CN113669163A - Cascade gas turbine rotating speed control method based on active disturbance rejection control - Google Patents
Cascade gas turbine rotating speed control method based on active disturbance rejection control Download PDFInfo
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- 238000005516 engineering process Methods 0.000 description 10
- 238000002485 combustion reaction Methods 0.000 description 4
- 238000010248 power generation Methods 0.000 description 4
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02C—GAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
- F02C9/00—Controlling gas-turbine plants; Controlling fuel supply in air- breathing jet-propulsion plants
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2270/00—Control
- F05D2270/01—Purpose of the control system
- F05D2270/02—Purpose of the control system to control rotational speed (n)
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2270/00—Control
- F05D2270/30—Control parameters, e.g. input parameters
- F05D2270/304—Spool rotational speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2270/00—Control
- F05D2270/40—Type of control system
- F05D2270/42—Type of control system passive or reactive, e.g. using large wind vanes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2270/00—Control
- F05D2270/70—Type of control algorithm
- F05D2270/702—Type of control algorithm differential
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2270/00—Control
- F05D2270/70—Type of control algorithm
- F05D2270/703—Type of control algorithm integral
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E20/00—Combustion technologies with mitigation potential
- Y02E20/16—Combined cycle power plant [CCPP], or combined cycle gas turbine [CCGT]
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Eletrric Generators (AREA)
- Control Of Turbines (AREA)
Abstract
The invention aims to provide a cascade gas turbine rotating speed control method based on active disturbance rejection control, which comprises an outer ring controller and an inner ring controller, wherein the outer ring controller is a first-order linear active disturbance rejection controller, the inner ring controller is a second-order linear active disturbance rejection controller, and the outer ring first-order linear active disturbance rejection controller comprises a proportional controller KpoutAnd extended state observer, ESOoutThe outer loop first order linear active disturbance rejection controller comprises a proportional derivative controller Kpin，KdinAnd extended state observer, ESOin. According to the technical scheme, the closed-loop control of the rotating speed of the gas turbine is realized in a cascade control mode, the inner ring adopts a second-order linear active disturbance rejection controller, the outer ring adopts a first-order linear active disturbance rejection controller, the undisturbed control of the rotating speed of a high-pressure rotor and the rotating speed of a power turbine can be guaranteed, and the anti-saturation effect of the controller can be realized.
Description
Technical Field
The invention relates to a control method of a gas turbine, in particular to a control method of the rotating speed of the gas turbine.
Background
The gas turbine has the advantages of high power density, strong fuel adaptability, high efficiency and the like, and is widely applied to the fields of aviation airplanes, ship power propulsion, combined cycle power generation and the like. With the rise of new technologies such as electronic power technology, measurement and control technology, advanced control technology, artificial intelligence technology and the like, the control of the gas turbine is greatly improved. How to improve the performance of the gas turbine by using the emerging technology and solve the problem of limiting the development of the gas turbine become the problem which needs to be solved urgently in the development of the gas turbine. Especially in ship propulsion applications, the problems of low energy consumption and low pollution of gas turbine propulsion are urgently realized.
The ship gas turbine can be used for driving and generating electricity, and the control mode of the gas turbine is different due to the characteristics of multiple working purposes. Particularly, in the power generation process of the gas turbine, the requirement on grid-connected control of the gas turbine is high, the requirement on accurate rotation speed control is high, and the fluctuation error is small; during the propulsion process of the gas turbine, the rotation speed control of the gas turbine is also required to be stable so as to realize stable propulsion. On the other hand, since the gas turbine has many operating modes and has limitations such as exhaust temperature and rotational speed, it is required to perform undisturbed switching during mode switching. Because the thermodynamic process of the gas turbine is complex, and the characteristics of nonlinearity and large time lag exist, the traditional proportional-integral control is difficult to realize the accurate control of the gas turbine, and an advanced control method capable of solving the problems of the gas turbine is urgently needed to be found.
Active Disturbance Rejection Control (ADRC) is an advanced Control technology that has been recently developed, and estimates total system Disturbance by an Extended State Observer (ESO), converts a Control object into an integral series type, and compensates by a Control rate to realize Disturbance-free Control. The control of the gas turbine is seriously influenced by the characteristics of numerous disturbances such as sudden load change, nonlinear time delay of a fuel generator and the like in the operation process of the gas turbine. The active disturbance rejection control technology is applied to the gas turbine, so that the characteristics of sensitivity, nonlinearity, time lag and the like of the gas turbine to disturbance can be solved, particularly undisturbed switching and tracking control of the gas turbine can be realized, and the running performance of the gas turbine can be remarkably improved.
The ship which is generated or propelled by the gas turbine applies the active disturbance rejection control technology, and can solve the problems of high requirement on the rotation speed control of power generation grid connection and no disturbance of the rotation speed control during propulsion. The method has good adaptability to the ship navigation environment of the gas turbine to the disturbance of the gas turbine, the combustion in the combustion chamber, the disturbance of the fuel generator, the air inlet flow of the gas compressor and the like, and compared with the traditional proportional-integral control, the control process is more stable. Therefore, the active disturbance rejection technology is very significant for research in the field of ship gas turbines, and a new active disturbance rejection technical scheme of the gas turbine needs to be provided to realize accurate and stable control on the gas turbine.
Disclosure of Invention
The invention aims to provide a cascade gas turbine rotating speed control method based on active disturbance rejection control, which can solve the problem that the control is difficult due to nonlinearity and delay in the working process of a gas turbine, realize multi-mode operation switching undisturbed control and realize accurate control of the rotating speed of the gas turbine.
The purpose of the invention is realized as follows:
the invention relates to a cascade gas turbine rotating speed control method based on active disturbance rejection control, which is characterized by comprising the following steps: the controller comprises an outer ring controller and an inner ring controller, wherein the outer ring controller is a first-order linear active disturbance rejection controller, the inner ring controller is a second-order linear active disturbance rejection controller, and the outer ring first-order linear active disturbance rejection controller comprises a proportional controller KpoutAnd extended state observer, ESOoutThe inner loop second-order linear active disturbance rejection controller comprises a proportional-derivative controller Kpin，KdinAnd extended state observer, ESOin。
The present invention may further comprise:
1. the design of the outer loop first-order linear active disturbance rejection controller comprises the following steps:
the gas turbine power turbine speed is expressed as:
wherein
As derivative of the speed of rotation of the power turbine rotor, ngIs the rotation speed of the gas generator, maOutput of gas quantity for gas turbine actuators, JPIs the moment of inertia of the power turbine, f1Is a function that characterizes the non-linearity of the gas turbine power turbine output;
extended State Observer (ESO) in outer-loop first-order linear active disturbance rejection controlleroutThe design is as follows:
wherein z is1＝np，z2＝f，C＝[1 0]，L＝[β1 β2]T，
B＝[b0 0T，β1、β2、b0Setting a parameter value for the controller;
controller KpoutThe control rate is designed as u0＝Kp(np,r-z1) The controller output is ng,r＝(u0-z2)/b0Wherein n isg,rThe reference input speed of the gas generator is the reference input of the inner loop second-order linear active disturbance rejection controller.
2. The design of the inner loop second-order linear active disturbance rejection controller comprises the following steps:
the gas turbine gas generator speed is expressed as:
wherein
Is the second derivative of the rotational speed of the gasifier,
for a single revolution of the gas generatorDerivative, ngIs the rotation speed of the gas generator, maOutput of gas quantity for gas turbine actuators, JgIs the rotational inertia of the gas generator, f2Is a function representing the non-linearity of the rotational speed output of the gas turbine gas generator;
extended State Observer (ESO) in inner loop second-order linear active disturbance rejection controllerinThe design is as follows:
wherein,
b1setting a parameter value for the controller;
controller KpinThe control rate is designed as
The controller outputs as
Wherein m iscThe reference input fuel quantity for the gas turbine actuator is the reference input of the integral controller.
3. Outer loop Extended State Observer (ESO)outThe first input is a gas turbine gas generator speed measurement and the second input is a power turbine speed measurement; inner ring Extended State Observer (ESO)inThe input is a gas turbine actuator fuel quantity measurement and the second input is a gas generator speed measurement.
4. Outer loop control feedback value is Extended State Observer (ESO)outThe output power turbine rotating speed estimated value and the inner loop control feedback value are Extended State Observers (ESOs)inAn output gasifier speed estimate and a derivative estimate thereof.
The invention has the advantages that:
1. the invention provides a method for controlling the rotating speed of a cascade gas turbine based on active disturbance rejection control, wherein an outer ring of the method is a first-order linear active disturbance rejection controller, an inner ring of the method is a second-order linear active disturbance rejection controller, and a gas turbine actuating mechanism is controlled to be an integral controller. Has the following obvious technical effects: the method for active disturbance rejection control can effectively improve the disturbance rejection of the gas turbine and ensure the undisturbed control of the working mode switching of the gas turbine.
2. The control method adopts a scheme of cascade control, can decouple the rotating speed of the fuel generator and the rotating speed of the power turbine, and simultaneously eliminates the disturbance of the internal fuel generator through the inner ring active disturbance rejection controller, thereby reducing the influence of the disturbance in the fuel generator on the rotating speed of the power turbine; other disturbances affecting the power turbine speed are controlled by the outer loop active disturbance rejection controller.
3. The scheme that the inner ring is the second-order active disturbance rejection controller is adopted, the high-order change of the rotating speed of the fuel generator can be controlled, the influence of the combustion process on the rotating speed fluctuation is effectively controlled, and the defect that the control of a high-order rotating speed signal by adopting a low-order controller is inaccurate is avoided. The outer ring adopts a first-order active disturbance rejection controller, and the first-order inertia characteristic corresponding to the power turbine rotating speed output not only reduces the operation of the controller and accelerates the operation speed, but also combines the output characteristic to realize effective and accurate control.
4. ESO for the outer loop extended state observer described in the present inventionoutThe first input is a gas turbine gas generator speed measurement, not the outer loop controller output, and the second input is a power turbine speed measurement; inner ring Extended State Observer (ESO)inThe input is a gas turbine actuator fuel quantity measurement, not the inner loop controller output, and the second input is a gas generator speed measurement. The scheme can effectively avoid saturation of the two controllers, realize fuel quantity limitation of the gas turbine and rotating speed limitation of the fuel generator, and avoid the defect that an extended state observer is difficult to estimate accurately due to the adoption of the input of the controllers.
5. The invention is not only suitable for the power generation control of the gas turbine, but also suitable for the propulsion control of the gas turbine ship.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Detailed Description
The invention will now be described in more detail by way of example with reference to the accompanying drawings in which:
with reference to fig. 1, the method for controlling the rotating speed of a cascade gas turbine based on active disturbance rejection control of the present invention includes an outer loop first order linear active disturbance rejection controller 1, an inner loop second order linear active disturbance rejection controller 2, a gas turbine actuator and controller 3, a fuel generator 4, a power turbine 5, and a load 6.
The outer loop first-order linear active disturbance rejection controller comprises a proportional controller KpoutAnd extended state observer, ESOoutThe outer loop first order linear active disturbance rejection controller comprises a proportional derivative controller Kpin，KdinAnd extended state observer, ESOin。
The design of the outer loop first-order linear active disturbance rejection controller comprises the following steps:
the gas turbine power turbine speed is expressed as:
wherein
As derivative of the speed of rotation of the power turbine rotor, ngIs the rotation speed of the gas generator, maOutput of gas quantity for gas turbine actuators, JPIs the moment of inertia of the power turbine, f1Is a function that characterizes the non-linearity of the gas turbine power turbine output.
Extended State Observer (ESO) in outer-loop first-order linear active disturbance rejection controlleroutThe design is as follows:
Controller KpoutThe control rate is designed as u0＝Kp(np,r-z1) The controller output is ng,r＝(u0-z2)/b0. Wherein n isg,rThe reference input speed of the gas generator is the reference input of the inner loop second-order linear active disturbance rejection controller.
The design of the inner loop second-order linear active disturbance rejection controller comprises the following steps:
the gas turbine gas generator speed is expressed as:
wherein
Is the second derivative of the rotational speed of the gasifier,
is the first derivative of the speed of rotation of the gasifier, ngIs the rotation speed of the gas generator, maOutput of gas quantity for gas turbine actuators, JgIs the rotational inertia of the gas generator, f2Is a function that characterizes the non-linearity of the rotational speed output of a gas turbine gas generator.
Extended State Observer (ESO) in outer-loop first-order linear active disturbance rejection controllerinThe design is as follows:
wherein,
b1and setting a parameter value for the controller.
Controller KpinThe control rate is designed as
The controller outputs as
Wherein m iscThe reference input fuel quantity for the gas turbine actuator is the reference input of the integral controller.
The outer ring controller is a first-order active disturbance rejection controller and is matched with the first-order inertia link of the rotating speed of the power turbine. The inner ring controller is a second-order active disturbance rejection controller, matches the requirement of the limitation of the rotating speed increasing rate of the gas generator, simultaneously considers the influence of the combustion process on the high-order output of the rotating speed, and realizes accurate control on the high-order rotating speed signal.
Outer loop Extended State Observer (ESO)outThe first input is a gas turbine gas generator speed measurement, not the outer loop controller output, and the second input is a power turbine speed measurement; inner ring Extended State Observer (ESO)inThe input is a gas turbine actuator fuel quantity measurement, not the inner loop controller output, and the second input is a gas generator speed measurement.
Outer loop control feedback value is Extended State Observer (ESO)outThe output power turbine rotating speed estimated value and the inner loop control feedback value are Extended State Observers (ESOs)inAn output gasifier speed estimate and a derivative estimate thereof.
The gas turbine fuel injection actuator is an integral control.
The design method of the invention mainly comprises the following steps:
firstly, an inner-loop second-order linear active disturbance rejection controller is designed, as the active disturbance rejection controller can realize model-free control, only a control rate and an extended state observer need to be designed, and the extended state observer of the inner-loop active disturbance rejection controller is designed into
Wherein,
b1and setting a parameter value for the controller. The input of the extended state observer is the actual fuel quantity of the actuator, the rotating speed and the rotating speed derivative of the power turbine, and the output is the estimated value of the rotating speed and the rotating speed derivative of the power turbine.
The parameter setting rule of the extended state observer adopts a bandwidth setting method to rearrange the extended observer expression into
Writing the characteristic equation of the matrix as
Configuring the bandwidth of the extended state observer at
Then
Can be derived from
The second-order linear active disturbance rejection control rate is designed as
The controller outputs as
The transfer function which equates the controller to a second order zero-free transfer function of
Thus, controller bandwidth
The design is as follows:
ξ＝0.707。
in summary, through pole allocation and bandwidth setting, the parameter that the inner loop linear second-order active disturbance rejection controller needs to be designed is the controller bandwidth
Expanding state observer bandwidth
System parameter b1. The inner loop control scheme is that the fuel quantity output by the actuating mechanism of the gas turbine is measured by a fuel meter and is used as a first input of the extended state observer; measuring the rotating speed of the gas generator through a rotating speed sensor and calculating a first derivative of the rotating speed, wherein the first derivative of the rotating speed and the rotating speed of the gas generator is used as a second input and a third input of the extended state observer; the extended state observer outputs the rotating speed of the gas generator and the estimated value of the first derivative of the rotating speed as a feedback value, obtains a designed control rate together with the output value of the outer ring first-order linear active disturbance rejection controller, and outputs the fuel injection reference quantity of the gas turbine actuating mechanismThe gas turbine actuator is controlled in a closed loop by an integral control position. And finally, parameter setting is carried out on the rotating speed inner ring of the gas turbine fuel generator until the control performance requirement is met.
Secondly, designing an outer-loop first-order linear active disturbance rejection controller, wherein the expression of an extended state observer is as follows:
wherein z is1＝np，z2＝f，C＝[1 0]，L＝[β1 β2]T，
B＝[b0 0]T。β1，β2，b0And setting a parameter value for the controller. The input of the extended state observer is the actual measured rotating speed of the fuel generator and the actual measured rotating speed of the power turbine.
The parameter setting rule adopts a bandwidth setting method, and the extended observer expression is rearranged into
Writing the characteristic equation of the matrix as
Configuring bandwidth of extended state observer at omega0Then, then
Can derive beta1＝2ω0，β2＝ω0 2。
The first-order linear active disturbance rejection control rate is designed as u0＝Kp(np,r-z1) The controller output is ng,r＝(u0-z2)/b0. The controller bandwidth is thus designed to be omegac，Kp＝ωc。
In summary, through pole allocation and bandwidth tuning, the parameter that the outer-loop linear first-order active disturbance rejection controller needs to be designed is the controller bandwidth ωcExpanding the bandwidth omega of the state observer0System parameter b0. The outer ring control scheme is that the rotating speed of the fuel generator and the rotating speed of the power turbine are measured to serve as first and second input quantities of an outer ring extended state observer, the extended state observer outputs an estimated value of the rotating speed of the power turbine, a control rate is formed by inputting the estimated value of the rotating speed of the power turbine and a given reference rotating speed of the power turbine, and the output value of the controller represents the rotating speed of the fuel generator, namely the reference value of the inner ring controller of the system.
It should be noted that the bandwidth parameter of the inner-loop controller is generally larger than the bandwidth parameter of the outer-loop controller, so as to ensure faster and more stable inner-loop system.
Claims (5)
1. A cascade gas turbine rotating speed control method based on active disturbance rejection control is characterized by comprising the following steps: the controller comprises an outer ring controller and an inner ring controller, wherein the outer ring controller is a first-order linear active disturbance rejection controller, the inner ring controller is a second-order linear active disturbance rejection controller, and the outer ring first-order linear active disturbance rejection controller comprises a proportional controller KpoutAnd extended state observer, ESOoutThe inner loop second-order linear active disturbance rejection controller comprises a proportional-derivative controller Kpin，KdinAnd extended state observer, ESOin。
2. The method for controlling the rotating speed of the cascade gas turbine based on the active disturbance rejection control as claimed in claim 1, wherein: the design of the outer loop first-order linear active disturbance rejection controller comprises the following steps:
the gas turbine power turbine speed is expressed as:
wherein
As derivative of the speed of rotation of the power turbine rotor, ngAs a gasGenerator speed, maOutput of gas quantity for gas turbine actuators, JPIs the moment of inertia of the power turbine, f1Is a function that characterizes the non-linearity of the gas turbine power turbine output;
extended State Observer (ESO) in outer-loop first-order linear active disturbance rejection controlleroutThe design is as follows:
wherein z is1＝np，z2＝f，C＝[1 0]，L＝[β1 β2]T，
B＝[b0 0]T，β1、β2、b0Setting a parameter value for the controller;
controller KpoutThe control rate is designed as u0＝Kp(np,r-z1) The controller output is ng,r＝(u0-z2)/b0Wherein n isg,rThe reference input speed of the gas generator is the reference input of the inner loop second-order linear active disturbance rejection controller.
3. The method for controlling the rotating speed of the cascade gas turbine based on the active disturbance rejection control as claimed in claim 1, wherein: the design of the inner loop second-order linear active disturbance rejection controller comprises the following steps:
the gas turbine gas generator speed is expressed as:
wherein
Is the second derivative of the rotational speed of the gasifier,
is the first derivative of the speed of rotation of the gasifier, ngIs the rotation speed of the gas generator, maOutput of gas quantity for gas turbine actuators, JgIs the rotational inertia of the gas generator, f2Is a function representing the non-linearity of the rotational speed output of the gas turbine gas generator;
extended State Observer (ESO) in inner loop second-order linear active disturbance rejection controllerinThe design is as follows:
wherein,
b1setting a parameter value for the controller;
controller KpinThe control rate is designed as
The controller outputs as
Wherein m iscThe reference input fuel quantity for the gas turbine actuator is the reference input of the integral controller.
4. The method for controlling the rotating speed of the cascade gas turbine based on the active disturbance rejection control as claimed in claim 1, wherein: outer loop Extended State Observer (ESO)outThe first input is a measurement of the gas turbine gas generator speedThe second input is a power turbine speed measurement; inner ring Extended State Observer (ESO)inThe input is a gas turbine actuator fuel quantity measurement and the second input is a gas generator speed measurement.
5. The method for controlling the rotating speed of the cascade gas turbine based on the active disturbance rejection control as claimed in claim 1, wherein: outer loop control feedback value is Extended State Observer (ESO)outThe output power turbine rotating speed estimated value and the inner loop control feedback value are Extended State Observers (ESOs)inAn output gasifier speed estimate and a derivative estimate thereof.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114991967A (en) * | 2022-05-20 | 2022-09-02 | 南京航空航天大学 | Control method and device for turboshaft engine based on incremental dynamic inversion |
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