CN115276049A - Fuzzy PID and hybrid energy storage cooperative control system applied to black start of diesel generator of hydropower station - Google Patents
Fuzzy PID and hybrid energy storage cooperative control system applied to black start of diesel generator of hydropower station Download PDFInfo
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- 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
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- 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
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- 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
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- 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
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
- H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
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- 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
- H02J3/381—Dispersed generators
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- 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
- H02J3/466—Scheduling the operation of the generators, e.g. connecting or disconnecting generators to meet a given demand
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- 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
- H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
- H02J2300/10—The dispersed energy generation being of fossil origin, e.g. diesel generators
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Abstract
A fuzzy PID and hybrid energy storage cooperative control system applied to black start of a diesel generator of a hydropower station comprises: the system comprises a diesel generating set, a hybrid energy storage system and a three-phase load, wherein the diesel generating set and the hybrid energy storage system are connected with the three-phase load. The diesel generating set comprises a diesel engine and a speed regulating system thereof, and a mathematical model of the diesel generating set comprises: speed governing controller, executor, diesel engine group, output part. The hybrid energy storage system comprises two bidirectional DC/DC converters which are respectively used for charge-discharge management of the storage battery and the super capacitor, and the bidirectional DC/AC converters are used for converting energy between the direct current working environment of the storage battery and the super capacitor and the alternating current working environment of the diesel generator. The control system adopts a fuzzy PID and hybrid energy storage system cooperative control method, so that the overshoot of the system voltage frequency can be reduced and the regulation time can be shortened when the load is suddenly changed.
Description
Technical Field
The invention relates to the technical field of hydropower station generator set control, in particular to a fuzzy PID and hybrid energy storage cooperative control system applied to black start of a hydropower station diesel generator.
Background
At present, when a speed regulating system of a hydropower station diesel generator set is designed, the traditional PID control is still mostly adopted, and the function of quick speed regulation is realized by adjusting an amplification coefficient kp, an integral coefficient ki and a differential coefficient kd of a comparative example. However, once the three coefficients of kp, ki and kd are determined, the traditional PID control method cannot be changed according to different requirements during the operation of the system, so that the regulation speed and the overshoot cannot be well controlled.
More and more experts and scholars are beginning to add the idea of fuzzy control to the speed regulation control of the diesel generating set. However, the traditional fuzzy PID control method is still only an improvement on the speed regulation performance of the diesel oil speed regulation system, when the interference is too large, effective control cannot be achieved, and particularly when the method is applied to black start of a hydropower station, the power of the service load changes at any time due to starting and stopping of oil pump motors of systems such as a speed regulator hydraulic system, a water-guided oil circulation system, a high-pressure oil system and the like, so that if the traditional fuzzy PID control mode is directly and singly adopted, under the condition of black start, the voltage and the frequency of the service electric system are liable to fluctuate greatly when the load is started and stopped.
Disclosure of Invention
In order to solve the technical problems, the invention provides a fuzzy PID and hybrid energy storage cooperative control system applied to black start of a diesel generator of a hydropower station, aiming at improving the control performance of a traditional diesel generator speed regulating system on the voltage frequency of the system and reducing the regulation time and overshoot of the voltage and frequency of a power plant system when a load is started and stopped under the condition of black start. The control system adopts a fuzzy PID control method to improve the self-regulation function of the diesel generator; meanwhile, a hybrid energy storage system is adopted, and the system adjusting function is further enhanced from the outside through a power control method, so that the system adjusting effect is improved.
The technical scheme adopted by the invention is as follows:
a fuzzy PID and hybrid energy storage cooperative control system applied to black start of a hydropower station diesel generator comprises a diesel generator set, a hybrid energy storage system and a three-phase load, wherein the diesel generator set and the hybrid energy storage system are both connected with the three-phase load;
the diesel generator set comprises a diesel engine and a speed regulating system thereof, an excitation system and a synchronous generator, and the mathematical model of the diesel engine and the speed regulating system thereof comprises: the system comprises a speed regulation controller, an actuator, a diesel engine set and an output part;
the transfer function G of the speed-regulating controller1(s) is:
in the formula (1), e(s) is input of a speed regulation controller, namely a rotating speed error; u(s) is the output of the speed regulation controller, namely an accelerator control signal; k is a radical ofpThe proportional amplification factor of the speed regulation controller; k is a radical ofiIs the integral coefficient of the speed regulation controller; k is a radical ofdIs the differential coefficient of the speed regulation controller;
the actuator has the motion increment equation as follows:
in the formula (2), y is the displacement of the gear rod of the fuel injection pump; m is the mass of the sliding rod of the actuator; d is the resistance coefficient of the system; k is a radical ofsIs the stiffness of the actuator spring; delta FmIs the change of the electromagnetic force of the actuator.
The motion equation of the electromagnetic mechanism as the actuator is as follows:
ΔFm＝KuΔu-KxΔx (3)；
in the formula, kuIs the amplification factor of the actuator; k is a radical of formulaxIs the sum of the displacement gain and the spring stiffness of the actuator; delta u is the change of the throttle control signal; and delta x is the displacement variation of the gear rod of the fuel injection pump.
Combining formulas (2) and (3) and obtaining after performing a Ralsberg transform:
ms2Δx+DsΔx+KxΔx＝KuΔu-KxΔx (4)；
simplifying (4) to obtain the transfer function G of the actuator2(s) is:
in the formula, U(s) is input of an actuator, namely an accelerator control signal; the delta X(s) is the output of the actuator, namely the displacement change of the gear rod of the fuel injection pump; xi shapeηIs the undamped natural oscillation angular frequency of the actuator; omegaηIs the damping factor of the actuator;
the equation of motion of the diesel engine set is as follows:
in the formula, J is the rotational inertia of the diesel engine set; omega is the crankshaft angular velocity of the diesel engine set; mdTorque generated for the diesel engine set; mcThe resistance moment of the diesel engine set.
Equation (6) can be expressed in incremental form as:
simplifying formula (7) and neglecting the influence of load moment, the equation of the rotating speed and the displacement of the gear rod of the fuel injection pump can be obtained and is equivalent to a first-order proportional inertia link, so that the transfer function G of the equation of motion of the diesel engine set3(s) is:
in the formula, kηThe amplification factor of the diesel engine; t isaIs the acceleration time constant of the diesel engine; t isgIs the self-stability coefficient of the diesel engine.
And the output part is used for converting the rotating speed output by the diesel generator set into mechanical power which is used as the input quantity of the synchronous generator of the diesel generator set.
When the speed regulation controller in the cooperative control system carries out fuzzy PID control, the error e and the change rate delta e of the error are analyzed, according to different conditions, a fixed domain is adopted, the fuzzy PID control principle block diagram 4 adopted by the speed regulation controller is automatically adjusted, and in the block diagram, k of a PID control modulep、ki、kdThree coefficients.
When the error e and the change rate delta e of the error are in different working conditions, the k is adjusted in a self-adaptive modep、ki、kdThe rules of (1) include:
(1): e. working conditions with larger Δ e: the system is explained in the starting stage or the input quantity is changed, and the proportionality coefficient k should be increasedpTo accelerate the system settling time while using a smaller integral coefficient kiThe overshoot of the system is effectively controlled. (2): the working conditions of smaller e and larger delta e are as follows: when the external interference causes the system to fluctuate, the differential coefficient k should be increaseddSo that the advance regulation is eliminated before the system error is generated.
(3): the working conditions of larger e and smaller delta e are as follows: the steady state error of the system is larger, and the integral coefficient k should be increased at the momentiSo as to eliminate the steady state error of the system and improve the steady state precision of the system.
(4): e. working condition with smaller delta e: the system is basically in a steady state, and k is increasedp、kiTo increase system accuracy.
When fuzzy PID control is adopted, the input quantity is e and delta e, and the output quantity is delta kp、△ki、△kd(ii) a Fuzzy subsets are all adopted { NL, NM, NSZE, PS, PM, PL, elements from left to right represent negative big, negative middle, negative small, zero, positive small, positive middle and positive big in sequence, and the universe of discourse adopts [ -6,6]The interval of (2).
Multiplying the error ambiguity factor k by eeΔ e times the blur factor k of the error rate of changeΔeThe fuzzy PID control block diagram 4 adopted by the speed controller has two inputs of the fuzzy controller in [ -6,6,6 [, the first input is connected with the second input]An interval. Meanwhile, output quantity delta k based on fuzzy PID control strategyp、△ki、△kdAre multiplied by corresponding deblurring factors f respectivelykp、fki、fkdTo achieve the effect of changing PID coefficients; after adaptive adjustment, three coefficients k of PID are blurredp、ki、kdRespectively expressed as:
Kp＝Kp0+ΔKp×fkp
Ki＝Ki0+ΔKi×fki
Kd＝Kd0+ΔKd×fkd (9)；
in the formula, kp0、ki0、kd0In order of kp、ki、kdIs started.
The hybrid energy storage system includes: the system comprises a storage battery, a super capacitor, a first bidirectional DC/DC converter, a second bidirectional DC/DC converter, a bidirectional DC/AC converter, a transformer and a capacitor C1; in the hybrid energy storage system:
two poles of the storage battery are connected with one side of the first bidirectional DC/DC converter;
two ends of the super capacitor are connected with one side of the second bidirectional DC/DC converter;
the other side of the first bidirectional DC/DC converter is connected with a capacitor C1 in parallel;
the other side of the second bidirectional DC/DC converter is connected with a capacitor C1 in parallel;
the DC end of the bidirectional DC/AC converter is connected with a capacitor C1 in parallel; the capacitor C1 plays a role in voltage stabilization and filtering.
Three phases at the AC end of the bidirectional DC/AC converter are correspondingly connected with three phases at one side of the transformer;
the three phases at the other side of the transformer are respectively and correspondingly connected with the three phases of the alternating current power grid;
the connection relationship between the respective components is shown in fig. 6.
The control strategy of the hybrid energy storage system is as follows: acquiring the rotating speed of a diesel generator, and when the rotating speed is greater than a set value, indicating that the power of the diesel generator is greater than the load power at the moment, except for self regulation of a generator speed regulating system, a hybrid energy storage system is required to absorb redundant energy to accelerate the system stability, so that the total command power of the hybrid energy storage system is negative;
when the rotating speed is smaller than the set value, the power of the diesel generator is smaller than the load power, except for self regulation of the generator speed regulation system, the hybrid energy storage system is required to send energy to accelerate the system stability, and then the total command power of the hybrid energy storage system is positive.
Due to the charging and discharging characteristics of the storage battery and the super capacitor, the total command power is used as the storage battery command power after passing through the low-pass filter, and the rest is used as the super capacitor command power.
The control strategy of the bidirectional DC/AC converter is as follows: the double-loop control of the voltage outer loop and the current inner loop specifically comprises the following steps:
when the hybrid energy storage system is in a discharge mode, the voltage of the direct current bus capacitor rises, and U isdc_ref－Udc< 0, command current I output by voltage outer loopd_refIf the output voltage is less than 0, the bidirectional DC/AC converter is in an inversion mode and sends active power to a three-phase alternating current network of the diesel generator;
when the hybrid energy storage system is in a charging mode, the voltage of the direct current bus capacitor is reduced, and U isdc_ref－UdcGreater than 0, command current I output by voltage outer loopd_ref> 0, so the bidirectional DC/AC converter is in rectifying mode, absorbing active power from the three-phase AC network of the diesel generator.
The invention relates to a fuzzy PID and hybrid energy storage cooperative control system applied to black start of a diesel generator of a hydropower station, which has the following technical effects:
1) The control system adopts a fuzzy PID control method to improve the self-regulation function of the diesel generator; meanwhile, a hybrid energy storage system is adopted, and the system adjusting function is further enhanced from the outside through a power control method, so that the system adjusting effect is improved.
2) Compared with the traditional single PID control or fuzzy PID control mode, the control system of the invention adopts the fuzzy PID and hybrid energy storage system cooperative control method, and can reduce the overshoot of the system voltage frequency and shorten the regulation time when the load is suddenly changed.
Drawings
FIG. 1 is a block diagram of the control system of the present invention.
Fig. 2 is a structural view of a diesel generator set.
FIG. 3 is a mathematical model diagram of a diesel engine and its speed control system.
FIG. 4 is a schematic block diagram of fuzzy PID control.
FIG. 5 is a fuzzy PID control membership function domain and fuzzy partition diagram.
Fig. 6 is a diagram of a hybrid energy storage system.
Fig. 7 is a structural diagram of a Buck/Boost type bidirectional DC/DC converter.
Fig. 8 is a block diagram of a hybrid energy storage system power distribution.
Fig. 9 is a block diagram of a bidirectional DC/DC converter control strategy.
Fig. 10 is a structural diagram of a bidirectional DC/AC converter.
Fig. 11 is a control block diagram of a bidirectional DC/AC converter.
FIG. 12 is a model diagram of a diesel generator set based on fuzzy PID and hybrid energy storage system cooperative control.
Fig. 13 is a graph showing a change in rotation speed at the time of startup.
Fig. 14 is a graph showing a change in rotation speed in the case of a three-phase short-circuit fault and fault recovery.
Fig. 15 is a graph showing the change in the rotational speed when the load is suddenly applied.
Fig. 16 is a graph of hybrid energy storage system charge and discharge power.
Detailed Description
A fuzzy PID and hybrid energy storage cooperative control system applied to black start of a diesel generator of a hydropower station comprises a diesel generator set, a hybrid energy storage system, a bus and a three-phase load, as shown in figure 1. As shown in fig. 2, in view of the fact that the internal structure of the diesel generator set is too complicated, for the convenience of electrical characteristic simulation, it is necessary to simplify the internal structure of the diesel generator set, for example: 1) The combustion time of diesel oil, the flowing time of gas and the like are replaced by a first-order lag link; 2) Neglecting the influence of temperature change during diesel combustion; 3) Ignoring delays in signal transfer between components, etc. After each part in the diesel engine speed regulating system is simplified, a simplified equation of the rotating speed and the torque of the diesel engine speed regulating system is deduced and converted into a transfer function, and a mathematical model of the transfer function is established. The mathematical model of the diesel engine and its speed regulating system is shown in fig. 3, and it includes several key components of main controller, amplifying unit, actuator, diesel engine set, integral unit and engine set delay (unit), and their models are explained separately.
The main controller and the amplifying unit form a speed regulation controller of the diesel engine and the speed regulation system thereof, which is the core part of the whole speed regulation system, and the transfer function G1(s) based on the traditional PID control method is as follows:
in the formula, e(s) is the input of a speed regulation controller, namely a rotating speed error; u(s) is the output of the speed regulation controller, namely an accelerator control signal; k is a radical of formulapThe proportional amplification factor of the speed regulation controller; k is a radical ofiIs the integral coefficient of the speed regulation controller; k is a radical ofdIs the differential coefficient of the speed controller.
Although the transfer function of the speed regulation controller is the same as that of the equation (1) when the fuzzy PID-based cooperative control and the hybrid energy storage system are adopted, the transfer functions are obviously different: proportionality coefficient k of traditional PID controlpIntegral coefficient kiDifferential coefficient kdIs fixed, and when the fuzzy PID and the hybrid energy storage system are adopted for cooperative control, the proportionality coefficient kpIntegral coefficient kiDifferential coefficient kdIt may be automatically adjusted.
The actuator of the diesel generator speed regulating system adopts a direct current servo motor, and the direct current servo motor has the function of changing the displacement of a gear rod of an oil injection pump through an electromagnet of direct current servo electricity according to an input throttle control signal, so that the real-time change of the oil injection quantity of a diesel engine is ensured. The motion increment equation of the actuator is as follows:
in the formula, y is the displacement of the gear rod of the fuel injection pump; m is the mass of the sliding rod of the actuator; d is the resistance coefficient of the system; k is a radical of formulasIs the stiffness of the actuator spring; delta FmIs the change of the electromagnetic force of the actuator.
The equation of motion of the electromagnetic mechanism is as follows:
ΔFm＝KuΔu-KxΔx (3)；
in the formula, kuIs the amplification factor of the actuator; k is a radical ofxIs the sum of the displacement gain and the spring stiffness of the actuator; delta u is the change of the throttle control signal; and delta x is the displacement variation of the gear rod of the fuel injection pump.
Combining formulas (2) and (3) and obtaining after performing a Ralsberg transform:
ms2Δx+DsΔx+KxΔx＝KuΔu-KxΔx (4)；
the transfer function G of the actuator can be obtained by simplifying the step (4)2(s) is:
in the formula, U(s) is input of an actuator, namely an accelerator control signal; the delta X(s) is the output of the actuator, namely the displacement change of the gear rod of the fuel injection pump; xiηIs the undamped natural oscillation angular frequency of the actuator; omegaηIs the damping factor of the actuator.
The parameters adopted by the simulation are set as follows: k is a radical of formulau＝1、ξη＝1.414、ωη＝35.355。
According to the darenberg principle, the equation of motion of the diesel engine set can be obtained as follows:
in the formula, J is the rotational inertia of the diesel engine set; omega is the crankshaft angular velocity of the diesel engine set; mdTorque generated for the diesel engine set; mcThe resistance moment of the diesel engine set.
Equation (6) can be expressed in incremental form as:
simplifying formula (7) and neglecting the influence of load moment, the equation of the rotating speed and the displacement of the gear rod of the fuel injection pump can be obtained and is equivalent to a first-order proportional inertia link, so that the transfer function G of the equation of motion of the diesel engine set3(s) is:
in the formula, kηThe amplification factor of the diesel engine; t isaIs the acceleration time constant of the diesel engine; t isgIs the self-stability coefficient of the diesel engine.
The parameters adopted by the simulation are set as follows: k is a radical of formulaη＝1、Ta＝0.0384、kη＝1。
The output part of the diesel engine and the speed regulating system thereof consists of an integral unit, a unit delay (unit) and a product (unit) which are shown in figure 3. The function of the device is to convert the rotating speed output by the diesel engine set into mechanical power which is used as the input quantity of a synchronous generator of the diesel engine set.
The parameters adopted by the simulation are set as follows: delay time T of unitd＝0.024。
The core idea of the fuzzy PID control is to analyze the error e and the change rate delta e of the error according to different situationsIn the case of fuzzy PID control in the automatic regulation speed controller with fixed domain of discourse, the PID control module k in the block diagram 4p、ki、kdThe control schematic diagram of the three coefficients is shown in fig. 4. In fig. 4: r (t) is an input reference value, y (t) is an output actual value, and Δ kpRepresents the scale factor kpAdjustment amount of (d,. DELTA.k)iRepresenting the integral coefficient kiAdjustment amount of (a) and (Δ k)dRepresents a differential coefficient kdThe amount of adjustment of (a).
Three coefficients k in PID-based control strategyp、ki、kdThe functions of the following are briefly described:
(1) Coefficient of proportionality kp: the input error is scaled up. When k ispWhen the setting is larger, the adjusting time of the system can be effectively shortened, and the overshoot of the system can be reduced. However, if the setting is too large, the stability of the system is lowered, and the oscillation time of the system is prolonged.
(2) Integral coefficient ki: and integrating the error of the system. When k isiWhen the setting is larger, the steady-state error of the system can be eliminated, and the steady-state precision of the system is improved. However, if the setting is too large, the stability of the system is reduced, and the dynamic response speed of the system is reduced.
(3) Differential coefficient kd: reflecting the rate of change of the system error. When the differential coefficient k isdWhen the setting is large, the system error can be eliminated before the system error is generated, and the effect of advance adjustment is achieved. However, if the setting is too large, the external interference is amplified, and the system is unstable.
Three coefficients k combined with PID controlp、ki、kdThe respective functions of the three parameters are summarized as four conditions according to the rules that e and delta e are in different working conditions and can be adaptively adjusted:
1): e. working conditions with larger Δ e: the system is explained in the starting stage or the input quantity is changed, and the proportionality coefficient k should be increasedpTo accelerate the system regulation time and simultaneously adopt a smaller integral coefficient kiThe overshoot of the system is effectively controlled.
2): e is small, Δe, a larger working condition: when the external interference causes the system to fluctuate, the differential coefficient k should be increaseddSo that the lead adjustment is eliminated before the system error is generated.
3): the working conditions of larger e and smaller delta e are as follows: the steady state error of the system is larger, and the integral coefficient k should be increased at the momentiSo as to eliminate the steady state error of the system and improve the steady state precision of the system.
4): e. working conditions with smaller Δ e: the system is basically in a steady state, and k is increasedp、kiTo increase system accuracy.
When fuzzy PID control is adopted, the input quantity is e and delta e, and the output quantity is delta kp、△ki、△kd. The fuzzy subsets are all represented by { NL, NM, NS, ZE, PS, PM, PL }, the elements from left to right represent negative big, negative middle, negative small, zero, positive small, middle and positive big in sequence, and the domains are all represented by [ -6]The interval of (2).
According to the invention, a membership function is edited in a Fuzzy Logic Designer of MATLAB, and input and output adopt triangular trimf, and the domain of discourse and Fuzzy division are shown in FIG. 5. Three coefficients Δ k in combination with PID controlp、△ki、△kdThe different actions of (2) are directly summarized in tables 1 to 3.
TABLE 1. DELTA.kpAdjustment rule of
TABLE 2. DELTA.kiiAdjustment rule of
| e/Δe | NL | NM | NS | ZE | PS | PM | PL |
| NL | NL | NL | NM | NM | NS | ZE | ZE |
| NM | NL | NM | NM | NS | NS | ZE | ZE |
| NS | NM | NM | NS | ZE | ZE | PS | PS |
| ZE | NM | NS | ZE | ZE | PS | PS | PM |
| PS | NS | ZE | ZE | PS | PS | PM | PM |
| PM | ZE | ZE | PS | PM | PM | PM | PL |
| PL | ZE | ZE | PM | PM | PL | PL | PL |
TABLE 3. DELTA.kdAdjustment rule of (2)
| e/Δe | NL | NM | NS | ZE | PS | PM | PL |
| NL | PS | NS | NL | NL | NL | NM | PS |
| NM | PS | NS | NL | NM | NM | NS | ZE |
| NS | ZE | NS | NM | NM | NS | NS | ZE |
| ZE | ZE | NS | NS | NS | NS | NS | ZE |
| PS | ZE | ZE | ZE | ZE | ZE | ZE | ZE |
| PM | PL | NS | PS | PS | PS | PS | PL |
| PL | PL | PM | PM | PM | PS | PS | PL |
As described above, the fundamental domain of discourse of a design is constrained to [ -6,6]Interval, but in a real controller, the e and Δ e of the system do not fall within this range, requiring e to be multiplied by the ambiguity factor k of the erroreΔ e times the blur factor k of the error rate of changeΔeWith both inputs to the fuzzy PID controller at [ -6,6]And (4) interval. Meanwhile, the output quantity delta k based on the fuzzy PID control strategyp、△ki、△kdAre also multiplied by the corresponding deblurring factors f, respectivelykp、fki、fkdTo achieve the effect of changing the PID coefficients. After adaptive adjustment, three coefficients k of PID are blurredp、ki、kdRespectively expressed as:
Kp＝Kp0+ΔKp×fkp
Ki＝Ki0+ΔKi×fki
Kd＝Kd0+ΔKd×fkd (9)；
in the formula, kp0、ki0、kd0In order of kp、ki、kdIs started.
In order to increase the speed regulation effect of the diesel generating set when the diesel generating set is changed in the face of different working environments, a hybrid energy storage system is added on the basis of the figure 1. Considering that the storage battery and the super capacitor are direct current elements in the hybrid energy storage system, and the diesel generator provides three-phase alternating current for the main power grid, the structure of the hybrid energy storage system is shown in fig. 6. In the hybrid energy storage system:
two poles of the storage battery are connected with one side of the first bidirectional DC/DC converter;
two ends of the super capacitor are connected with one side of the second bidirectional DC/DC converter;
the other side of the first bidirectional DC/DC converter is connected with a capacitor C1 in parallel;
the other side of the second bidirectional DC/DC converter is connected with a capacitor C1 in parallel;
the DC end of the bidirectional DC/AC converter is connected with a capacitor C1 in parallel;
three phases at the AC end of the bidirectional DC/AC converter are correspondingly connected with three phases at one side of the transformer;
the three phases at the other side of the transformer are respectively and correspondingly connected with the three phases of the alternating current power grid;
the connection relationship between the respective components is shown in fig. 6.
The two bidirectional DC/DC converters are respectively used for charge and discharge management of the storage battery and the super capacitor, and the bidirectional DC/AC converters are used for converting energy between the direct-current working environment of the storage battery and the super capacitor and the alternating-current working environment of the diesel generator.
Considering that the storage battery and the super capacitor have no isolation requirement on the bidirectional DC/DC converter, and meanwhile, in order to reduce cost and simplify control, the Buck/Boost type bidirectional DC/DC converter is adopted in the invention, and the structure diagram is shown in FIG. 7.
When the system fluctuates, the main changing factors of the three-phase alternating current bus include frequency and voltage, which are respectively adjusted by a speed adjusting system and an excitation system of the diesel generator set, and the adjusting function of the speed adjusting system is poorer than that of the excitation system, so that the hybrid energy storage system of the invention is mainly designed for the speed adjusting system of the diesel generator, and the power distribution block diagram of the hybrid energy storage system is shown in fig. 8. Wherein: omega ref is the reference speed of the diesel generator, omega is the actual speed of the diesel generator, Phess_refFor the total command power, P, of the hybrid energy storage systembat_refFor commanding power of the accumulator, Psc_refPower is commanded for the super capacitor.
As can be seen from fig. 8, the control strategy adopted by the present invention is: collecting the rotating speed of the diesel generator, and when the rotating speed is greater than a set value, indicating that the power of the diesel generator is greater than the load power at the moment, except for self regulation of a generator speed regulation system, a hybrid energy storage system is required to absorb redundant energy to accelerate the system stability, so that the total command power of the hybrid energy storage system is negative; when the rotating speed is smaller than the set value, the power of the diesel generator is smaller than the load power, except for self regulation of the generator speed regulation system, the hybrid energy storage system is required to send energy to accelerate the system stability, and then the total command power of the hybrid energy storage system is positive. Due to the charging and discharging characteristics of the storage battery and the super capacitor, the total command power is used as the storage battery command power after passing through the low-pass filter, and the rest is used as the super capacitor command power.
The block diagram of the control strategy of the bidirectional DC/DC converter is shown in fig. 9, in which: i isbat_refFor commanding the current of the accumulator, IbatIs the actual current of the battery, Isc_refFor the command current of the super capacitor, IscIs the actual current of the super capacitor, DbatFor bi-directional DC/DC duty cycle of the battery branch, DbatThe bidirectional DC/DC duty ratio of the super capacitor branch is adopted. After power distribution is carried out through the hybrid energy storage system, the command power of the storage battery and the command power of the super capacitor are divided by the voltage of the storage battery and the voltage of the super capacitor respectively to obtain command currents of the storage battery and the super capacitor, and duty ratios are obtained after PI is carried out.
The comparator 1 and the comparator 2 are used for judging the charge-discharge mode through the signs of the command currents of the storage battery and the super capacitor, when the command current is positive, namely the command power is positive, the hybrid energy storage system sends energy at the moment, the comparator 1 works, the comparator 2 does not work, and the bidirectional DC/DC is in a BOOST state; when the command current is negative, namely the command power is negative, the hybrid energy storage system absorbs energy at the moment, the comparator 1 does not work, the comparator 2 works, and the bidirectional DC/DC is in a BUCk state. Because the actual rotating speed cannot be guaranteed to be 100% consistent with the reference rotating speed when the diesel generating set works under the condition of no fluctuation, in order to prevent the bidirectional DC/DC from working frequently, when the instruction current is small, namely the error between the actual rotating speed and the reference rotating speed is small, the bidirectional DC/DC is in a stop state.
The bidirectional DC/AC converter topology is shown in fig. 10, where: c is a DC bus capacitor, D1To D6Is IGBT, R is filter capacitor, L is filter inductance.
The control strategy of the bidirectional DC/AC converter is double-loop control of the voltage outer loop and the current inner loop, and a decoupled control block diagram is shown in FIG. 11. Wherein: u shapedc_refIs a reference value of the DC bus voltage, UdcIs the actual value of the DC bus voltage, Id_refIs a command value of d-axis current in a two-phase rotating coordinate system, IdIs the actual value of d-axis current in a two-phase rotating coordinate system, Iq_refIs a command value of q-axis current under a two-phase rotating coordinate system, IqIs the actual value of q-axis current under a two-phase rotating coordinate system, and omega L is the equivalent impedance of the filter inductor, Ud_refIs a command value of d-axis voltage, U, in a two-phase rotating coordinate systemdIs the actual value of d-axis voltage, U, in a two-phase rotating coordinate systemq_refIs a command value of q-axis voltage, U, under a two-phase rotating coordinate systemqThe actual value of the q-axis voltage under the two-phase rotating coordinate system is shown.
When the hybrid energy storage system is in a discharge mode, the voltage of the direct current bus capacitor is increased, and U isdc_ref－Udc< 0, command current I output by voltage outer loopd_refIf the output voltage is less than 0, the bidirectional DC/AC converter is in an inversion mode and sends active power to a three-phase alternating current network of the diesel generator; when the hybrid energy storage system is in a charging mode, the voltage of the direct current bus capacitor is reduced, and U isdc_ref－UdcGreater than 0, command current I output by voltage outer loopd_ref> 0, the bidirectional DC/AC converter is in rectification mode, absorbing active power from the three-phase AC network of the diesel generator.
In order to verify the improvement of the speed regulation performance of the diesel generating set based on the fuzzy PID and hybrid energy storage system cooperative control, a simulation model of the diesel generating set based on the fuzzy PID and hybrid energy storage system cooperative control is built by Matlab/simulink simulation software, and as shown in FIG. 12, the simulation model consists of a diesel engine, a speed regulation system, an excitation system, a 6MVA synchronous motor, a hybrid energy storage system and a three-phase load. For convenience of explanation, the critical simulation parameters are summarized in table 4.
TABLE 4 Critical simulation parameter List
Because the power of the diesel generator is large and the power of the hybrid energy storage system is small, the power control of the hybrid energy storage system only works when the system fluctuates in normal operation. And when system oil pump motor starts or three-phase trouble, because the power that hybrid energy storage system provided at this moment is undersized, in order to prevent hybrid energy storage system excessive charging and discharging, then shut down hybrid energy storage system this moment.
The curve of the speed change at the start of the system is shown in fig. 13. From fig. 13, when the system is in the start-up phase, the overshoot of the conventional PID control is greater than 0.045, the adjustment time is greater than 8s, and the overshoot is reduced to 0.002 after the fuzzy PID control is adopted, and the adjustment time is shortened to 2.5s. It can be seen that after the fuzzy PID is adopted, the overshoot is well controlled, and the overshoot time can be effectively reduced.
For the sake of convenience of analysis, it is assumed that the system is simulated for three-phase short-circuit fault and fault repair at 40s and fault repair at 60 s. Fig. 14 shows the three-phase short-circuit fault and the change of the rotating speed during fault recovery. From fig. 14, when the system has a three-phase short circuit fault, the overshoot of the conventional PID control is greater than 0.09, the adjustment time is greater than 10s, the overshoot is reduced to 0.04 after the fuzzy PID control is adopted, and the adjustment time is shortened to 3.5s. When the system is repaired in the three-phase short circuit fault, the overshoot of the traditional PID control is more than 0.05, the adjusting time is more than 7s, the overshoot is reduced to 0.02 after the fuzzy PID control is adopted, and the adjusting time is shortened to 4.5s. It can be seen that the overshoot amount and overshoot time can be effectively reduced by using the fuzzy PID.
For analytical convenience, it is assumed that 50% load is shed at 15s and 50% load is shed at 20 s. The change of the rotation speed when the system suddenly loads or unloads the load is shown in figure 15. At this time, the charge and discharge power of the storage battery and the super capacitor in the hybrid energy storage system is shown in fig. 16. As can be seen from fig. 15, when the load is suddenly loaded and unloaded by 50%, the overshoot of the conventional PID control is greater than 0.037, and the regulation time is greater than 4s, the fuzzy PID control is improved, but the overshoot is still greater than 0.024, and the regulation time is still greater than 2.5s. As can be analyzed from fig. 15 and 16, when the fuzzy PID and the hybrid energy storage system are cooperatively controlled, the hybrid energy storage system can adjust the charging and discharging modes and power according to the fluctuation of the rotating speed, so as to effectively reduce the overshoot of the system when the load is suddenly loaded or unloaded on the basis of the fuzzy control, and the overshoot is only 0.019; at the same time, the adjustment time is shortened to only 1.5s.
Claims (2)
1. The utility model provides a fuzzy PID and mixed energy storage cooperative control system for power station diesel generator black start which characterized in that includes: the system comprises a diesel generator set, a hybrid energy storage system and a three-phase load, wherein the diesel generator set and the hybrid energy storage system are both connected with the three-phase load; the diesel generator set comprises a diesel engine and a speed regulating system thereof, an excitation system and a synchronous generator, wherein the mathematical model of the diesel engine and the speed regulating system thereof comprises: the system comprises a speed regulation controller, an actuator, a diesel engine set and an output part;
the transfer function G of the speed-regulating controller1(s) is:
in the formula (1), e(s) is input of a speed regulation controller; u(s) is the output of the speed regulation controller; k is a radical ofpThe proportional amplification factor of the speed regulation controller; k is a radical ofiIs the integral coefficient of the speed regulation controller; k is a radical of formuladThe differential coefficient of the speed regulation controller;
the actuator has the motion increment equation as follows:
in the formula (2), y is the displacement of the gear rod of the fuel injection pump; m is the quality of the sliding rod of the actuatorAn amount; d is the resistance coefficient of the system; k is a radical ofsIs the stiffness of the actuator spring; delta FmIs the change of the electromagnetic force of the actuator;
the motion equation of the actuator is as follows:
ΔFm＝KuΔu-KxΔx (3)：
in the formula, kuIs the amplification factor of the actuator; k is a radical ofxIs the sum of the displacement gain and the spring stiffness of the actuator; delta u is the change of the throttle control signal; delta x is the displacement variation of the gear rod of the fuel injection pump;
combining formulas (2) and (3) and obtaining after performing a Ralsberg transform:
ms2Δx+DsΔx+KxΔx＝KuΔu-KxΔx (4)；
the transfer function G of the actuator can be obtained by simplifying the step (4)2(s) is:
in the formula, U(s) is input of an actuator; Δ X(s) is the output of the actuator; xiηIs the undamped natural oscillation angular frequency of the actuator; omegaηIs the damping factor of the actuator;
the equation of motion of the diesel engine set is as follows:
in the formula, J is the rotational inertia of the diesel engine set; omega is the crankshaft angular velocity of the diesel engine set; mdTorque generated for the diesel engine set; mcThe resistance moment of the diesel engine set;
equation (6) can be expressed in incremental form as:
reduce equation (7) and ignore loadThe torque influence can obtain the equation of the rotating speed and the displacement of the gear rod of the fuel injection pump, and the equation is equivalent to a first-order proportional inertia link, so that the transfer function G of the equation of motion of the diesel engine set3(s) is:
in the formula, kηThe amplification factor of the diesel engine; t isaIs the acceleration time constant of the diesel engine; t isgIs the self-stability coefficient of the diesel engine; and the output part is used for converting the rotating speed output by the diesel generator set into mechanical power which is used as the input quantity of the synchronous generator of the diesel generator set.
2. The fuzzy PID and hybrid energy storage cooperative control system applied to black start of the diesel generator of the hydropower station according to claim 1 is characterized in that: the hybrid energy storage system comprises a storage battery, a super capacitor, a first bidirectional DC/DC converter, a second bidirectional DC/DC converter, a bidirectional DC/AC converter, a transformer and a capacitor C1; wherein:
two poles of the storage battery are connected with one side of the first bidirectional DC/DC converter;
two ends of the super capacitor are connected with one side of the second bidirectional DC/DC converter;
the other side of the first bidirectional DC/DC converter is connected with a capacitor C1 in parallel;
the other side of the second bidirectional DC/DC converter is connected with a capacitor C1 in parallel;
the DC end of the bidirectional DC/AC converter is connected with a capacitor C1 in parallel;
three phases at the AC end of the bidirectional DC/AC converter are correspondingly connected with three phases at one side of the transformer;
and the three phases at the other side of the transformer are respectively and correspondingly connected with the three phases of the alternating current power grid.
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