CN112610399B - Control method and system combining guide vane opening analog quantity closed loop control and segmented open loop control - Google Patents

Control method and system combining guide vane opening analog quantity closed loop control and segmented open loop control Download PDF

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CN112610399B
CN112610399B CN202011418755.5A CN202011418755A CN112610399B CN 112610399 B CN112610399 B CN 112610399B CN 202011418755 A CN202011418755 A CN 202011418755A CN 112610399 B CN112610399 B CN 112610399B
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control
controlling
guide vane
watch
active power
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CN112610399A (en
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涂勇
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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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/48—Controlling the sharing of the in-phase component
    • 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
    • F05B2270/703—Type of control algorithm integral
    • 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)
  • Power Engineering (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, a corresponding data table is looked up, and a mode of combining open-loop control and closed-loop control is adopted, 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, in 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, and the like, realize rapid, accurate and stable control of the unit opening and the active power, and improve the quality of adjusting guide vanes.

Description

Control method and system combining guide vane opening analog quantity closed loop control and segmented open loop control
Technical Field
The invention belongs to the technical field of hydropower station computer monitoring, and particularly relates to a control method and a system for combining opening analog quantity closed loop and segmented open loop control of an opening mode guide vane 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 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 degree analog quantity closed loop and subsection open loop control of a guide vane in an opening degree 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 degree mode, the active power regulation speed is low, the regulation process is easily influenced by water hammer reaction and unit inertia, and the opening degree control has static deviation due to deviation of a corresponding data table of a water head, the active power and the guide vane opening degree 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, delta D2, a self-adding conversion coefficient k, a water head, active power and guide vane opening data in a one-to-one correspondence data table of the monitoring system, and entering S2;
s2: monitoring system collects given value G of active powerGiven aFeeding 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 modeGiven aIf yes, go to S5; otherwise, go to S7;
s5: 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)；
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). Proceed to S6.
S6: control variable D1Control 0Assigning an initial value D, and proceeding to S7;
S7：D1controlling n＝D1Control n-1Step D is the control parameter increasing step length, and the process goes to S8; d1Control n-1Is D1Controlling nN is a positive integer;
s8: if D1Controlling n>DIn the table, the values of,then D1'Controlling n＝DWatch (A)Proceeding to S9; otherwise, D1'Controlling n＝D1Controlling nGo to S9;
s9: if | DWatch (A)-D∣<Δ D2 and first time, enter S10; if | DWatch (CN)-D∣<Δ D2 and not primary, go to S11; otherwise, go to S12;
s10: control variable D2Control 0An initial value of 0 is assigned, and the process proceeds to S11;
S11：D2controlling n＝D2Control n-1+k*(GGiven a-G), go to S12; d2Control n-1Is D2Controlling nN is a positive integer;
S12：Dcontrolling n＝D1’Controlling n+D2Controlling nGo to S13;
s13: monitoring system output guide vane opening degree analog quantity control signal DControlling nReturning 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 cyclic self-adding module I, the amplitude limiting module, the cyclic self-adding module II and the adder are arranged;
a table look-up calculation module for acquiring active power given GGiven aAnd a unit water head w is calculated, a water head, active power and guide vane opening degree one-to-one corresponding data table is calculated, and a calculation result D is outputWatch (A)Feeding the amplitude limiting module;
a cyclic self-adding module for monitoring active power given GGiven aChanging enable signal, collecting guide vane opening degree signal D, and controlling variable D1 when enable signal actsControl 0Assigning an initial value D; the loop self-adding module I continuously pairs the control variable D1Controlling nThe step size Delta D of the cyclic self-adding control parameter is output D1Controlling nFeeding the amplitude limiting module;
amplitude limiting module for collecting D output from table look-up calculation moduleWatch (A)And D1 circulating an output of the self-adding moduleControlling nTo D1Controlling nPerforming amplitude limiting output with maximum value of DWatch (A)(ii) a The limiting module controls the guide vane opening analog quantity control signal D1'Controlling nOutputting to an adder; a second cyclic self-adding module for monitoring | DWatch (A)-D∣<Delta D2 enable signal and collect active power given GGiven aPower feedback G and conversion coefficient k, and controls variable D2 when enable signal is activatedControl 0Assigning an initial value of 0; continuous pair control variable D2 of cyclic self-adding module IIControlling nCyclic self-adding of k (G)Given a-G), output D2Controlling nFeeding the adder;
the adder is used for acquiring D1 'output by the amplitude limiting module'Controlling nAnd D2 output from the second cyclic self-adding moduleControlling nAfter addition, an analog quantity control signal D of the opening degree of the guide vane is outputControlling nAnd (3) an electronic control system for the speed regulator.
Scheme II:
a control method combining opening analog quantity closed loop and segmented open loop control of opening modes of guide vanes of a hydropower station monitoring system comprises the following steps:
step 1: initializing data of control parameters delta D, delta D1, delta D2, a self-adding conversion coefficient k, a water head, active power and guide vane opening one-to-one correspondence table, and entering the step 2;
step 2: active power set value G of collected variable of monitoring systemGiven aAnd feeding power feedback G, guide vane opening degree 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 degree mode, if so, entering a step 4; otherwise, continuing the detection.
And 4, 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, entering the step 6;
and 5, step 5: the monitoring system sends a new active power given value G according to AGCGiven theAnd 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 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 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
Figure BDA0002821297040000031
Figure BDA0002821297040000041
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 (CN)＝dTABLE y-1+(dWatch y-dTABLE y-1)(g-Gx-1)/(Gx-Gx-1). And 6, entering the step 6.
And 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.
And 7, step 7: control variable D1Control 0And assigning an initial value D, and entering the step 8.
And 8, step 8: d1Controlling n＝D1Control n-1Step D, the step length is increased for the control parameter, and the step 9 is entered; d1Control n-1Is D1Controlling nN is a positive integer;
step 9: if D1Controlling n>K1*DWatch (A)Then 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.
And 11, step 11: d1Controlling n＝D1Control n-1And D, entering the step 12, wherein D is the control parameter change step length.
Step 12: if D1Controlling n<DWatch (A)Then D1'Controlling n＝DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nAnd entering the step 13.
Step 13: if | DWatch (A)-D∣<Δ D2 and for the first time, go to step 14; if | DWatch (A)-D∣<Δ D2 and is non-primary, step 15; otherwise, step 16 is entered.
Step 14: control variable D2Control 0And an initial value of 0 is assigned, and the step 15 is entered.
Step 15: d2Controlling n＝D2Control n-1+k*(GGiven a-G), step 16 is entered. D2Control n-1Is D2Controlling nN is a positive integer;
step 16: dControlling n＝D1’Controlling n+D2Controlling nAnd entering the step 17.
Step 17: monitoring system output guide vane opening degree analog quantity control signal DControlling nAnd 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, a first cyclic self-addition module, a first amplitude limiting module, a second cyclic self-subtraction module, a second amplitude limiting module, a selector module, a second cyclic self-addition module and an adder, wherein the table look-up calculation module is used for calculating the amplitude of a current signal;
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 first circulation self-adding module for monitoring the active power given GGiven theChange and | _ DWatch (A)-D ≧ Δ D1 enable signal, and acquire guide vane opening signal D. When the enable signal is activated for the first time, D1Control 0And assigning an initial value D. Cyclic self-adding module one continuously pair D1Controlling nThe step size Delta D of the cyclic self-adding control parameter is output D1Controlling nTo the first clipping module.
A first amplitude limiting module for collecting D output by the table look-up calculation moduleWatch (CN)And D1 circulating an output of the self-adding moduleControlling nTo D, pairControlling 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 cycle auto-subtract module for monitoring active power given GGiven aChange and | _ DWatch (A)-D∣<Enabling the signal by delta D1 and collecting a guide vane opening signal D. When the enable signal is activated for the first time, D1Control 0An initial value D is assigned. Continuous pair of circulation self-decreasing modules D1Controlling nThe step size Delta D of the cyclic self-reduction control parameter is output D1Controlling nAnd the second signal is sent to an amplitude limiting module II.
Amplitude limiting module II for collecting D output from table look-up calculation moduleWatch (A)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 nTo the selector module channel 1.
A selector module monitoring | DWatch (A)-D∣<Selecting a signal delta D1, and collecting 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 to output the 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 to output a guide vane opening degree analog quantity control signal D1 'output by the amplitude limiting module II to the selector module'Controlling nThe selector module controls the guide vane opening degree analog quantity control signal D1'Controlling nOutput to the adder 5.
A second cyclic self-adding module for monitoring | -DWatch (A)-D∣<Delta D2 enable signal and collect active power given GGiven aPower feedback G and conversion factor k. When the enable signal is active, D2Control 0An initial value of 0 was assigned. D2 pair of circulating self-adding module IIControlling nCyclic self-addition of k (G)Given a-G), output D2Controlling nTo the adder.
An adder for collecting D1 'output by the selector module'Controlling nAnd D2 output from the second cyclic self-adding moduleControlling nAdding up and outputting guide vane opening degree analog quantity control signal DControlling nAnd a feed governor electronic control system.
The third scheme is as follows:
a control method 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 following steps:
step 1, initializing control parameters delta D, delta D1, delta D2, delta D3, self-adding conversion coefficients k1 and k2 and data of a one-to-one correspondence table of water head, active power and guide vane opening of a monitoring system, and entering step 2.
Step 2, collecting variable active power given value G by monitoring systemGiven aAnd 3, feeding power feedback G, guide vane opening degree feedback D and a unit water head w into the step 3.
Step 3, detecting whether the monitoring system is in an opening mode, if so, entering a 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 step 5; otherwise, go to 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)。
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)。
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, go to step 7; if | DWatch (A)-D ≧ Δ D1 and non-primary, go to step 8; if | DWatch (A)-D∣<Δ D1 and for the first time, go to step 10; if | DWatch (A)-D∣<Δ D1 and is not primary, proceed to step 11.
Step 7, controlling variable D1Control 0An initial value D is assigned and the process proceeds to step 8.
Step 8, D1Controlling n＝D1Control n-1And D, the step of changing the control parameters is entered into step 9. 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 step 13; otherwise, D1'Controlling n＝D1Controlling nThen, the process proceeds to step 13.
Step 10, controlling variable D1Control 0An initial value D is assigned and the process proceeds to step 11.
Step 11, D1Controlling n＝D1Control n-1And D, entering step 12, wherein D is the control parameter change step length.
Step 12, if D1Controlling n<DWatch (A)And then D1'Controlling n＝DWatch (A)Entering step 13; otherwise, D1'Controlling n＝D1Controlling nProceed to step 13.
Step 13, if | DWatch (A)-D∣<Δ D2 and for the first time, go to step 14; if | DWatch (A)-D∣<Δ D2 and is not primary, go to step 15; otherwise, go to step 17;
step 14, controlling variable D2Control 0An initial value of 0 is assigned and the process proceeds to step 15.
Step 15, if | DWatch (A)-D∣<D3, if k is k2, go to step 16; otherwise, k is k1, and the process proceeds to step 16.
Step 16, D2Controlling n＝D2Control n-1+k*(GGiven a-G) into step 17. D2Control n-1Is D2Controlling nN is a positive integer.
Step 17, DControlling n＝D1’Controlling n+D2Controlling nProceed to step 18.
Step 18, the monitoring system outputs a guide vane opening degree analog quantity control signal DControlling nAnd 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-adding module, a first amplitude limiting module, a second cyclic self-subtracting module, a second amplitude limiting module, a first selector module, a second cyclic self-adding module, a second selector module and an adder;
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 amplitude limiting module and the second amplitude limiting module are provided.
A first circulation self-adding module monitors active power given GGiven aChange and | _ DWatch (A)-D∣<And enabling a signal by delta D1, and collecting a guide vane opening signal D. When the enable signal is activated for the first time, D1Control ofAnd assigning an initial value D. Cyclic self-adding module one continuously paired with D1Control ofThe 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 (CN)And D1 circulating an output of the self-adding moduleControlling nTo D, pairControlling 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∣<And enabling a signal by delta D1, and collecting a guide vane opening signal 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 cyclic self-reduction control parameter is output D1Controlling nAnd the second signal is sent to an amplitude limiting module II.
Amplitude limiting module II for collecting D output from table look-up calculation moduleWatch (A)And D1 output from the cycle self-subtraction moduleControlling nTo D1Controlling nPerforming amplitude limiting output with minimum value of DWatch (CN). 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 signals by delta D1, and acquiring guide vane opening degrees output to the selector module I by the amplitude limiting module I and the amplitude limiting module IIAnalog quantity control signal D1'Controlling n. When | DWatch (A)-D∣<When the delta D1 is not met, a first selector module selection channel 0 outputs a first amplitude limiting module to output a guide vane opening degree analog quantity control signal D1 'of the first selector module'Controlling n(ii) a When | DWatch (A)-D∣<When the delta D1 is met, the first selector module selects the channel 1 to output the second amplitude limiting module to output the guide vane opening degree analog quantity control signal D1 'of the first selector module'Controlling nThe first selector module controls the guide vane opening degree analog quantity control signal D1'Controlling nAnd outputting the output to an adder.
A second cyclic self-adding module for monitoring | -DWatch (A)-D∣<Delta D2 enable signal and collect active power given GGiven aPower feedback G and conversion coefficient k output by the selector module II. When the enable signal is active, D2Control 0An initial value of 0 was assigned. D2 pair of circulating self-adding module IIControlling nCyclic self-adding of k (G)Given a-G), output D2Controlling nTo the adder.
A second selector module for monitoring | -DWatch (A)-D∣<Δ D3 selects a signal whose channel 0 captures the transform coefficient k1 and channel 1 captures the transform coefficient k 2. When | DWatch (A)-D∣<When the delta D3 is not satisfied, the second selector module selects the channel 0 and outputs a conversion coefficient k 1; when | DWatch (A)-D∣<When the delta D3 is satisfied, the second selector module selects the channel 1 and outputs the conversion coefficient k2, and the second selector module outputs the conversion coefficient k to the second cyclic self-adding module.
An adder for collecting D1 'output from the selector module'Controlling nAnd D2 output from the second cyclic self-adding moduleControlling nAfter addition, an analog quantity control signal D of the opening degree of the guide vane is outputControlling nAnd 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 for combining opening analog quantity closed loop and open loop control of opening mode guide vanes of a hydropower station monitoring system has the following three advantages:
the method has the advantages that the method has the characteristic of quick open-loop control, thereby improving the speed of the adjusting process.
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.
3): scheme two of the invention: a control method for combining opening analog quantity closed loop and segmented open loop control of opening mode guide vanes of a hydropower station monitoring system has the advantages of (i), (ii), (iii) and (iv):
the method has the advantages that the method has the characteristic of quick open-loop control, thereby improving the speed of the adjusting process.
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 small-amplitude or terminal adjustment performance and quality of the opening 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 analog quantity integral closed loop and segmented open loop control of guide vane opening in an opening mode of a hydropower station monitoring system has five advantages of firstly, secondly, thirdly, fourthly and fifthly;
the method has the advantages of rapid open-loop control, thereby improving the rapidity of the adjusting process.
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 variable integral closed-loop control can improve the performance and quality of small-amplitude or tail-end adjustment of the opening and active power of the guide vane of the unit.
The control method has the advantages that influence of water hammer reaction and unit inertia effect in the adjusting process is avoided through open-loop control, and the risk of divergent oscillation of the whole control system is reduced.
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 according to the invention.
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 degree corresponding data table, in an opening degree 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 outputting guide vane opening degree analog quantity control signals, and 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 deviation of the water head, the active power and the guide vane opening degree corresponding data table causes static deviation of opening degree control, and the like, so that 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 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 under the switching condition of the segmented open-loop control and the closed-loop controlWatch (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 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, delta D2, a self-adding conversion coefficient k, a water head, active power and guide vane opening data in a one-to-one correspondence data table of the monitoring system, and entering S2;
s2: active power set value G collected by monitoring systemGiven aFeeding 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 modeGiven aIf yes, go to S5; otherwise, go to S7;
s5: 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)；
TABLE 1 waterhead, active power and guide vane opening degree one-to-one correspondence data sheet
Figure BDA0002821297040000101
Figure BDA0002821297040000111
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). Proceed to S6.
S6: control variable D1Control 0Assigning an initial value D, and proceeding to S7;
S7：D1controlling n＝D1Control n-1Step D is the control parameter increasing step length, and the process goes to S8; d1Control n-1Is D1Controlling nN is a positive integer.
S8: if D1Controlling n>DIn the table, the values of,then D1'Controlling n＝DWatch (A)Go to S9; otherwise, D1'Controlling n＝D1Controlling nThe process proceeds to S9.
S9: if | DWatch (A)-D∣<Δ D2 and first time, enter S10; if | DWatch (CN)-D∣<Δ D2 and is non-primary, entryS11; otherwise, go to S12;
s10: control variable D2Control 0An initial value of 0 is assigned, and the process proceeds to S11;
S11：D2controlling n＝D2Control n-1+k*(GGiven a-G), go to S12; d2Control n-1Is D2Controlling nN is a positive integer.
S12：DControlling n＝D1’Controlling n+D2Controlling nGo to S13;
s13: monitoring system output guide vane opening degree analog quantity control signal DControlling nReturning 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 GGiven aAnd a unit water head w is calculated, a water head, active power and guide vane opening degree one-to-one corresponding data table is calculated, and a calculation result D is outputWatch (A)To the amplitude limiting module 3;
a cyclic self-adding module 2 for monitoring the active power given GGiven aChanging enable signal, collecting guide vane opening degree signal D, and controlling variable D1 when enable signal actsControl 0Assigning an initial value D; the cyclic self-adding module I2 continuously pairs the control variable D1Controlling nThe step size Delta D of the cyclic self-adding control parameter is output D1Controlling nTo the amplitude limiting module 3;
a limiting module 3 for collecting D output by the table look-up calculation module 1Watch (A)And D1 output by the cyclic self-adding module one 2Controlling nTo D1Controlling nPerforming amplitude limiting output with maximum value of DWatch (A)(ii) a The amplitude limiting module 3 controls a guide vane opening degree analog quantity control signal D1'Controlling nOutput to the adder 5;
a second cyclic self-adding module 4 for monitoring | DWatch (A)-D∣<Delta D2 enable signal and collect active power given GGiven aPower feedback G and conversion coefficient k whenWhen the enable signal is activated, the variable D2 is controlledControl 0Assigning an initial value of 0; the second circulation self-adding module 4 continuously pairs the control variable D2Controlling nCyclic self-adding of k (G)Given a-G), output D2Controlling nTo the adder 5;
the adder 5 is used for acquiring D1 'output by the amplitude limiting module 3'Controlling nAnd D2 output by the cyclic self-adding module two 4Controlling nAfter addition, an analog quantity control signal D of the opening degree of the guide vane is outputControlling nAnd (3) an electronic control system for the speed regulator.
The flow chart of the control method 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 simultaneously avoid the problem of overlarge overshoot caused by the excessively high adjusting speed, optimization improvement is carried out on the basis of a control method and a structure for combining the opening analog quantity closed loop and the open loop control of the opening mode guide vane of the hydropower station monitoring system, the segmented open loop control is realized, and a control method and a structure for 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 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 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 in the front section is generally larger than 1 so as to improve the speed of adjustment of the guide vane opening degree and the active power of the unit, the gain coefficient in the rear section is generally equal to 1 so as to prevent serious overshoot in the adjustment process of the guide vane opening degree 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 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 controlWatch (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 data of control parameters delta D, delta D1, delta D2, a self-adding conversion coefficient k, a water head, active power and guide vane opening one-to-one correspondence table, and entering the step 2;
step 2: active power set value G of collected variable of monitoring systemGiven aAnd feeding power feedback G, guide vane opening degree 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 degree mode, if so, entering a step 4; otherwise, continuing the detection.
And 4, 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, entering the step 6;
and 5, step 5: monitoring systemA new active power given value G issued 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 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 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:
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.
And 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 (CN)-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.
And 7, step 7: control variable D1Control 0And assigning an initial value D, and entering the step 8.
And 8, step 8: d1Controlling n＝D1Control n-1Step D, the step length is increased for the control parameter, and the step 9 is entered; d1Control n-1Is D1Controlling nN is a positive integer.
Step 9: if D1Controlling n>K1*DWatch (A)Then 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.
And 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.
And (12) step: if D1Controlling n<DWatch (A)Then D1'Controlling n＝DWatch (CN)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nAnd entering the step 13.
Step 13: if | DWatch (A)-D∣<Δ D2 and for the first time, go to step 14; if | DWatch (CN)-D∣<Δ D2 and is non-primary, entering step 15; otherwise, step 16 is entered.
Step 14: control variable D2Control 0And an initial value of 0 is assigned, and the step 15 is entered.
Step 15: d2Controlling n＝D2Control n-1+k*(GGiven a-G), step 16 is entered. D2Control n-1Is D2Controlling nN is a positive integer.
Step 16: dControlling n＝D1’Controlling n+D2Controlling nAnd entering the step 17.
Step 17: monitoring system output guide vane opening degree analog quantity control signal DControlling nAnd 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 cyclic self-adding module I2, an amplitude limiting module I6, a cyclic self-subtracting module 7, an amplitude limiting module II 8, a selector module 9, a cyclic self-adding module II 4 and an adder 5;
a table look-up calculation module 1 for acquiring active power given GGiven theCalculating 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 amplitude limiting module one 6And a second clipping module 8.
A cyclic self-adding module 2 for monitoring the active power given GGiven aChange and | DWatch (A)-D ≧ Δ D1 enable signal, and acquire guide vane opening signal D. When the enable signal is activated for the first time, D1Control 0An initial value D is assigned. Cyclic self-adding a module 2 continuously paired with D1Controlling nThe step size Delta D of the cyclic self-adding control parameter is output D1Controlling nTo clipping block one 6.
A first amplitude limiting module 6 for collecting D output by the table look-up calculation module 1Watch (A)And D1 output by the cyclic self-adding module one 2Controlling nTo D, pairControlling 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 nThe selector module 9 is given channel 0.
A cyclic self-decreasing module 7 for monitoring the active power given GGiven aChange and | _ DWatch (A)-D∣<And enabling a signal by delta D1, and collecting a guide vane opening signal D. When the enable signal is activated for the first time, D1Control 0And assigning an initial value D. The circulation self-subtraction module 7 continuously performs pair D1Controlling nThe step size Delta D of the cyclic self-reduction control parameter is output D1Controlling nTo clipping block two 8.
A second amplitude limiting module 8 for collecting D output by the table look-up calculation module 1Watch (A)And D1 output from the cycle self-subtraction module 7Controlling 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 9 channel 1.
Selector module 9, 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 9 by the first amplitude limiting module 6 and the second amplitude limiting module 8'Controlling n. When | DWatch (A)-D∣<When the delta D1 is not satisfied, the selector module 9 selects the guide vane opening degree analog quantity control signal D1 'output by the channel 0 output amplitude limiting module one 6 to the selector module 9'Controlling n(ii) a When | DWatch (A)-D∣<When the delta D1 is met, the selector module 9 selects the guide vane opening degree of the channel 1 output amplitude limiting module II 8 output to the selector module 9Analog quantity control signal D1'Controlling nThe selector module 9 controls the guide vane opening analog quantity control signal D1'Controlling nOutput to the adder 5.
A second circulation self-adding module 4 for monitoring | -DWatch (A)-D∣<Delta D2 enable signal and collect active power given GGiven thePower feedback G and conversion factor k. When the enable signal is active, D2Control 0An initial value of 0 was assigned. The second circulation self-adding module 4 is continuously paired with D2Controlling nCyclic self-addition of k (G)Given a-G), output D2Controlling nTo the adder 5.
Adder 5 for collecting D1 'output by selector module 9'Controlling nAnd D2 output by the cyclic self-adding module two 4Controlling nAdding up and outputting guide vane opening degree analog quantity control signal DControlling nAnd a feed governor electronic control system.
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, adopts a brand new method for looking up the corresponding data table, combining a sectional open-loop control and a variable integral closed-loop control in an opening degree mode, rapidly and accurately adjusting the active power of a unit and outputting a guide vane opening degree analog quantity control signal, 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 slow, the adjusting process is easily influenced by the water hammer reaction and the inertia action of the unit, the opening degree control has static deviation due to the deviation of the water head, the active power and the guide vane opening degree corresponding data table in a pure open-loop control mode, and the like, simultaneously inhibits the serious overshoot phenomenon caused by the excessively fast adjusting speed, improves the small amplitude or tail end adjusting performance and quality of the guide vane opening degree and the active power of the unit, and realizes the rapid, accurate and stable control of the guide vane opening degree and the active power of the unit, the quality of the adjustment 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 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 in the front section is generally larger than 1 so as to improve the speed of adjustment of the guide vane opening degree and the active power of the unit, the gain coefficient in the rear section is generally equal to 1 so as to prevent serious overshoot in the adjustment process of the guide vane opening degree 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 water hammer reaction of a water diversion pipeline and inertia of the water turbine generator set in the adjusting process, and reduces the risk of divergent oscillation of guide vane opening and 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 controlWatch (A)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 switching condition of the segmented open-loop control and the closed-loop controlWatch (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 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 1, initializing control parameters delta D, delta D1, delta D2, delta D3, self-adding conversion coefficients k1 and k2 and data of a one-to-one correspondence table of water head, active power and guide vane opening of a monitoring system, and entering step 2.
Step 2, collecting variable active power given value G by monitoring systemGiven aAnd 3, feeding power feedback G, guide vane opening degree feedback D and a unit water head w into the step 3.
Step 3, detecting whether the monitoring system is in an opening mode, and 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 step 5; otherwise, go to 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)。
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)。
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, go to step 7; if | DWatch (A)-D ≧ Δ D1 and non-primary, go to step 8; if | DWatch (A)-D∣<Δ D1 and for the first time, go to step 10; if | DWatch (A)-D∣<Δ D1 and is not primary, proceed to step 11.
Step 7, controlling variable D1Control 0An initial value D is assigned and the process proceeds to step 8.
Step 8, D1Controlling n＝D1Control n-1And D, the step of changing the control parameters is entered into step 9. D1Control n-1Is D1Controlling nN is a positive integer.
Step 9, if D1Controlling n>K1*DWatch (CN)And then D1'Controlling n＝K1*DWatch (A)Entering step 13; otherwise, D1'Controlling n＝D1Controlling nThen, the process proceeds to step 13.
Step 10, controlling variable D1Control 0An initial value D is assigned and the process proceeds to step 11.
Step 11, D1Controlling n＝D1Control n-1And D, entering step 12, wherein D is the control parameter change step length.
Step 12, if D1Controlling n<DWatch (A)And then D1'Controlling n＝DWatch (A)Entering step 13; otherwise, D1'Controlling n＝D1Controlling nThen, the process proceeds to step 13.
Step 13, if | DWatch (A)-D∣<Δ D2 and for the first time, go to step 14; if | DWatch (A)-D∣<Δ D2 and is not primary, go to step 15; otherwise, go to step 17;
step 14, controlling variable D2Control 0An initial value of 0 is assigned and the process proceeds to step 15.
Step 15, if | DWatch (A)-D∣<D3, if k is k2, go to step 16; otherwise, k is k1, and the process proceeds to step 16.
Step 16, D2Controlling n＝D2Control n-1+k*(GGiven a-G) into step 17. D2Control n-1Is D2Controlling nN is a positive integer.
Step 17, DControlling n＝D1’Controlling n+D2Controlling nProceed to step 18.
Step 18, the monitoring system outputs a guide vane opening degree analog quantity control signal DControlling nAnd 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 1, a cyclic self-adding module I2, an amplitude limiting module I6, a cyclic self-subtracting module 7, an amplitude limiting module II 8, a selector module I10, a cyclic self-adding module II 4, a selector module II 11 and an adder 5;
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 a first clipping module 6 and a second clipping module 8.
A circulation self-adding module I2 monitors active power given GGiven aChange and | _ DWatch (A)-D∣<And enabling a signal by delta D1, and collecting a guide vane opening signal D. When the enable signal is activated for the first time, D1Control ofAnd assigning an initial value D. The cyclic self-adding module I2 is continuously paired with D1Control ofThe step size Delta D of the cyclic self-adding control parameter is output D1Controlling nTo clipping block one 6.
A first amplitude limiting module 6 for collecting D output by the table look-up calculation module 1Watch (A)And D1 output by the cyclic self-adding module one 2Controlling nTo D, pairControlling nPerforming amplitude limiting output with maximum value of K1 x DWatch (CN). K1 was typically taken to be 1.4. An output guide vane opening analog quantity control signal D1'Controlling nSelector module one 10 channels 0.
A circulation self-reduction module 7 for monitoring the active power given GGiven theChange and | _ DWatch (A)-D∣<And enabling a signal by delta D1, and collecting a guide vane opening signal D. When the enable signal is activated for the first time, D1Control 0An initial value D is assigned. The circulation self-subtraction module 7 is continuously paired with D1Controlling nThe step size Delta D of the cyclic self-reduction control parameter is output D1Controlling nAmplitude-limiting modeAnd a second block 8.
A second amplitude limiting module 8 for collecting D output by the table look-up calculation module 1Watch (A)And D1 output from the cycle self-subtraction module 7Controlling nTo D1Controlling nPerforming amplitude limiting output with minimum value of DWatch (A). Outputs a 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 | -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 a first amplitude limiting module 6 and a second amplitude limiting module 8'Controlling n. When | DWatch (A)-D∣<When the delta D1 is not met, the selector module I10 selects the guide vane opening degree analog quantity control signal D1 'of the channel 0 output amplitude limiting module I6 output to the selector module I10'Controlling n(ii) a When | DWatch (CN)-D∣<When the delta D1 is met, the selector module I10 selects the guide vane opening degree analog quantity control signal D1 'output by the channel 1 output amplitude limiting module II 8 to the selector module I10'Controlling nThe selector module I10 controls the guide vane opening analog quantity control signal D1'Controlling nOutput to the adder 5.
A second circulation self-adding module 4 for monitoring | -DWatch (A)-D∣<Delta D2 enable signal and collect active power given GGiven aPower feedback G and the conversion coefficient k output by the second selector module 11. When the enable signal is active, D2Control 0An initial value of 0 was assigned. The circulating self-adding module II 4 is continuously paired with D2Controlling nCyclic self-adding of k (G)Given a-G), output D2Controlling nTo the adder 5.
A second selector module 11 for monitoring | -DWatch (A)-D∣<Δ D3 selects a signal whose channel 0 captures the transform coefficient k1 and channel 1 captures the transform coefficient k 2. When | DWatch (A)-D∣<When the delta D3 is not satisfied, the second selector module 11 selects the channel 0 and outputs a conversion coefficient k 1; when | DWatch (A)-D∣<When the delta D3 is satisfied, 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.
Adder 5, collecting D1 'output by selector module one 10'Controlling nAnd D2 output by the cyclic self-adding module two 4Controlling nAfter addition, an analog quantity control signal D of the opening degree of the guide vane is outputControlling nAnd a feed governor electronic control system.
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 (2)

1. A control method combining opening analog quantity closed loop and segmented open loop control of opening modes of guide vanes of a hydropower station monitoring system is characterized by comprising the following steps of:
step 1: initializing data of control parameters delta D, delta D1, delta D2, a self-adding conversion coefficient k, a water head, active power and guide vane opening one-to-one correspondence table, and entering the step 2;
step 2: active power set value G of collected variable of monitoring systemGiven aFeeding power feedback G, guide vane opening degree 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 degree mode, if so, entering a step 4; otherwise, continuing to detect;
and 4, 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, entering the step 6;
and 5, 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)；
And 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 not primary, step 11;
and 7, step 7: control variable D1Control 0Assigning an initial value D, and entering the step 8;
and 8, step 8: control variable D1Controlling n＝D1Control n-1Step D, the step length is increased for the control parameter, and the step 9 is entered; d1Control n-1Is D1Controlling nN is a positive integer;
step 9: if D1Controlling n>K1*DWatch (A)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;
and 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;
step 12: if D1Controlling n<DWatch (A)Then D1'Controlling n＝DWatch (A)Entering the step 13; otherwise, D1'Controlling n＝D1Controlling nEntering the step 13;
step 13: if | DWatch (A)-D∣<Δ D2 and for the first time, go to step 14; if | DWatch (A)-D∣<Δ D2 and is non-primary, entering step 15; otherwise, entering the step 16;
step 14: control variable D2Control 0Assigning an initial value of 0, and entering the step 15;
step 15: d2Controlling n＝D2Control n-1+k*(GGiven a-G), go to step 16; d2Control n-1Is D2Controlling nN is a positive integer;
step 16: dControlling n＝D1’Controlling n+D2Controlling nEntering the step 17;
step 17: monitoring system output guide vane opening degree analog quantity control signal DControlling nAnd returning to the step 2.
2. The control method for 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 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 guide vane opening is shown in table 1, wherein p, q, x and y in the 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; w is a unit water head, and g is unit 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≤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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