CN115263643A - Water turbine primary frequency modulation control method and system based on self-adaptive control characteristics - Google Patents

Water turbine primary frequency modulation control method and system based on self-adaptive control characteristics Download PDF

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Publication number
CN115263643A
CN115263643A CN202111467477.7A CN202111467477A CN115263643A CN 115263643 A CN115263643 A CN 115263643A CN 202111467477 A CN202111467477 A CN 202111467477A CN 115263643 A CN115263643 A CN 115263643A
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China
Prior art keywords
power
link
delta
frequency modulation
variation
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Chinese (zh)
Inventor
邓友汉
黄兴
蔡卫江
余志强
于大海
周成
霍承祥
陶向宇
夏潮
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China Electric Power Research Institute Co Ltd CEPRI
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China Electric Power Research Institute Co Ltd CEPRI
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Priority to CN202111467477.7A priority Critical patent/CN115263643A/en
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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
    • F03B11/00—Parts or details not provided for in, or of interest apart from, the preceding groups, e.g. wear-protection couplings, between turbine and generator
    • F03B11/008—Measuring or testing arrangements
    • 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
    • F03B11/00—Parts or details not provided for in, or of interest apart from, the preceding groups, e.g. wear-protection couplings, between turbine and generator
    • 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
    • F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
    • 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
    • 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
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H02J3/241—The oscillation concerning frequency
    • 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
    • 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 Eletrric Generators (AREA)
  • Control Of Water Turbines (AREA)

Abstract

The invention discloses a water turbine primary frequency modulation control method based on self-adaptive control characteristics, which comprises the following steps: establishing a model of a water turbine speed regulator; writing a historical operating curve or a preset theoretical curve of the unit into a three-dimensional curve function library comprising a water head, an opening and power of the water turbine; when a frequency modulation instruction is received, determining a primary frequency modulation power variation instruction based on a hydraulic turbine governor model, and dividing the primary frequency modulation power variation instruction into a first instruction and a second instruction; based on the first instruction, obtaining the variable quantity delta GV1 of the opening degree of the guide vane according to the current three-dimensional curve function; superposing a second instruction to the inlet of the power PID to obtain an actuator variation component delta GV2; determining the total change quantity delta GV of the actuating mechanism of the primary frequency modulation according to the delta GV1 and the delta GV2; according to the ratio of the guide vane opening variation delta GV1 to the actuator variation total delta GV, a water head optimal value, an opening optimal value and a power optimal value are determined, and a three-dimensional curve function is adjusted to realize primary frequency modulation control.

Description

Water turbine primary frequency modulation control method and system based on self-adaptive control characteristics
Technical Field
The invention relates to the technical field of power system control, in particular to a method and a system for controlling primary frequency modulation of a water turbine based on self-adaptive control characteristics.
Background
In the novel electric power system taking new energy as a main body, a conventional power supply gradually evolves into an important component part from a traditional electric power main body power supply, and finally, the conventional power supply is changed into a system regulation power supply, so that the safety, controllability, flexibility and high efficiency of the novel electric power system are guaranteed. The primary frequency modulation capability of conventional power supplies has a crucial impact on the frequency stability of the system.
The existing large hydroelectric generating set is basically of a mixed-flow type, the primary frequency modulation control characteristic of the existing large hydroelectric generating set is closely related to a water head, and the existing water turbine control system is basically controlled by PID (proportion integration differentiation), so that the primary frequency modulation performance of the existing large hydroelectric generating set meets the standard when the water head is high, but the primary frequency modulation performance of the existing large hydroelectric generating set does not meet the standard when the water head is low. If variable parameter operation is adopted, a large amount of work is added to the stable calculation of the power grid.
Disclosure of Invention
The invention provides a method and a system for controlling primary frequency modulation of a water turbine based on self-adaptive control characteristics, and aims to solve the problem that the primary frequency modulation capability of the existing hydroelectric generating set is inaccurate along with the change of a water head of the set.
In order to solve the above problems, according to an aspect of the present invention, there is provided a method for controlling a primary frequency modulation of a hydraulic turbine based on adaptive control characteristics, the method comprising:
establishing a primary frequency modulation water turbine speed regulator model in a power mode;
writing a historical operating curve or a preset theoretical curve of the unit into a three-dimensional curve function library comprising a water head, an opening and power of the water turbine;
when a frequency modulation command is received, determining a primary frequency modulation power variation command according to the difference value between the grid-connected unit frequency and the rated frequency based on the hydraulic turbine governor model, and dividing the primary frequency modulation power variation command into a first command and a second command;
based on the first instruction, obtaining guide vane opening variation delta GV1 corresponding to the primary frequency modulation power variation under the current water head and guide vane opening according to the current three-dimensional curve function;
superposing the second instruction to a power PID inlet to obtain an actuator variation component delta GV2;
determining the total actuator change amount delta GV of primary frequency modulation according to the sum of the guide vane opening variation delta GV1 and the actuator change component delta GV2, and acting the total actuator change amount delta GV on an actuator;
according to the ratio of the guide vane opening variation delta GV1 to the actuator variation total delta GV, a water head optimal value, an opening optimal value and a power optimal value are determined, and the three-dimensional curve function is adjusted according to the water head optimal value, the opening optimal value and the power optimal value to achieve primary frequency modulation control.
Preferably, the governor model of the hydro turbine includes: a frequency dead zone control link, an error adjustment link, an amplitude limiting link, a power PID, a power dead zone control link, an actuating mechanism, a water turbine body, a generator body, a water turbine three-dimensional curve function control and output opening amplitude limiting and a power and frequency measuring link;
the frequency measurement link of the generator is connected with a given frequency difference value and frequency dead zone control link, the frequency dead zone control link is connected with a difference adjustment link, the difference adjustment link is connected with an amplitude limiting link, the amplitude limiting link is simultaneously connected with three-dimensional curve function control and power PID of the water turbine, the three-dimensional curve function of the water turbine is connected with an output opening amplitude limiting link, the output opening amplitude limiting link and the power PID are simultaneously connected with an actuating mechanism link, the actuating mechanism link is connected with a water turbine body link, and the water turbine body link is connected with the generator body link.
Preferably, the determining a water head optimal value, an opening optimal value and a power optimal value according to the ratio of the guide vane opening variation amount Δ GV1 and the actuator variation total amount Δ GV includes:
and when the ratio of the current guide vane opening variation delta GV1 to the actuator change total amount command delta GV is larger than a preset threshold, determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value which meet the primary frequency modulation adaptive control of the water turbine.
Preferably, the method further comprises:
and if the ratio of the current guide vane opening variation delta GV1 to the actuator variation total amount command delta GV is smaller than or equal to a preset threshold, returning to the step 7 for recalculation, and determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value which meet the primary frequency modulation adaptive control of the water turbine until the ratio of the current guide vane opening variation delta GV1 to the actuator variation total amount command delta GV is larger than the preset threshold.
Preferably, wherein the preset threshold is 0.85.
According to another aspect of the present invention, there is provided a turbine primary control system based on adaptive control characteristics, the system comprising:
the model establishing unit is used for establishing a model of the water turbine speed regulator for primary frequency modulation in a power mode;
the three-dimensional function importing unit is used for writing a historical operating curve or a preset theoretical curve of the unit into a three-dimensional curve function library comprising a water head, an opening degree and power of the water turbine;
the instruction determining unit is used for determining a primary frequency modulation power variation instruction according to the difference value between the grid-connected unit frequency and the rated frequency based on the hydraulic turbine governor model when a frequency modulation instruction is received, and dividing the primary frequency modulation power variation instruction into a first instruction and a second instruction;
the guide vane opening variation determining unit is used for obtaining guide vane opening variation delta GV1 corresponding to the current water head and the next frequency modulation power variation of the guide vane opening according to the current three-dimensional curve function based on the first instruction;
the actuator change component determining unit is used for superposing the second instruction to the inlet of the power PID to obtain an actuator change component delta GV2;
the actuator change total amount determining unit is used for determining the actuator change total amount delta GV of the primary frequency modulation according to the sum of the guide vane opening change amount delta GV1 and the actuator change component delta GV2, and applying the actuator change total amount delta GV on the actuator;
and the frequency modulation control determining unit is used for determining a water head optimal value, an opening optimal value and a power optimal value according to the ratio of the guide vane opening variation delta GV1 to the actuator variation total delta GV, and adjusting the three-dimensional curve function according to the water head optimal value, the opening optimal value and the power optimal value to realize primary frequency modulation control.
Preferably, the governor model of the hydro turbine includes: a frequency dead zone control link, an error adjustment link, an amplitude limiting link, a power PID, a power dead zone control link, an actuating mechanism, a water turbine body, a generator body, a water turbine three-dimensional curve function control and output opening amplitude limiting and a power and frequency measuring link;
the frequency measurement link of the generator is connected with a given frequency difference value and a frequency dead zone control link, the frequency dead zone control link is connected with a difference adjustment link, the difference adjustment link is connected with an amplitude limiting link, the amplitude limiting link is simultaneously connected with three-dimensional curve function control and power PID of the water turbine, the three-dimensional curve function of the water turbine is connected with an output opening amplitude limiting link, the output opening amplitude limiting link and the power PID are simultaneously connected with an actuating mechanism link, the actuating mechanism link is connected with a water turbine body link, and the water turbine body link is connected with a generator body link.
Preferably, the frequency modulation control unit determines a water head optimal value, an opening optimal value and a power optimal value according to a ratio of the guide vane opening variation Δ GV1 to the actuator variation total Δ GV, and includes:
and when the ratio of the current guide vane opening variation delta GV1 to the actuator change total amount command delta GV is larger than a preset threshold, determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value which meet the primary frequency modulation adaptive control of the water turbine.
Preferably, the system further comprises:
and if the ratio of the current guide vane opening variation delta GV1 to the actuator variation total amount instruction delta GV is smaller than or equal to a preset threshold, returning to the frequency modulation control determining unit for recalculating until the ratio of the current guide vane opening variation delta GV1 to the actuator variation total amount instruction delta GV is larger than the preset threshold, and determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value meeting the primary frequency modulation self-adaptive control of the water turbine.
Preferably, wherein the preset threshold is 0.85.
The invention provides a method and a system for controlling primary frequency modulation of a water turbine based on self-adaptive control characteristics, wherein a feed-forward function is introduced into the primary frequency modulation function of the water turbine, so that the influence of water head change of a unit on the response capability of the primary frequency modulation of the unit is effectively avoided; the water head, the opening and the power three-dimensional curve of the water turbine are calculated and then directly superposed on the actuating mechanism, so that the influence of the water head of the water turbine on the primary frequency modulation of the unit is adapted, and the stability of the unit is improved; the invention can meet the primary frequency modulation performance under different water heads and reduce the calculated amount of a dispatching center.
Drawings
Exemplary embodiments of the invention may be more completely understood in consideration of the following drawings:
FIG. 1 is a schematic diagram of a power mode primary frequency modulation transfer function model of a conventional water turbine control system;
FIG. 2 is a flow chart of a method 200 for controlling turbine primary frequency modulation based on adaptive control characteristics according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a power mode primary frequency modulation transfer function model of a water turbine control system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a configuration of a turbine primary control system 400 based on adaptive control characteristics according to an embodiment of the present invention.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
Fig. 2 is a flow chart of a method 200 for controlling the primary frequency of a turbine based on adaptive control characteristics according to an embodiment of the present invention. As shown in fig. 2, the method for controlling primary frequency modulation of a water turbine based on adaptive control characteristics according to the embodiment of the present invention introduces a feed-forward function into the primary frequency modulation function of the water turbine, so as to effectively avoid the influence of the water head variation of the unit on the response capability of the primary frequency modulation of the unit; the water head, the opening and the power three-dimensional curve of the water turbine are calculated and then directly superposed on the actuating mechanism, so that the influence of the water head of the water turbine on the primary frequency modulation of the unit is adapted, and the stability of the unit is improved; the method of the invention can not only meet the primary frequency modulation performance under different water heads, but also reduce the calculated amount of the dispatching center. In the method 200 for controlling primary frequency modulation of a hydraulic turbine based on adaptive control characteristics according to the embodiment of the present invention, starting from step 201, in step 201, a model of a governor of the hydraulic turbine for primary frequency modulation in a power mode is established.
Preferably, the governor model of a hydraulic turbine comprises: a frequency dead zone control link, an error adjustment link, an amplitude limiting link, a power PID, a power dead zone control link, an actuating mechanism, a water turbine body, a generator body, a water turbine three-dimensional curve function control and output opening amplitude limiting and a power and frequency measuring link;
the frequency measurement link of the generator is connected with a given frequency difference value and frequency dead zone control link, the frequency dead zone control link is connected with a difference adjustment link, the difference adjustment link is connected with an amplitude limiting link, the amplitude limiting link is simultaneously connected with three-dimensional curve function control and power PID of the water turbine, the three-dimensional curve function of the water turbine is connected with an output opening amplitude limiting link, the output opening amplitude limiting link and the power PID are simultaneously connected with an actuating mechanism link, the actuating mechanism link is connected with a water turbine body link, and the water turbine body link is connected with the generator body link.
Step 202, writing a historical operating curve or a preset theoretical curve of the unit into a three-dimensional curve function library comprising a water head, an opening degree and power of the water turbine.
As shown in fig. 3, compared with the existing primary frequency modulation feed forward added to the primary frequency modulation hydro turbine governor model in the power mode, the model of the present invention can calculate the guide vane opening variation Δ GV1 corresponding to the primary frequency modulation power variation under the current head and the guide vane opening according to the Y = f (hp) function curve of the correspondence between the head (h), the opening (Y), and the power (p) of the introduced hydro turbine, and the primary frequency modulation total actuator variation Δ GV is obtained by adding the primary frequency modulation power variation Δ GV2 output by the power PID to the first primary frequency modulation command and then acting on the actuator together.
In step 203, when a frequency modulation instruction is received, based on the governor model of the hydraulic turbine, a primary frequency modulation power variation instruction is determined according to the difference between the grid-connected unit frequency and the rated frequency, and the primary frequency modulation power variation instruction is divided into a first instruction and a second instruction.
In step 204, based on the first instruction, a guide vane opening variation Δ GV1 corresponding to the current head and the next frequency modulation power variation under the guide vane opening is obtained according to the current three-dimensional curve function.
In step 205, the second instruction is superimposed on the power PID entry to obtain the actuator variation component Δ GV2.
In step 206, an actuator change total amount Δ GV of the primary frequency modulation is determined according to the sum of the guide vane opening variation Δ GV1 and the actuator change component Δ GV2, and is applied to the actuator.
In step 207, a water head optimal value, an opening optimal value and a power optimal value are determined according to the ratio of the guide vane opening variation quantity delta GV1 to the actuator variation total quantity delta GV, and the three-dimensional curve function is adjusted according to the water head optimal value, the opening optimal value and the power optimal value to realize primary frequency modulation control.
Preferably, wherein the method further comprises:
preferably, the determining a water head optimal value, an opening optimal value and a power optimal value according to the ratio of the guide vane opening variation amount Δ GV1 and the actuator variation total amount Δ GV includes:
and when the ratio of the current guide vane opening variation delta GV1 to the actuator change total amount command delta GV is larger than a preset threshold, determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value which meet the primary frequency modulation adaptive control of the water turbine.
Preferably, the method further comprises:
and if the ratio of the current guide vane opening variation delta GV1 to the actuator variation total amount command delta GV is smaller than or equal to a preset threshold, returning to the step 7 for recalculation, and determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value which meet the primary frequency modulation adaptive control of the water turbine until the ratio of the current guide vane opening variation delta GV1 to the actuator variation total amount command delta GV is larger than the preset threshold.
Preferably, wherein the preset threshold is 0.85.
In the embodiment of the invention, after the difference value between the grid-connected unit frequency and the rated frequency exceeds the dead zone, the difference value is converted into a primary frequency modulation power variation instruction through a power difference adjustment coefficient and an amplitude limiting link, and the primary frequency modulation power variation instruction is divided into two paths which are respectively a first instruction and a second instruction. Based on a first instruction of a first path, calculating a guide vane opening variation delta GV1 corresponding to a primary frequency modulation power variation under the current water head and the guide vane opening according to a corresponding relation Y = f (h p) function curve of a water head (h), an opening (Y) and power (p) of an introduced water turbine; the second path of second instructions is consistent with the primary frequency modulation function under the power mode of the original water turbine control system and is superposed at the entrance of the power PID, the secondary frequency modulation instructions of the second path are subjected to the execution mechanism partial variation delta GV2 output by the power PID, and the execution mechanism partial variation delta GV2 and the guide vane opening variation delta GV1 are added to obtain the total execution mechanism variation delta GV of the primary frequency modulation to jointly act on the execution mechanism. When the ratio of the adjustment quantity delta GV1 of the primary frequency modulation feed-forward to the total variation quantity delta GV of the actuating mechanism of the primary frequency modulation is smaller than 0.85, determining a water head optimal value, an opening optimal value and a power optimal value according to a point on a corresponding relation curve P = f (h y) of the water head, the opening and the power of the water turbine under the current working water head, and replacing the water head, the opening and the power of the original water turbine under the current water head with the water head optimal value, the opening and the power optimal value to realize primary frequency modulation control.
The invention introduces a feedforward function based on self-adaptive control characteristics into the logic of the primary frequency modulation of the water turbine, and the self-adaptive control characteristics are that the water head, the opening degree and the power three-dimensional curve of the unit are directly superposed on the actuating mechanism after being calculated, thereby not only adapting to the influence of the water head of the water turbine on the primary frequency modulation of the unit, but also increasing the stability of the unit.
The method can solve the problem that the primary frequency modulation capability of the hydroelectric generating set is inaccurate along with the change of the water head of the set at present, and can effectively avoid the influence of the change of the water head of the set on the primary frequency modulation response capability of the set.
The invention is based on the theoretical three-dimensional curves of the water head, the openness and the power of the water turbine and combines the historical database of the actual operation of the unit to establish the three-dimensional curves of the water head, the openness and the power to be checked with each other, thereby greatly improving the accuracy of the self-adaptive characteristic feedforward and increasing the stability of the operation of the unit.
The technical scheme provided by the invention has the following excellent effects: the influence of the water head change on the primary frequency modulation response capacity of the water turbine can be effectively solved, and the running stability of the unit can be improved.
Fig. 4 is a schematic diagram of a configuration of a turbine primary control system 400 based on adaptive control characteristics according to an embodiment of the present invention. As shown in fig. 4, an adaptive control characteristic-based primary modulation control system 400 for a water turbine according to an embodiment of the present invention includes: a model creation unit 401, a three-dimensional function introduction unit 402, a command determination unit 403, a guide vane opening degree variation amount determination unit 404, an actuator variation component determination unit 405, an actuator total variation amount determination unit 406, and a frequency modulation control determination unit 407.
Preferably, the model establishing unit 401 is configured to establish a model of the governor of the turbine in the power mode.
Preferably, the governor model of the hydro turbine includes: a frequency dead zone control link, an error adjustment link, an amplitude limiting link, a power PID, a power dead zone control link, an actuating mechanism, a water turbine body, a generator body, a water turbine three-dimensional curve function control and output opening amplitude limiting and a power and frequency measuring link;
the frequency measurement link of the generator is connected with a given frequency difference value and frequency dead zone control link, the frequency dead zone control link is connected with a difference adjustment link, the difference adjustment link is connected with an amplitude limiting link, the amplitude limiting link is simultaneously connected with three-dimensional curve function control and power PID of the water turbine, the three-dimensional curve function of the water turbine is connected with an output opening amplitude limiting link, the output opening amplitude limiting link and the power PID are simultaneously connected with an actuating mechanism link, the actuating mechanism link is connected with a water turbine body link, and the water turbine body link is connected with the generator body link.
Preferably, the three-dimensional function importing unit 402 is configured to write a historical operation curve or a preset theoretical curve of the unit into a three-dimensional curve function library including a water head, an opening degree, and a power of the water turbine.
Preferably, the instruction determining unit 403 is configured to, when a frequency modulation instruction is received, determine a primary frequency modulation power variation instruction according to a difference between a grid-connected unit frequency and a rated frequency based on the governor model of the hydraulic turbine, and divide the primary frequency modulation power variation instruction into a first instruction and a second instruction.
Preferably, the guide vane opening variation determining unit 404 is configured to obtain, according to the current three-dimensional curve function, a guide vane opening variation Δ GV1 corresponding to a next frequency modulation power variation at the current head and the guide vane opening based on the first instruction.
Preferably, the actuator variation component determining unit 405 is configured to superimpose the second instruction on the power PID inlet to obtain the actuator variation component Δ GV2.
Preferably, the total actuator change amount determining unit 406 is configured to determine a primary frequency modulated total actuator change amount Δ GV according to a sum of the guide vane opening variation Δ GV1 and the total actuator change component Δ GV2, and apply the total actuator change amount Δ GV to the actuator.
Preferably, the frequency modulation control determining unit 407 is configured to determine a water head optimal value, an opening optimal value, and a power optimal value according to a ratio of the guide vane opening variation Δ GV1 to the actuator variation total Δ GV, and adjust the three-dimensional curve function according to the water head optimal value, the opening optimal value, and the power optimal value to implement primary frequency modulation control.
Preferably, the frequency modulation control unit 407 determines a water head optimal value, an opening optimal value and a power optimal value according to a ratio of the guide vane opening variation Δ GV1 to the actuator variation total Δ GV, and includes:
and when the ratio of the current guide vane opening variation delta GV1 to the actuator change total amount command delta GV is larger than a preset threshold, determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value which meet the primary frequency modulation adaptive control of the water turbine.
Preferably, the system further comprises:
and if the ratio of the current guide vane opening variation delta GV1 to the actuator variation total quantity command delta GV is smaller than or equal to a preset threshold, returning to the frequency modulation control determining unit for recalculating until the ratio of the current guide vane opening variation delta GV1 to the actuator variation total quantity command delta GV is larger than the preset threshold, and determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value which meet the primary frequency modulation self-adaptive control of the water turbine.
Preferably, wherein the preset threshold is 0.85.
The adaptive control characteristic based turbine primary frequency modulation control system 400 of the embodiment of the present invention corresponds to the adaptive control characteristic based turbine primary frequency modulation control method 200 of another embodiment of the present invention, and will not be described herein again.
The invention has been described with reference to a few embodiments. However, other embodiments of the invention than the one disclosed above are equally possible within the scope of the invention, as would be apparent to a person skilled in the art from the appended patent claims.
Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a/an/the [ device, component, etc ]" are to be interpreted openly as referring to at least one instance of said device, component, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims (10)

1. A method for controlling primary frequency modulation of a water turbine based on adaptive control characteristics, the method comprising:
step 1, establishing a primary frequency modulation hydraulic turbine governor model in a power mode;
step 2, writing a historical operating curve or a preset theoretical curve of the unit into a three-dimensional curve function library comprising a water head, an opening and power of the water turbine;
step 3, when a frequency modulation command is received, determining a primary frequency modulation power variation command according to a difference value between the grid-connected unit frequency and a rated frequency based on the hydraulic turbine governor model, and dividing the primary frequency modulation power variation command into a first command and a second command;
step 4, based on the first instruction, obtaining guide vane opening variation delta GV1 corresponding to the primary frequency modulation power variation under the current water head and guide vane opening according to the current three-dimensional curve function;
step 5, superposing the second instruction to a power PID inlet to obtain an actuator variation component delta GV2;
step 6, determining the total actuator change amount delta GV of the primary frequency modulation according to the sum of the guide vane opening variation delta GV1 and the actuator change component delta GV2, and acting the total actuator change amount delta GV on the actuator;
and 7, determining a water head optimal value, an opening optimal value and a power optimal value according to the ratio of the guide vane opening variation delta GV1 to the actuator variation total delta GV, and adjusting the three-dimensional curve function according to the water head optimal value, the opening optimal value and the power optimal value to realize primary frequency modulation control.
2. The method of claim 1, wherein the governor model comprises: a frequency dead zone control link, an error adjustment link, an amplitude limiting link, a power PID, a power dead zone control link, an actuating mechanism, a water turbine body, a generator body, a water turbine three-dimensional curve function control and output opening amplitude limiting and a power and frequency measuring link;
the frequency measurement link of the generator is connected with a given frequency difference value and frequency dead zone control link, the frequency dead zone control link is connected with a difference adjustment link, the difference adjustment link is connected with an amplitude limiting link, the amplitude limiting link is simultaneously connected with three-dimensional curve function control and power PID of the water turbine, the three-dimensional curve function of the water turbine is connected with an output opening amplitude limiting link, the output opening amplitude limiting link and the power PID are simultaneously connected with an actuating mechanism link, the actuating mechanism link is connected with a water turbine body link, and the water turbine body link is connected with the generator body link.
3. The method according to claim 1, wherein determining a head optimum value, an opening optimum value and a power optimum value according to a ratio of the guide vane opening variation Δ GV1 and the actuator variation total amount Δ GV comprises:
and when the ratio of the current guide vane opening variation delta GV1 to the actuator change total amount command delta GV is larger than a preset threshold, determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value which meet the primary frequency modulation adaptive control of the water turbine.
4. The method of claim 3, further comprising:
and if the ratio of the current guide vane opening variation delta GV1 to the actuator variation total amount command delta GV is smaller than or equal to a preset threshold, returning to the step 7 for recalculation, and determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value which meet the primary frequency modulation adaptive control of the water turbine until the ratio of the current guide vane opening variation delta GV1 to the actuator variation total amount command delta GV is larger than the preset threshold.
5. The method of claim 3, wherein the predetermined threshold is 0.85.
6. A turbine primary control system based on adaptive control characteristics, the system comprising:
the model establishing unit is used for establishing a model of the water turbine speed regulator for primary frequency modulation in a power mode;
the three-dimensional function importing unit is used for writing a historical operating curve or a preset theoretical curve of the unit into a three-dimensional curve function library comprising a water head, an opening degree and power of the water turbine;
the instruction determining unit is used for determining a primary frequency modulation power variation instruction according to the difference value between the grid-connected unit frequency and the rated frequency based on the hydraulic turbine governor model when a frequency modulation instruction is received, and dividing the primary frequency modulation power variation instruction into a first instruction and a second instruction;
the guide vane opening variation determining unit is used for obtaining guide vane opening variation delta GV1 corresponding to the current water head and the next frequency modulation power variation of the guide vane opening according to the current three-dimensional curve function based on the first instruction;
the actuator change component determining unit is used for superposing the second instruction to the inlet of the power PID to obtain an actuator change component delta GV2;
the actuator change total amount determining unit is used for determining an actuator change total amount delta GV of primary frequency modulation according to the sum of the guide vane opening change amount delta GV1 and the actuator change component delta GV2, and applying the actuator change total amount delta GV on the actuator;
and the frequency modulation control determining unit is used for determining a water head optimal value, an opening optimal value and a power optimal value according to the ratio of the guide vane opening variation delta GV1 to the actuator variation total delta GV, and adjusting the three-dimensional curve function according to the water head optimal value, the opening optimal value and the power optimal value to realize primary frequency modulation control.
7. The system of claim 6, wherein the governor model comprises: a frequency dead zone control link, an error adjustment link, an amplitude limiting link, a power PID, a power dead zone control link, an actuating mechanism, a water turbine body, a generator body, a water turbine three-dimensional curve function control and output opening amplitude limiting and a power and frequency measuring link;
the frequency measurement link of the generator is connected with a given frequency difference value and frequency dead zone control link, the frequency dead zone control link is connected with a difference adjustment link, the difference adjustment link is connected with an amplitude limiting link, the amplitude limiting link is simultaneously connected with three-dimensional curve function control and power PID of the water turbine, the three-dimensional curve function of the water turbine is connected with an output opening amplitude limiting link, the output opening amplitude limiting link and the power PID are simultaneously connected with an actuating mechanism link, the actuating mechanism link is connected with a water turbine body link, and the water turbine body link is connected with the generator body link.
8. The system of claim 6, wherein the frequency modulation control unit determines a head optimum value, an opening optimum value and a power optimum value according to a ratio of the guide vane opening variation Δ GV1 and the actuator variation total amount Δ GV, and comprises:
and when the ratio of the current guide vane opening variation delta GV1 to the actuator change total amount command delta GV is larger than a preset threshold, determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value which meet the primary frequency modulation adaptive control of the water turbine.
9. The system of claim 6, further comprising:
and if the ratio of the current guide vane opening variation delta GV1 to the actuator variation total amount instruction delta GV is smaller than or equal to a preset threshold, returning to the frequency modulation control determining unit for recalculating until the ratio of the current guide vane opening variation delta GV1 to the actuator variation total amount instruction delta GV is larger than the preset threshold, and determining the current water head, opening and power three-dimensional curve data set as a water head optimal value, an opening optimal value and a power optimal value meeting the primary frequency modulation self-adaptive control of the water turbine.
10. The system of claim 8, wherein the preset threshold is 0.85.
CN202111467477.7A 2021-12-03 2021-12-03 Water turbine primary frequency modulation control method and system based on self-adaptive control characteristics Pending CN115263643A (en)

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