages of precision and real-time performance of the PID closed-loop control of the speed regulator, which are not possessed by the closed-loop control of the monitoring system, so that the requirements of good rapidity, small overshoot and no static error after stable regulation in the regulation process are met, and the dynamic and static regulation quality is improved.
The first scheme is as follows: the invention relates to a control method and a system for combining opening analog quantity subsection open-loop control of opening mode guide vane of a hydropower station monitoring system and PID closed-loop control of a speed regulator, which have the following advantages:
the method has the advantages that the open-loop control is rapid, and the rapidity of the adjusting process is improved.
The method has the advantages of accurate closed-loop control, no static error after stable adjustment and improvement of dynamic and static adjustment quality.
The problem of overlarge overshoot caused by overhigh adjusting speed can be avoided through the segmented open-loop control, so that the adjusting quality in the adjusting process is improved.
The PID closed-loop control method is adopted in the speed regulating system to replace closed-loop control in the monitoring system, so that the real-time performance of regulation can be improved, the small-amplitude or terminal regulation performance of the opening degree and active power of the guide vane of the unit can be effectively improved, and the regulation quality can be improved.
The advantage is avoided receiving the influence of water hammer reaction and unit inertia effect in the adjustment process through segmentation open loop control, reduces the risk that whole control system dispersed the oscillation.
Scheme II: the invention relates to a control method and a system for combining opening analog quantity segmented open-loop control of opening modes and guide vane opening analog quantity segmented open-loop control of a hydropower station monitoring system with variable parameter PID (proportion integration differentiation) closed-loop control of a speed regulator, which have the following advantages:
the method has the advantages that the open-loop control is rapid, and the rapidity of the adjusting process is improved.
The closed-loop control method has the advantage of accurate closed-loop control, has no static error after stable adjustment, and improves the dynamic and static adjustment quality.
The problem of overlarge overshoot caused by overhigh adjusting speed can be avoided through the segmented open-loop control, and therefore the adjusting quality of the adjusting process is improved.
The PID closed-loop control method is adopted in the speed regulating system to replace closed-loop control in the monitoring system, so that the real-time performance of regulation can be improved, the small-amplitude or terminal regulation performance of the opening degree and active power of the guide vane of the unit can be effectively improved, and the regulation quality can be improved.
The variable parameter PID closed-loop control can further improve the small amplitude of the opening degree of the guide vane of the unit and the active power or the performance and the quality of the tail end adjustment.
The advantage is avoided receiving the influence of water hammer reaction and unit inertia effect in the adjustment process through segmentation open loop control, reduces the risk that whole control system dispersed the oscillation.
Drawings
FIG. 1 is a control structure diagram of a hydropower station monitoring system opening mode guide vane opening analog quantity segmented open-loop control and a speed regulator PID closed-loop control combined together.
FIG. 2 is a partial flow chart of a control method and a monitoring system for combining opening analog quantity segmented open-loop control of guide vane opening of a hydropower station monitoring system with PID closed-loop control of a speed regulator.
FIG. 3 is a flow chart of a part of a control method speed regulating system combining opening analog quantity segmented open-loop control of guide vane opening of a hydropower station monitoring system and PID closed-loop control of a speed regulator.
FIG. 4 is a control structure diagram of the combination of opening analog quantity segmented open-loop control of guide vane opening in an opening mode of a hydropower station monitoring system and variable parameter PID closed-loop control of a speed regulator.
FIG. 5 is a flow chart of a part of a control method speed regulating system combining opening analog quantity segmented open-loop control of guide vane opening in an opening mode of a hydropower station monitoring system and variable parameter PID closed-loop control of a speed regulator.
Detailed Description
The first embodiment is as follows:
the invention belongs to the field of computer electric control systems of hydropower stations, relates to a brand-new control method and structure of a hydropower station monitoring system and a speed regulating system, and particularly relates to a control method and structure combining opening analog quantity segmented open-loop control of guide vane opening in an opening mode of the hydropower station monitoring system and PID closed-loop control of a speed regulator. The method is based on a water head, active power and guide vane opening corresponding data table, in an opening mode, a monitoring system adopts a brand new method for checking the corresponding data table and performing segmented open-loop control, an analog quantity control signal of the guide vane opening is output, a speed regulating system adopts a PID closed-loop control mode and a hydraulic follow-up system control signal are output, and the two are combined to perform quick and accurate regulation on the active power of the unit, and aims to solve the problems that a power closed-loop conventional pulse regulation mode is adopted in the opening mode, the regulation speed of the active power is slow, the regulation process is easily influenced by water hammer reaction and unit inertia effect, and 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, and the like, and simultaneously inhibit the serious overshoot phenomenon caused by the overhigh regulation speed, and improve the small-amplitude or tail end regulation performance and quality of the guide vane opening and the active power of the unit, the fast, accurate, stable and real-time 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 monitoring system has complex and various control objects, large quantity, limited hardware performance level of the controller, relatively long cycle scanning period executed by the program of the electric control system, and IO output refreshing period even reaching 1 second, under the condition of the application background environment, if the monitoring system performs closed-loop control, poor control performance can be caused by poor real-time performance of refreshing output control signals if the monitoring system performs closed-loop control, usually, integral closed-loop control is only adopted, and PID closed-loop control is not adopted, but the monitoring system adopts an integral closed-loop control method, so that the small amplitude or terminal regulation performance of the opening degree and active power of the guide vanes of the unit is poor, and the closed-loop control method is adopted, although the small amplitude or terminal regulation performance can be improved, the effect is limited. According to the control method combining the opening analog quantity segmented open-loop control of the opening mode guide vane of the hydropower station monitoring system and the PID closed-loop control of the speed regulator, the PID closed-loop control method is adopted in the speed regulating system to replace integral closed-loop control in the monitoring system, so that the small-amplitude or terminal regulation performance of the opening and active power of the guide vane of the unit can be effectively improved, and the regulation quality is improved. The cycle scanning period executed by the control program of the electric control system of the speed regulating system can reach 0.01 second, the real-time performance is strong, the influence of application background environment limitation is avoided, a PID (proportion integration differentiation) closed-loop control structure can be adopted, the guide vane opening of the monitoring system is matched with segmented open-loop control, and the rapid, accurate and stable real-time control of the guide vane opening and the active power of the unit is realized.
The invention discloses a control method for combining opening analog quantity segmented open-loop control of opening modes of guide vanes of a hydropower station monitoring system with PID (proportion integration differentiation) closed-loop control of a speed regulator.
The monitoring system guide vane opening degree segmented open-loop control is particularly suitable for the situation of large-amplitude quick adjustment of the guide vane opening degree and the active power of a unit, and is generally divided into two sections, wherein the gain coefficient K1 of the former section is generally larger than 1, the purpose is to improve the speed of adjustment of the guide vane opening degree and the active power of the unit, the gain coefficient of the latter section is generally equal to 1, the purpose is to prevent serious overshoot in the adjustment process of the guide vane opening degree and the active power of the unit, and the adjustment quality is improved. Calculating the opening D of the guide vane by looking up the table according to the sectional switching conditionWatch (A)The absolute value of the difference value with the guide vane opening degree D 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 PID closed-loop control of the opening of the guide vane of the speed regulating system is particularly suitable for the small-amplitude or terminal precise adjustment of the opening and the active power of the guide vane of the unit.
Calculating the opening D of the guide vane by looking up a table under the closed-loop control input condition of the speed regulating systemWatch (A)The absolute value of the difference value with the guide vane opening degree D is smaller than delta D2.
The invention discloses a control method for combining opening analog quantity subsection open-loop control of opening mode guide vane opening of a hydropower station monitoring system with PID closed-loop control of a speed regulator, which comprises the following detailed process steps:
step 1, initializing control parameters delta D and delta D1 of a monitoring system and data of a one-to-one correspondence table of a water head, active power and the opening degree of a guide vane, and entering step 2.
Step 2, collecting variable active power set value G by monitoring systemGiven theAnd feeding a water head w of the unit and the opening degree of the guide vane back to D, and entering the step 3.
Step 3, the monitoring system detects whether the monitoring system is in an opening mode, if so, the step 4 is entered; otherwise, continuing the detection.
Step 4, the monitoring system detects whether AGC issues a new active power given value G or not in the opening degree modeGiven aIf yes, entering the step 5; otherwise, step 6 is entered.
Step 5, the monitoring system sends a new active power given value G according to AGCGiven aAnd 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 DWatch (A)。
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
W1 W2 … Wx-1 Wx … Wp-1 Wp
G1 D1,1 D2,1 … Dx-1，1 Dx，1 … Dp-1,1 Dp，1
G2 D1,2 D2,2 … Dx-1，2 Dx，2 … Dp-1,2 Dp，2
… … … … … … … … …
Gy-1 D1，y-1 D2，y-1 … Dx-1，y-1 Dx，y-1 … Dp-1,y-1 Dp，y-1
Gy D1，y D2，y … Dx-1，y Dx，y … Dp-1,y Dp，y
… … … … … … … … …
Gq-1 D1，q-1 D2，q-1 … Dx-1，q-1 Dx，q-1 … Dp-1,q-1 Dp，q-1
Gq D1，q D2，q … Dx-1，q Dx，q … Dp-1,q Dp，q
If Wx-1≤w≤Wx，Gy-1≤g≤GyThen, then
DTABLE y-1＝Dx-1，y-1+(Dx，y-1-Dx-1，y-1)(w-Wx-1)/(Wx-Wx-1)。
DWatch y＝Dx-1，y+(Dx，y-Dx-1，y)(w-Wx-1)/(Wx-Wx-1)。
DWatch (A)＝dTABLE y-1+(dTable y-dTABLE y-1)(g-Gx-1)/(Gx-Gx-1). And 6, entering the step 6.
Step 6, if | -DWatch (A)-D ≧ Δ D1 and for the first time, go to step 7; if | DWatch (CN)-D ≧ Δ D1 and is non-primary, go to step 8; if | DWatch (A)-D∣<Δ D1 and for the first time, entering step 10; if | DWatch (A)-D∣<Δ D1 and is non-primary, step 11 is entered.
Step 7, control variable D1Control 0And assigning an initial value D, and entering the step 8.
Step 8, D1Controlling n＝D1Control n-1And D, entering the step 9, wherein D is the step length of the change of the control parameters. (D1Control n-1Is D1Controlling nN is a positive integer of
Step 9, if D1Controlling n>K1*DWatch (A)And then D1'Controlling n＝K1*DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nAnd entering the step 13.
Step 10, control variable D1Control 0And assigning an initial value D, and entering the step 11.
Step 11, D1Controlling n＝D1Control n-1And D, entering the step 12, wherein D is the control parameter change step length. (D1Control n-1Is D1Controlling nN is a positive integer)
Step 12, if D1Controlling n<DWatch (A)And then D1'Controlling n＝DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nAnd entering the step 13.
Step 13, the monitoring system outputs a guide vane opening degree analog quantity control signal D1'Controlling nAnd returning to the step 2.
The partial control method of the speed regulation system comprises the following steps:
s1, the speed control system data Δ D2 is initialized, and the process advances to S2.
S2, collecting guide vane opening degree analog quantity control signal D1 'output by a monitoring system through a speed regulating system'Controlling nAnd the corresponding opening degree D of the guide vane calculated by table lookupWatch (A)Guide vane opening degree feedback D, active power given GGiven aPower feedback GnAnd PID parameter vector k (kp, ki, kd), proceed to S3.
S3, the speed regulating system detects whether the speed regulating system is in the opening degree mode, if so, the control system enters S4; otherwise, continuing the detection.
S4, if | -DWatch (A)-D∣<Δ D2 and first time, enter S5; if | DWatch (A)-D∣<Δ D2 and not primary, proceed to S6; otherwise, the process proceeds to S7.
S5, control variable D2Control 0The process proceeds to S6 with an initial value of 0.
S6、D2Controlling n＝D2Control n-1+kp*GGiven a+ki*(GGiven the-Gn)+kd*(Gn-Gn-1)，Gn-1The power feedback signal collected for the previous cycle. Proceed to S7. (D2Control n-1Is D2Controlling nN is a positive integer)
S7、DControlling n＝D1’Control n-1+D2Control n-1The process proceeds to S8. (D1'Control n-1Is D1'Controlling nN is a positive integer of
S8, and outputting guide vane opening degree analog quantity control signal D by speed regulating systemControlling nAnd (5) returning to S2 for the electric control part of the hydraulic follow-up system, n + +.
The control structure diagram of the hydropower station monitoring system opening mode guide vane opening analog quantity segmented open-loop control and speed regulator PID closed-loop control combined is shown in figure 1 and mainly comprises a monitoring system part and a speed regulating system part.
The monitoring system part comprises: the device comprises a table look-up calculation module 1, a circular self-adding module 2, a first amplitude limiting module 3, a circular self-subtracting module 4, a second amplitude limiting module 5 and a selector module 6;
a table look-up calculation module 1 for acquiring active power given GGiven aCalculating 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 DWatch (CN)To the first clipping module 3 and the second clipping module 5.
The circulation self-adding module 2 monitors the active power given GGiven theChange and | _ DWatch (A)-D∣<Delta D1 enable signalAnd collecting guide vane opening degree feedback D. When the enable signal is activated for the first time, DControl 0And assigning an initial value D. The circulation self-adding module 2 is continuously paired with D1Controlling nThe step size Delta D of the cyclic self-adding control parameter is output D1Controlling nTo the clipping module one 3.
A first amplitude limiting module 3 for collecting D output by the table look-up calculation module 1Watch (A)And D1 output from the cyclic self-adding module 2Controlling nTo D1Controlling nPerforming amplitude limiting output with maximum value of K1 × DWatch (A). K1 was typically taken to be 1.4. Outputs a guide vane opening degree analog quantity control signal D1'Controlling n Channel 0 is given to the selector module 6.
The circulation self-reduction module 4 monitors the active power given GGiven theChange and | _ DWatch (CN)-D∣<Δ D1 enables the signal and collects the guide vane opening feedback D. When the enable signal is activated for the first time, DControl 0An initial value D is assigned. The circulation self-reduction module 4 continuously pairs D1Controlling nThe step size Delta D of the cyclic self-reduction control parameter is output D1Controlling nTo the clipping module one 3.
A second amplitude limiting module 5 for collecting D output by the table look-up calculation module 1Watch (A)And D1 output from the cycle self-subtraction module 4Controlling nTo D1Controlling nPerforming amplitude limiting output with minimum value of DWatch (A). Outputs a guide vane opening degree analog quantity control signal D1'Controlling nThe selector module 6 is given channel 1.
Selector module 6, monitoring | -DWatch (A)-D∣<Selecting a signal by delta D1, and acquiring a guide vane opening degree analog quantity control signal D1 'output to the selector module 6 by the first amplitude limiting module 3 and the second amplitude limiting module 5'Controlling n. When | DWatch (A)-D∣<When the delta D1 is not satisfied, the selector module 6 selects the channel 0, and the output amplitude limiting module I3 outputs the guide vane opening degree analog quantity control signal D1 'to the selector module 6'Controlling n(ii) a When | DWatch (A)-D∣<When the delta D1 is met, the selector module 6 selects the channel 1, and the output amplitude limiting module II 5 outputs a guide vane opening degree analog quantity control signal D1 'to the selector module 6'Controlling n. The selector module 6 controls a guide vane opening degree analog quantity control signal D1'Controlling nAnd the output is sent to an electronic control system of the speed regulator.
The speed governing system part includes: a PID module 7, an adder 8 and a hydraulic follow-up system electric control part 9;
PID module 7, monitoring | DWatch (A)-D∣<Delta D2 enable signal and collect active power given GGiven aPower feedback GnAnd a PID parameter vector k (kp, ki, kd). When the enable signal is active, D2Control 0An initial value of 0 was assigned. D2Controlling n＝D2Control n-1+kp*GGiven a+ki*(GGiven a-Gn)+kd*(Gn-Gn-1)。Gn-1The power feedback signal collected for the previous cycle. PID module 7 output D2Control ofTo the adder 8. D2Control n-1Is D2Controlling nN is a positive integer.
The adder 8 collects D1 'output by the monitoring system selector module 6'Controlling nAnd D2 output by PID module 7Controlling nAdding up and outputting guide vane opening degree analog quantity control signal DControlling nAnd an electric control part 9 of the hydraulic follow-up system is provided.
An electric control part 9 of the hydraulic follow-up system collects a guide vane opening degree analog quantity control signal D output by the adder 8Controlling nAfter being processed, the electric control signal B of the hydraulic follow-up system is outputControl of。
The invention discloses a control method for combining opening analog quantity subsection open-loop control of opening modes of guide vanes and PID closed-loop control of a speed regulator of a hydropower station monitoring system, wherein a partial flow chart of the monitoring system is shown in figure 2.
The invention discloses a control method for combining opening analog quantity subsection open-loop control of opening modes of guide vanes and PID closed-loop control of a speed regulator of a hydropower station monitoring system, and a partial flow chart of the speed regulating system is shown in figure 3.
Example two:
in order to further improve the performance and the quality of small-amplitude or terminal adjustment of the opening degree and the active power of the guide vane of the unit, optimization improvement is carried out on the basis of a control method and a structure which are combined by opening degree analog quantity segmented open-loop control of the opening degree mode guide vane of a hydropower station monitoring system and PID closed-loop control of a speed regulator, variable-parameter PID closed-loop control is realized, and a control method and a structure which are combined by the opening degree analog quantity segmented open-loop control of the opening degree mode guide vane of the hydropower station monitoring system and the variable-parameter PID closed-loop control of the speed regulator are formed.
The method is based on a water head, active power and guide vane opening corresponding data table, in an opening mode, a monitoring system adopts a brand new method for checking the corresponding data table and performing segmented open-loop control, a guide vane opening analog quantity control signal is output, a speed regulating system adopts a variable parameter PID closed-loop control mode and a hydraulic follow-up system control signal are output, and the two are combined to perform quick and accurate regulation on the active power of a unit, and aims to solve the problems that a power closed-loop conventional pulse regulation mode is adopted in the opening mode, the regulation speed of the active power is low, the regulation 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, and the like, and simultaneously inhibit the serious overshoot phenomenon caused by the overhigh regulation speed, and greatly improve the small-amplitude or terminal regulation performance and quality of the guide vane opening and the active power of the unit, 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 monitoring system has complex and various control objects, large quantity, limited hardware performance level of the controller, relatively long cycle scanning period executed by the program of the electric control system, and IO output refreshing period even reaching 1 second, under the condition of the application background environment, if the monitoring system performs closed-loop control, poor control performance can be caused by poor real-time performance of refreshing output control signals if the monitoring system performs closed-loop control, usually, integral closed-loop control is only adopted, and PID closed-loop control is not adopted, but the monitoring system adopts an integral closed-loop control method, so that the small amplitude or tail end regulation performance of the opening degree and active power of the guide vanes of the unit is poor, and a variable integral closed-loop control method is adopted, although the small amplitude or tail end regulation performance can be improved, the effect is limited. According to the control method combining the opening analog quantity segmented open-loop control of the opening mode guide vane of the hydropower station monitoring system and the variable parameter PID closed-loop control of the speed regulator, the variable parameter PID closed-loop control method is adopted in the speed regulating system to replace integral closed-loop control in the monitoring system, so that the small-amplitude or terminal regulation performance of the opening and active power of the guide vane of the unit can be greatly improved, and the regulation quality is improved. The cycle scanning period executed by the control program of the electric control system of the speed regulating system can reach 0.01 second, the real-time performance is strong, the influence of application background environment limitation is avoided, a variable parameter PID closed-loop control structure can be adopted, and the fast, accurate and stable real-time control of the guide vane opening and the active power of the unit is realized by matching with the sectional open-loop control of the guide vane opening of the monitoring system.
The invention discloses a control method for combining opening analog quantity segmented open-loop control of opening mode guide vanes of a hydropower station monitoring system with variable parameter PID (proportion integration differentiation) closed-loop control of a speed regulator.
The segmented open-loop control of the guide vane opening of the monitoring system is particularly suitable for the situation of large-amplitude rapid adjustment of the guide vane opening and the active power of a unit, and is generally divided into two sections, wherein the gain coefficient K1 of the front 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 rear section is generally equal to 1 in order to prevent the serious overshoot of 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 conditionWatch (A)The absolute value of the difference value with the guide vane opening degree D 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 PID closed-loop control of the opening degree of the guide vane of the speed regulating system is particularly suitable for the small-amplitude or terminal accurate adjustment of the opening degree and the active power of the guide vane of the unit. The guide vane opening variable parameter PID closed-loop control can further 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 parameter-variable closed-loop control switching conditionWatch (CN)The absolute value of the difference value with the guide vane opening degree D is smaller than delta D3.
Calculating the opening D of the guide vane by looking up the table under the closed-loop control input condition of the speed regulating systemWatch (A)The absolute value of the difference value with the guide vane opening degree D is smaller than delta D2.
The invention relates to a control method combining opening mode guide vane opening analog quantity segmented open-loop control and variable parameter PID closed-loop control of a hydropower station monitoring system, which is the same as a monitoring method combining opening mode guide vane opening analog quantity segmented open-loop control and variable parameter PID closed-loop control of a governor, wherein the detailed process steps are as follows:
step 1, initializing control parameters delta D and delta D1 of a monitoring system and data of a one-to-one correspondence table of a water head, active power and the opening degree of a guide vane, and entering step 2.
Step 2, collecting variable active power given value G by monitoring systemGiven aAnd feeding a water head w of the unit and the opening degree of the guide vane back to D, and entering the step 3.
Step 3, detecting whether the opening mode is in, if so, entering step 4; otherwise, continuing the detection.
Step 4, the monitoring system detects whether AGC issues a new active power given value G or not in the opening degree modeGiven aIf yes, entering the step 5; otherwise, step 6 is entered.
Step 5, the monitoring system sends a new active power given value G according to AGCGiven aAnd 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 DWatch (A)。
The one-to-one correspondence data table of the water head, the active power and the guide vane opening 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 the active power Gy of the Wx water head;
TABLE 1 waterhead, active power and guide vane opening degree one-to-one correspondence data sheet
W1 W2 … Wx-1 Wx … Wp-1 Wp
G1 D1,1 D2,1 … Dx-1，1 Dx，1 … Dp-1,1 Dp，1
G2 D1,2 D2,2 … Dx-1，2 Dx，2 … Dp-1,2 Dp，2
… … … … … … … … …
Gy-1 D1，y-1 D2，y-1 … Dx-1，y-1 Dx，y-1 … Dp-1,y-1 Dp，y-1
Gy D1，y D2，y … Dx-1，y Dx，y … Dp-1,y Dp，y
… … … … … … … … …
Gq-1 D1，q-1 D2，q-1 … Dx-1，q-1 Dx，q-1 … Dp-1,q-1 Dp，q-1
Gq D1，q D2，q … Dx-1，q Dx，q … Dp-1,q Dp，q
If Wx-1≤w≤Wx，Gy-1≤g≤GyThen, then
DTABLE y-1＝Dx-1，y-1+(Dx，y-1-Dx-1，y-1)(w-Wx-1)/(Wx-Wx-1)。
DTable y＝Dx-1，y+(Dx，y-Dx-1，y)(w-Wx-1)/(Wx-Wx-1)。
DWatch (CN)＝dTABLE y-1+(dWatch y-dTABLE y-1)(g-Gx-1)/(Gx-Gx-1). And 6, entering the step 6.
Step 6, if | -DWatch (A)-D ≧ Δ D1 and for the first time, go to step 7; if | DWatch (A)-D ≧ Δ D1 and is non-primary, go to step 8; if | DWatch (A)-D∣<Δ D1 and for the first time, entering step 10; if | DWatch (CN)-D∣<Δ D1 and is non-primary, step 11 is entered.
Step 7, control variable D1Control 0And assigning an initial value D, and entering the step 8.
Step 8, D1Controlling n＝D1Control n-1And D, entering the step 9, wherein D is the step length of the change of the control parameters. (D1Control n-1Is D1Controlling nN is a positive integer of
Step 9, if D1Controlling n>K1*DWatch (A)And then D1'Controlling n＝K1*DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nAnd entering the step 13.
Step 10, control variable D1Control 0And assigning an initial value D, and entering the step 11.
Step 11, D1Controlling n＝D1Control n-1And D, entering the step 12, wherein D is the step length of the change of the control parameters. (D1Control n-1Is D1Controlling nN is a positive integer of
Step 12, if D1Controlling n<DWatch (A)And then D1'Controlling n＝DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nAnd entering the step 13.
Step 13, the monitoring system outputs a guide vane opening degree analog quantity control signal D1'Controlling nAnd returning to the step 2.
The partial control method of the speed regulation system comprises the following steps:
s1, speed control system data Δ D2 and Δ D3 are initialized, and the process proceeds to S2.
S2, collecting guide vane opening degree analog quantity control signals D1 output by a monitoring system through a speed regulating systemControl ofAnd the corresponding opening degree D of the guide vane calculated by table lookupWatch (CN)Guide vane opening degree feedback D, active power given GGiven aPower feedback GnAnd PID parameter vector k1(kp1, ki1, kd1), PID parameter vector k2(kp2, ki2, kd 2). Proceed to S3.
S3, detecting whether the opening mode is achieved by the speed regulating system, and if yes, entering S4; otherwise, the present detection is continued.
S4, if | -DWatch (A)-D∣<Δ D2 and first time, enter S5; if | DWatch (A)-D∣<Δ D2 and not primary, proceed to S6; otherwise, the process proceeds to S7.
S5, control variable D2Control 0The process proceeds to S6 with an initial value of 0.
S6, if | -DWatch (CN)-D∣<Δ D3, then k — k2, enters S7; otherwise, k is k1, and the process proceeds to S7.
S7、D2Controlling n＝D2Control n-1+kp*GGiven a+ki*(GGiven a-Gn)+kd*(Gn-Gn-1)，Gn-1The power feedback signal collected for the last period. Proceed to S8. (D2Control n-1Is D2Controlling nN is a positive integer of
S8、DControlling n＝D1’Controlling n+D2Controlling nThe process proceeds to S9.
S9, and outputting guide vane opening degree analog quantity control signal D by speed regulating systemControlling nAnd (5) returning to S2 for the electric control part of the hydraulic follow-up system, n + +.
The control system diagram combining the opening analog quantity subsection open-loop control of the opening mode guide vane of the hydropower station monitoring system and the variable parameter PID closed-loop control of the speed regulator is shown in figure 4 and mainly comprises a monitoring system part and a speed regulating system part.
The monitoring system part comprises a table look-up calculation module 1, a cyclic self-adding module 2, a first amplitude limiting module 3, a cyclic self-subtracting module 4, a second amplitude limiting module 5 and a first selector module 10;
a table look-up calculation module 1 for acquiring active power given GGiven aCalculating 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 DWatch (A)To the first clipping module 3 and the second clipping module 5.
The circulation self-adding module 2 monitors the active power given GGiven aChange and | DWatch (A)-D∣<Δ D1 enables the signal and collects the guide vane opening feedback D. When the enable signal is activated for the first time, D1Control 0And assigning an initial value D. The circulation self-adding module 2 is continuously paired with D1Controlling nThe step size Delta D of the cyclic self-adding control parameter is output D1Controlling nTo the clipping module one 3.
A first amplitude limiting module 3 for collecting D output by the table look-up calculation module 1Watch (A)And D1 output from the cyclic self-adding module 2Controlling nTo D1Controlling nPerforming amplitude limiting output with maximum value of K1 x DWatch (A). K1 was generally taken to be 1.4. Outputs a guide vane opening degree analog quantity control signal D1'Controlling nThe selector module is given a 10 channel 0.
A circulation self-reduction module 4 for monitoring the active power given GGiven aChange and | _ DWatch (CN)-D∣<Δ D1 enables the signal and collects the guide vane opening feedback D. When the enable signal is activated for the first time, D1Control 0And assigning an initial value D. The circulation self-subtraction module 4 is continuously paired with D1Controlling nThe step size Delta D of the cyclic self-reduction control parameter is output D1Controlling nAnd giving a width module one 3.
A second amplitude limiting module 5 for collecting D output by the table look-up calculation module 1Watch (A)And D1 output from the cycle self-subtraction module 4Controlling nTo D1Controlling nPerforming amplitude limiting output with minimum value of DWatch (A). Outputs a guide vane opening degree analog quantity control signal D1'Controlling nTo the selector module one 10.
The selector module one 10, monitoring | DWatch (A)-D∣<Selecting a signal by delta D1, and acquiring a guide vane opening degree analog quantity control signal D1 'output to a selector module I10 by an amplitude limiting module I3 and an amplitude limiting module II 5'Controlling n. When | DWatch (A)-D∣<When DeltaD 1 is not satisfied, selector module one10, a channel 0 is selected, and a guide vane opening degree analog quantity control signal D1 'output to the selector module I10 is output to the amplitude limiting module I3'Controlling n(ii) a When | DWatch (A)-D∣<When the delta D1 is met, the selector module I10 selects the channel 1, and the output amplitude limiting module II 5 outputs a guide vane opening degree analog quantity control signal D1 'to the selector module I10'Controlling n. The selector module I10 controls the guide vane opening degree analog quantity control signal D1'Controlling nAnd the output is sent to an electronic control system of the speed regulator.
The speed governing system part includes: the system comprises a PID module 7, a second selector module 11, an adder 8 and an electric control part 9 of a hydraulic follow-up system;
PID module 7, monitoring | DWatch (A)-D∣<Delta D2 enable signal and collect active power given GGiven aPower feedback GnAnd a PID parameter vector k (kp, ki, kd). When the enable signal is active, D2Control 0An initial value of 0 is assigned. D2Controlling n＝D2Control n-1+kp*GGiven the+ki*(GGiven a-Gn)+kd*(Gn-Gn-1)。Gn-1The power feedback signal collected for the last period. PID module 7 output D2Controlling nTo the adder 8.
A second selector module 11 for monitoring | DWatch (A)-D∣<Δ D3 selects a signal whose channel 0 acquires PID parameter vector k1(kp1, ki1, kd1) and channel 1 acquires PID parameter vector k2(kp2, ki2, kd 2). When | DWatch (A)-D∣<When the delta D is not satisfied, the second selector module 11 selects the channel 0, and outputs a PID parameter vector k which is k 1; when | DWatch (A)-D∣<When the Δ D is satisfied, the second selector module 11 selects channel 1, and outputs the PID parameter vector k equal to k 2. The second selector module 11 outputs the PID parameter vector k (kp, ki, kd) to the PID module 7.
An adder 8 for collecting D1 'output by the monitoring system selector module 10'Controlling nAnd D2 output by PID module 7Controlling nAdding up and outputting guide vane opening degree analog quantity control signal DControlling nAnd an electric control part 9 of the hydraulic follow-up system is provided.
An electric control part 9 of the hydraulic follow-up system collects a guide vane opening degree analog quantity control signal D output by the adder 8Controlling nDisclosure of the inventionOutputting an electric control signal B of the hydraulic follow-up system after being processedControl of。
The partial flow chart of the control method and the monitoring system of the invention, which combines the opening degree analog quantity subsection open-loop control of the opening degree mode guide vane of the hydropower station monitoring system and the variable parameter PID closed-loop control of the speed regulator, is the same as the partial flow chart of the control method and the monitoring system of the combination of the opening degree analog quantity subsection open-loop control of the opening degree mode guide vane of the hydropower station monitoring system and the variable parameter PID closed-loop control of the speed regulator, as shown in FIG. 2.
The invention discloses a control method for combining opening analog quantity subsection open-loop control of opening mode guide vane opening of a hydropower station monitoring system with variable parameter PID closed-loop control, and a flow chart of a part of a speed regulating system is shown in figure 5.

Claims (2)

1. A control method for combining opening analog quantity subsection open-loop control of opening mode guide vane of a hydropower station monitoring system with variable parameter PID closed-loop control is characterized by comprising the following steps: a monitoring system part control method and a speed regulation system part control method;
the control method for the monitoring system part comprises the following steps:
step 1, initializing control parameters delta D and delta D1 of a monitoring system and data of a one-to-one correspondence table of a water head, active power and the opening degree of a guide vane, and entering step 2;
step 2, collecting variable active power given value G by monitoring systemGiven aThe water head w of the unit and the opening degree feedback D of the guide vane enter the step 3;
step 3, detecting whether the opening mode is in, if so, entering step 4; otherwise, continuing the detection;
step 4, detecting whether AGC issues a new active power given value G or not in the opening degree mode by the monitoring systemGiven aIf yes, entering the step 5; otherwise, entering the step 6;
step 5, the monitoring system sends a new active power given value G according to AGCGiven aAnd 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 DWatch (A)；
Step 6, if | -DWatch (A)-D ≧ Δ D1 and for the first time, go to step 7; if | DWatch (A)-D ≧ Δ D1 and is non-primary, go to step 8; if | DWatch (A)-D∣<Δ D1 and for the first time, entering step 10; if | DWatch (A)-D∣<Δ D1 and is not primary, step 11;
step 7, control variable D1Control 0Assigning an initial value D, and entering the step 8;
step 8, controlling variable D1Controlling n＝D1Control n-1Entering step 9, wherein the step Delta D is the step length of the change of the control parameters; d1Control n-1Is D1Controlling nN is a positive integer;
step 9, if D1Controlling n>K1*DWatch (A)And then D1'Controlling n＝K1*DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nEntering the step 13; k1 is a monitoring system control parameter constant;
step 10, control variable D1Control 0Assigning an initial value D, and entering the step 11;
step 11, control variable D1Controlling n＝D1Control n-1Entering step 12, wherein step D is the step length of the change of the control parameters; d1Control n-1Is D1Controlling nN is a positive integer;
step 12, if D1Controlling n<DWatch (A)And then D1'Controlling n＝DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nEntering the step 13;
step 13, the monitoring system outputs a guide vane opening degree analog quantity control signal D1'Controlling nReturning to the step 2;
the partial control method of the speed regulation system comprises the following steps:
s1, initializing speed regulation system data delta D2 and delta D3, and entering S2;
s2, collecting guide vane opening degree analog quantity control signal D1 'output by a monitoring system through a speed regulating system'Controlling nAnd the opening value D of the corresponding guide vane calculated by table lookupWatch (A)Guide vane opening degree feedback D, active power given GGiven thePower feedback GnAnd PID parameter vectors k1(kp1, ki1, kd1), PID parameter vectors k2(kp2, ki2, kd 2); proceeding to S3;
s3, detecting whether the opening mode is achieved by the speed regulating system, and if yes, entering S4; otherwise, continuing the detection;
s4, if | -DWatch (A)-D∣<Δ D2 and first time, enter S5; if | DWatch (A)-D∣<Δ D2 and not primary, proceed to S6; otherwise, go to S7;
s5, control variable D2Control 0An initial value of 0 is assigned, and the process proceeds to S6;
s6, if | -DWatch (A)-D∣<Δ D3, entering S7 when the PID parameter vector k is PID parameter vector k 2; otherwise, the PID parameter vector k is the PID parameter vector k1, and the process proceeds to S7;
s7, control variable D2Controlling n＝D2Control n-1+kp*GGiven a+ki*(GGiven a-Gn)+kd*(Gn-Gn-1)，Gn-1A power feedback signal collected for a previous cycle; proceeding to S8; d2Control n-1Is D2Controlling nN is a positive integer;
s8, control variable DControlling n＝D1’Controlling n+D2Controlling nProceeding to S9;
s9, and outputting guide vane opening degree analog quantity control signal D by speed regulating systemControlling nAnd (5) returning to S2 for the electric control part of the hydraulic follow-up system, n + +.
2. The control method for combining the opening analog quantity subsection open-loop control of the opening mode guide vane of the hydropower station monitoring system and the variable parameter PID closed-loop control of the speed regulator according to claim 1, is characterized in that:
in the step 5, a data table of one-to-one correspondence of the water head, the active power and the opening degree of the guide vane is shown in a 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 the active power Gy of the Wx water head; w is a unit water head, and g is unit active power;
TABLE 1 waterhead, active power and guide vane aperture one-to-one correspondence data sheet
W1 W2 … Wx-1 Wx … Wp-1 Wp G1 D1,1 D2,1 … Dx-1，1 Dx，1 … Dp-1,1 Dp，1 G2 D1,2 D2,2 … Dx-1，2 Dx，2 … Dp-1,2 Dp，2 … … … … … … … … … Gy-1 D1，y-1 D2，y-1 … Dx-1，y-1 Dx，y-1 … Dp-1,y-1 Dp，y-1 Gy D1，y D2，y … Dx-1，y Dx，y … Dp-1,y Dp，y … … … … … … … … … Gq-1 D1，q-1 D2，q-1 … Dx-1，q-1 Dx，q-1 … Dp-1,q-1 Dp，q-1 Gq D1，q D2，q … Dx-1，q Dx，q … Dp-1,q Dp，q
If Wx-1≤w≤Wx，Gy-1≤g≤GyAnd then:
DTABLE y-1＝Dx-1，y-1+(Dx，y-1-Dx-1，y-1)(w-Wx-1)/(Wx-Wx-1)；
DWatch y＝Dx-1，y+(Dx，y-Dx-1，y)(w-Wx-1)/(Wx-Wx-1)；
DWatch (A)＝DTABLE y-1+(DWatch y-DTABLE y-1)(g-Gy-1)/(Gy-Gy-1) (ii) a And 6, entering the step 6.
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