CN113110348A - Approximation second-order small inertia object estimation algorithm for SCR denitration NOx concentration - Google Patents
Approximation second-order small inertia object estimation algorithm for SCR denitration NOx concentration Download PDFInfo
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- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 26
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- 229910021529 ammonia Inorganic materials 0.000 description 12
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Abstract
The invention discloses a second-order small inertia object estimation algorithm for the approach of SCR denitration NOx concentration, which comprises the steps of obtaining continuous NOx concentration values of an SCR denitration outlet; then, performing two-time lag calculation and one-time second-order differential calculation on values obtained by performing lead-lag calculation on the continuous NOx concentration values respectively; and finally, proportionally summing a value obtained by performing lead-lag calculation on the continuous NOx concentration value and a value obtained by performing twice lag calculation and once second order differential calculation to obtain an approximate second order small inertia object estimated value of the NOx concentration. The SCR denitration control system applying the method overcomes the phenomenon of non-ideal effect of a fixed value disturbance test.
Description
Technical Field
The invention relates to a second-order small inertia object estimation algorithm for approaching SCR denitration NOx concentration, and belongs to the technical field of denitration control in a thermal power plant.
Background
Most of denitration systems of thermal power plants adopt an SCR ammonia spraying denitration mode. Taking the SCR denitration system of a conventional thermal power plant as an example, when the SCR denitration control system is in a state where the ammonia injection amount is stable and the NOx concentration at the outlet of the SCR is also substantially stable. If operators of the thermal power plant want to reduce the concentration of NOx at the SCR outlet, immediately increasing the ammonia injection amount, and about 2min later, the concentration of NOx at the SCR denitration outlet begins to decrease; and about 15min later, the concentration of NOx at the SCR denitration outlet reaches a stable state. The system with slow change of the NOx concentration at the outlet of the SCR after the ammonia injection amount is changed is a typical super-large inertia system. The response of the concentration of NOx at the SCR denitration outlet of an individual power plant to the change of ammonia gas is even twice as slow as the case, and the response is far beyond the psychological limit which operators can bear. In the teaching material of the automatic control principle, a conventional automatic control scheme is used for controlling a large inertia system, so that a good control effect is difficult to obtain. In general, the plant chooses not to be automated; or automatic, but neglecting large fluctuations in NOx concentration (poor stability).
Some optimization companies adopt an automatic control scheme which is Model Predictive Control (MPC), and some companies adopt a Smith prediction algorithm. Taking denitration control as an example, the analysis is as follows:
the core idea of Model Predictive Control (MPC) is: estimating the state of a main signal at a certain moment in the future according to the object characteristics and the variation of the ammonia injection amount, and then adjusting the ammonia injection amount; if the concepts of overshoot and fluctuation of the opening degree of the actuator are introduced, optimal model predictive control is formed. The disadvantages of model predictive control are: the difference between the 0 point in the automatic control subject field and the 0 point in the actual control system cannot be solved. There are cases of application in the control system with little difference between the two; but the relevant literature generally does not disclose a fixed-value disturbance control effect. The control system with larger difference between the two can not be applied at all, such as main steam temperature control. In addition, the control system is designed by adopting a time domain concept, and cannot be edited on the DCS, so that the control system cannot be popularized and applied.
The core idea of the Smith prediction algorithm is as follows: for a large-inertia pure delay object, the delay of an original system control object is removed by a certain method, and the control object without delay is estimated; the control effect can be improved theoretically because there is no delay. During actual control, the state of the main signal at a certain time in the future is estimated according to the target characteristics and the change amount of the ammonia injection amount, and then the ammonia injection amount is adjusted. In fact, the actual improvement effect of the smith estimation control system is very limited due to inaccurate model measurement, the change of the model object characteristics along with the change of external factors and the mutual superposition of the two factors. In general, the relevant literature also does not disclose constant value perturbation control effects.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the following technical scheme: an approach second-order small inertia object estimation algorithm of SCR denitration NOx concentration is characterized in that:
obtaining continuous NOx concentration values of an SCR denitration outlet; carrying out lead-lag calculation on the continuous NOx concentration value to obtain a value A; respectively carrying out hysteresis calculation on the A to obtain values B and C; performing second-order differential calculation on the A to obtain a value D; the approximate second order small inertia object estimate of NOx concentration is scaled from A, B, C and D.
The technical scheme is further designed as follows: calculating the continuous NOx concentration value to obtain a value A through a first lead-lag module, wherein the lead time of the first lead-lag module is T1With a lag time of mT1(ii) a Wherein m is a constant.
And calculating the A through a second order differential link to obtain a value D, wherein the second order differential link is composed of two first order differential links connected in front and back.
The first-order differential link consists of a lead-lag module and a subtracter, wherein input values are respectively input into the lead-lag module and the subtracter, the output value of the lead-lag module is also input into the subtracter, and the output value of the subtracter is the output value of the first-order differential link;
two first-order differential links connected in front and back are respectively a first-order differential link and a second first-order differential link; the first order differential link consists of a second lead-lag module and a first subtracter, the second first order differential link consists of a third lead-lag module and a second subtracter, the output of the first subtracter is the input value of the second first order differential link, and the output of the second subtracter is the output value of the second order differential link.
The lead time of the second lead-lag module is 0, and the lag time is mT2(ii) a The lead time of the third lead-lag module is 0 and the lag time is mT3。
Calculating the value A through a fourth lead-lag module to obtain a value B, wherein the lead time of the fourth lead-lag module is 0, and the lag time of the fourth lead-lag module is mT2。
The value A is calculated by a fifth lead-lag module to obtain a value C, the lead time of the fifth lead-lag module is 0, and the lag time is mT3。
The T is1、T2And T3The difference value with the average value of the three is not more than one tenth of the average value of the three.
A, B, C and D are each as follows
And
the approximate second order small inertia object estimated value of the NOx concentration is obtained through proportional summation. The constant m is equal to 0.75.
Compared with the prior art, the invention has the following beneficial effects:
the invention converts the three-order large inertia object with slow initial response and long stabilization process time into another virtual small inertia object with rapid initial response, relatively short stabilization process time, very close initial response time characteristic to the second-order inertia object, and estimates the output of the original control object through the output of the virtual close second-order small inertia object, thereby greatly simplifying the automatic control problem of the three-order large inertia object, improving the dynamic quality and stability of the denitration automatic control system and having obvious effect.
The SCR denitration control system of the method overcomes the phenomenon of unsatisfactory effect of a constant value disturbance test, greatly improves the stability and rapidity of the SCR denitration ammonia spraying automatic control system, and really meets the requirements of rapidness, stability and accuracy of the denitration automatic control system; the accurate ammonia spraying is realized, the waste of ammonia gas is avoided, the severity and the frequency of blockage of the air preheater are reduced, and the thermal efficiency of the boiler of the power plant is improved.
Drawings
FIG. 1 is a schematic diagram of the application of the method of the present invention in denitration control;
FIG. 2 is a step response diagram of a virtual object after the virtual small object is pre-estimated by using different conversion functions;
FIG. 3 is a method schematic of an embodiment of the invention;
FIG. 4 is a screenshot I showing a fixed-value disturbance control effect of a denitration SCR outlet of a certain plant by using the method of the present invention;
FIG. 5 is a screenshot II of a fixed-value disturbance control effect of a denitration SCR outlet of a certain plant by using the method of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
Examples
The design idea of the invention is as follows:
as shown in fig. 1, identifying the characteristics of a control object of a denitration control system of a thermal power plant according to three-order large inertia; the obtained third-order large inertia transfer function is converted into a virtual approaching second-order small inertia object through a conversion formula. And then the concentration of NOx at the outlet of the SCR is controlled according to a cascade PID control scheme, so that the response speed of the denitration ammonia injection automatic control system and the stability of the control system are improved.
The present embodiment takes the SCR denitration outlet NOx concentration as an automatic control target, which is a large inertia target (defined as a 3 rd order minimum phase transfer function), and is expressed as follows:
in the field of automatic control, the higher the order of an inertia control object (slow initial response) and the larger the inertia time (long time to reach stability), the more difficult it is to control the object. Conversely, the lower the order of the inertial control object (fast initial response) and the greater the inertial time (short time to reach steady), the easier the inertial system is to control.
For the convenience of control, it is necessary to convert the high-order large inertia object into a virtual object (not really existing) with low-order small inertia, and then control the virtual object. If it is desired to predict the object as a small inertial object G'(s), then a prediction function h(s) is inserted to achieve the prediction process prediction relationship as follows:
G'(s)＝G(s)H(s)
taking a certain 3 rd order object as an example, different conversion functions are adopted to convert the object into a virtual small object. Their step response is shown in figure 2,
the virtual 3 rd order object 2 is estimated from the original 3 rd order object (actually existing) according to the time scale law, and the inertia time is reduced in proportion. (law of time scale: f (t) → F (s))
True, time scale m). Still a standard third order object property.
The virtual 3 rd order object 1 is converted by adding some second order differential functions on the basis of the virtual 3 rd order object 2.
The 2-order approximate object is an approximate 2-order object shared by the virtual 3-order object 1 and the virtual 3-order object 2, and is manually fitted according to the step response effect.
Firstly, the original actual control object is converted into a virtual 3-order object 1 or a virtual 3-order object 2, and the actual control object participates in automatic denitration control, so that the control effect is obviously improved compared with the conventional control scheme.
Secondly, in theoretical derivation, if a 3-order object is to be converted into a 2-order object, a pure differential link s is required to participate in operation, which is difficult to realize in engineering. However, the engineer may increase the second order differential amplification factor to make the characteristic of the converted virtual small inertia object approach the characteristic of the 2 nd order small inertia object as much as possible (still 3 rd order), thereby improving the control quality. In comparison with the step response of the virtual object in fig. 2, it can be seen that the step response curve of the virtual 3 rd order object 1 is closer to the step response curve of the 2 nd order approximation object that they collectively approximate in the initial response phase than the step response curve of the virtual 3 rd order object 2; in the actual engineering, the virtual 3-order object 1 is applied to control than the virtual 3-order object 2, so that the actual denitration control effect is better.
The virtual approaching second-order small inertia object reacts more sensitively and rapidly to various disturbances, step disturbance (1% ammonia spraying amount is reduced) is applied to the virtual approaching second-order small inertia object, compared with the original third-order large inertia object, the virtual approaching second-order small inertia object has rapid initial response, and the time for reaching stability is obviously shortened.
After estimation, the characteristic of the virtual approaching second-order small inertia object does not change the amplification factor of the transfer function, and the step response of the virtual approaching second-order small inertia object still has the over-damping characteristic and has no overshoot phenomenon.
Under the action of the same step disturbance quantity, the virtual approach second-order small inertia object and the original control object are completely equal in output under the stable state. Under the action of the same step disturbance quantity, the current display value of the virtual approaching second-order small inertia object is necessarily the state of the original control object reached in the future. Therefore, the output of the virtual approaching second-order small inertia object can be completely regarded as the prediction of the future output of the original control object.
The virtual approaching second-order small inertia object estimates the future output value of the main signal according to the current state of the main signal. The smith estimation algorithm and the prediction control which are popular at present predict the output value of the future main signal according to the output quantity of the actuator.
The present embodiment selects the following function as the predictor function:
wherein: t is1'＝mT1、T2'＝mT2、T3'＝mT3，m＝0.75。
T1、T2And T3The difference value with the average value of the three is not more than one tenth of the average value of the three.
As shown in fig. 3, the 3 rd order small inertia object estimation algorithm of the virtual approach 2 nd order approximate object of the embodiment includes the following four steps:
1. and (4) predicting the NOx concentration signal at the SCR outlet in a lead-lag mode. Inputting continuous SCR outlet NOx concentration signals into lead lagThe rear module obtains a value A to realize the advance-retard function. Lead time constant of T1With a lag time constant of mT1。
2. And constructing a second-order differential link. The embodiment is realized by connecting two first-order differential links front and back, wherein the first-order differential link is formed by a lead-lag module and a subtracter, the lead-lag module has a lead time constant of 0 and a lag time constant of mT2. The latter first-order differential link is composed of a lead-lag module (0) with lead time constant and mT with subtracter3. The two first order differentials are connected up and down to form a second order differential. The A value is respectively input into a subtractor and the output of the lead-lag module is input into the other input end of the subtractor, the output of the subtractor is respectively input into a lead-lag module and a subtractor, the output of the lead-lag module is input into the other input end of the subtractor, and the output of the subtractor is input into the other input end of the subtractor.
3. And (5) damping hysteresis. Respectively inputting the value A into a lead-lag module (0) and a lead-lag module (mT) to obtain values B and C2Only the damping function is realized; a lead-lag module, wherein the lead time constant is 0 and the lag time constant is mT3Only a damping function is achieved.
4. And (6) signal synthesis. The output signals A, B, C and D of the lead-lag module I, the subtracter II, the lead-lag module II and the lead-lag module II are synthesized in the adder II to obtain the approximate second-order small inertia object estimated value of the NOx concentration. The input end of the adder is provided with coefficients which are respectively as follows:
and
the fixed value disturbance control effect of the denitration SCR of a certain plant adopting the method of the embodiment is shown in fig. 4 and 5, and the initial response to the fixed value disturbance of the denitration control system adopting the method of the embodiment is rapid, the time for achieving stability is obviously shortened, and the adjusting process is not more than 8min and is far less than 20min required by regulations.
The technical solutions of the present invention are not limited to the above embodiments, and all technical solutions obtained by using equivalent substitution modes fall within the scope of the present invention.
Claims (10)
1. An approach second-order small inertia object estimation algorithm of SCR denitration NOx concentration is characterized in that:
obtaining continuous NOx concentration values of an SCR denitration outlet;
carrying out lead-lag calculation on the continuous NOx concentration value to obtain a value A;
respectively carrying out hysteresis calculation on the A to obtain values B and C;
performing second-order differential calculation on the A to obtain a value D;
the approximate second order small inertia object estimate of NOx concentration is scaled from A, B, C and D.
2. The approach second order small inertia object prediction algorithm for SCR denitration NOx concentration of claim 1, wherein: calculating the continuous NOx concentration value to obtain a value A through a first lead-lag module, wherein the lead time of the first lead-lag module is T1With a lag time of mT1(ii) a Wherein m is a constant.
3. The SCR denitration NOx concentration approach second order small inertia object prediction algorithm of claim 2, wherein: and calculating the A through a second order differential link to obtain a value D, wherein the second order differential link is composed of two first order differential links connected in front and back.
4. The SCR denitration NOx concentration approach second order small inertia object prediction algorithm of claim 3, wherein: the first-order differential link consists of a lead-lag module and a subtracter, wherein input values are respectively input into the lead-lag module and the subtracter, the output value of the lead-lag module is also input into the subtracter, and the output value of the subtracter is the output value of the first-order differential link;
two first-order differential links connected in front and back are respectively a first-order differential link and a second first-order differential link; the first order differential link consists of a second lead-lag module and a first subtracter, the second first order differential link consists of a third lead-lag module and a second subtracter, the output of the first subtracter is the input value of the second first order differential link, and the output of the second subtracter is the output value of the second order differential link.
5. The SCR denitration NOx concentration approach second order small inertia object prediction algorithm of claim 4, wherein: the lead time of the second lead-lag module is 0, and the lag time is mT2(ii) a The lead time of the third lead-lag module is 0 and the lag time is mT3。
6. The SCR denitration NOx concentration approach second order small inertia object prediction algorithm of claim 5, wherein: calculating the value A through a fourth lead-lag module to obtain a value B, wherein the lead time of the fourth lead-lag module is 0, and the lag time of the fourth lead-lag module is mT2。
7. The SCR denitration NOx concentration approach second order small inertia object prediction algorithm of claim 6, wherein: the value A is calculated by a fifth lead-lag module to obtain a value C, the lead time of the fifth lead-lag module is 0, and the lag time is mT3。
8. The SCR denitration NOx concentration approach second order small inertia object prediction algorithm of claim 7, wherein: the T is1、T2And T3The difference value with the average value of the three is not more than one tenth of the average value of the three.
9. The SCR denitration NOx concentration approach second order small inertia object prediction algorithm of claim 8, wherein: a, B, C and D are each as follows
And
the approximate second order small inertia object estimated value of the NOx concentration is obtained through proportional summation.
10. The SCR denitration NOx concentration approach second order small inertia object prediction algorithm of claim 9, wherein: the constant m is equal to 0.75.
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