CN115574369A - Operation control method and device for cogeneration unit, electronic equipment and storage medium - Google Patents
Operation control method and device for cogeneration unit, electronic equipment and storage medium Download PDFInfo
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- CN115574369A CN115574369A CN202211411962.7A CN202211411962A CN115574369A CN 115574369 A CN115574369 A CN 115574369A CN 202211411962 A CN202211411962 A CN 202211411962A CN 115574369 A CN115574369 A CN 115574369A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24D—DOMESTIC- OR SPACE-HEATING SYSTEMS, e.g. CENTRAL HEATING SYSTEMS; DOMESTIC HOT-WATER SUPPLY SYSTEMS; ELEMENTS OR COMPONENTS THEREFOR
- F24D18/00—Small-scale combined heat and power [CHP] generation systems specially adapted for domestic heating, space heating or domestic hot-water supply
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24D—DOMESTIC- OR SPACE-HEATING SYSTEMS, e.g. CENTRAL HEATING SYSTEMS; DOMESTIC HOT-WATER SUPPLY SYSTEMS; ELEMENTS OR COMPONENTS THEREFOR
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Abstract
The invention provides a method and a device for controlling the operation of a cogeneration unit, electronic equipment and a storage medium. The method comprises the following steps: acquiring an actual output value of the cogeneration unit in the current control mode; calculating output tracking errors of various outputs of the cogeneration unit according to the output reference value and the actual output value of the cogeneration unit in the current control mode; calculating a control gain matrix of the cogeneration unit according to the output tracking error in the current control mode; and inputting the control gain matrix into the cogeneration unit, and determining the actual output target value after the cogeneration unit is adjusted. The invention can realize flexible adjustment of the cogeneration unit and meet the control requirement in time.
Description
Technical Field
The invention relates to the technical field of power automation, in particular to a method and a device for controlling the operation of a cogeneration unit, electronic equipment and a storage medium.
Background
With the continuous acceleration of the construction footsteps of a novel power system, new energy is connected to the grid in a large scale, a large number of cogeneration units also exist, and in northern areas of China, the cogeneration units are widely used due to the requirement of heating in winter; in the heat supply period, the cogeneration unit needs to face both the power supply peak shaving frequency modulation task and the heat supply task, so the cogeneration unit needs to have a fast load response rate and flexibly meet the requirements of heat supply and power supply.
In recent years, in the prior art, a proportional-integral-derivative (PID) controller is generally adopted to perform coordinated control on a cogeneration unit, but in different control modes of the cogeneration unit, the PID controller cannot flexibly adjust the cogeneration unit, cannot meet load requirements in time, and thus the application range of the PID controller is limited.
Therefore, a control method capable of flexibly adjusting the cogeneration unit to meet different control requirements in time is needed.
Disclosure of Invention
The embodiment of the invention provides a method and a device for controlling the operation of a cogeneration unit, electronic equipment and a storage medium, and aims to solve the problems that the cogeneration unit cannot be flexibly adjusted and the control requirement cannot be timely met in different control modes in the prior art.
In a first aspect, an embodiment of the present invention provides a method for controlling an operation of a cogeneration unit, where the cogeneration unit employs multiple control modes, and an output reference value of the cogeneration unit is set in each control mode; the method comprises the following steps:
acquiring an actual output value of the cogeneration unit in a current control mode;
calculating output tracking errors of various outputs of the cogeneration unit according to the output reference value and the actual output value of the cogeneration unit in the current control mode;
calculating a control gain matrix of the cogeneration unit according to the output tracking error in the current control mode;
and inputting the control gain matrix into the cogeneration unit, and determining the actual output target value after the cogeneration unit is adjusted.
In a possible implementation manner, calculating an output tracking error of each output of the cogeneration unit according to an output reference value and an actual output value of the cogeneration unit in the current control mode includes:
according to
Calculating output tracking errors of each output;
wherein, X e (t) output tracking error of cogeneration unit during t time, Y d And (tau) is an output reference value of the cogeneration unit at the moment tau in the current control mode, Y (tau) is an actual output value of the cogeneration unit at the moment tau, t is the time for controlling the running of the cogeneration unit, and tau is any time in the time t.
In one possible implementation, calculating a control gain matrix of the cogeneration unit based on the output tracking error in the current control mode includes:
calculating an extended state space model of the cogeneration unit according to the output tracking error in the current control mode;
determining a cost function of LQR control based on an extended state space model;
determining a state weight matrix and an input weight matrix of the LQR control based on the cost function;
and calculating a control gain matrix of the cogeneration unit according to the state weight matrix and the input weight matrix.
In one possible implementation, determining the state weight matrix and the input weight matrix of the LQR control based on the cost function includes:
and determining a state weight matrix and an input weight matrix of each output by adopting a particle swarm optimization algorithm based on the cost function.
In one possible implementation, calculating a control gain matrix of the cogeneration unit from the state weight matrix and the input weight matrix comprises:
calculating a positive definite matrix solution of the Riccati equation corresponding to the minimum cost function based on the state weight matrix and the input weight matrix;
and calculating a control gain matrix of the cogeneration unit according to the positive definite matrix solution, wherein the control gain matrix comprises a state feedback matrix and an error gain matrix.
In one possible implementation manner, before inputting the control gain matrix to the cogeneration unit and determining the adjusted actual output target value of the cogeneration unit, the method further includes:
acquiring the heat supply steam extraction flow output by the cogeneration unit;
calculating a heat supply state signal according to the heat supply extraction steam flow;
determining a fuel adjusting signal according to the heat supply state signal and a preset heat supply quality signal;
inputting the control gain matrix into a cogeneration unit, and determining an actual output target value adjusted by the cogeneration unit, wherein the method comprises the following steps:
and inputting the fuel adjusting signal and the control gain matrix into the cogeneration unit, and determining the actual output target value of the cogeneration unit after adjustment.
In one possible implementation, calculating the heating status signal according to the heating extraction flow comprises:
according to
Calculating a heat supply state signal;
wherein, the first and the second end of the pipe are connected with each other,
signal representing heat supply status, m H Represents the heat supply extraction flow rate t of the cogeneration unit output 1 Indicating the starting moment, t, of obtaining the flow of the extraction steam 2 Representing the end time of obtaining the heat supply steam extraction flow;
determining a fuel adjustment signal according to the heat supply status signal and a preset heat supply quality signal, comprising:
according to
Determining a fuel adjustment signal;
wherein, the first and the second end of the pipe are connected with each other,
indicating a fuel regulation signal, P d An output reference value representing the unit load of the cogeneration unit, P represents the ratio of the output of the cogeneration unit to the heating steam extraction flow,
error in tracking, m, representing the flow of heat extraction steam Hd Represents a pre-set heating quality signal that is,
representing a heating status signal.
In a second aspect, an embodiment of the present invention provides a sample data set device for a cogeneration unit, where the cogeneration unit employs multiple control modes, and an output reference value of the cogeneration unit is set in each control mode; the device comprises:
the acquisition module is used for acquiring the actual output value of the cogeneration unit in the current control mode;
the first calculation module is used for calculating output tracking errors of various outputs of the cogeneration unit according to the output reference value and the actual output value of the cogeneration unit in the current control mode;
the second calculation module is used for calculating a control gain matrix of the cogeneration unit according to the output tracking error in the current control mode;
and the determining module is used for inputting the control gain matrix into the cogeneration unit and determining the adjusted actual output target value of the cogeneration unit.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps of the method according to the first aspect or any possible implementation manner of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the method according to the first aspect or any one of the possible implementation manners of the first aspect.
The embodiment of the invention provides a running control method of a cogeneration unit, which can obtain the current actual output condition by obtaining the actual output value of the cogeneration unit; and then according to the output reference value and the actual output value, calculating an output tracking error of each output of the cogeneration unit, wherein the tracking output error is the difference between the current output condition and the preset condition of the cogeneration unit and is also data required to be adjusted by the output of the cogeneration unit, and based on the data, calculating a control gain matrix, wherein the control gain matrix comprises a state feedback matrix and an error gain matrix, and the obtained control gain matrix is used for controlling the cogeneration unit, so that the weight of the input variable and the weight of the state variable of the cogeneration unit can be comprehensively and flexibly controlled, the actual output value of the cogeneration unit is closer to the output reference value, the output of the cogeneration unit achieves the expected effect, and the control requirements of power supply and heat supply under different control modes are met.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic diagram of an operation control method of a cogeneration unit according to an embodiment of the present invention;
fig. 2 is a flowchart of an implementation of an operation control method for a cogeneration unit according to an embodiment of the present invention;
FIG. 3 is a graph illustrating the variation trend of the unit load under different control methods according to an embodiment of the present invention;
FIG. 4 is a graph showing the variation trend of main steam pressure under different control methods provided by the embodiment of the present invention;
FIG. 5 is a graph illustrating the variation of the pressure of the extracted heat steam according to different control methods provided by the embodiment of the present invention;
fig. 6 is a trend graph of changes in the quality of a heat source of the cogeneration unit under the operation control method of the cogeneration unit according to the embodiment of the invention;
fig. 7 is a schematic structural diagram of an operation control device of a cogeneration unit according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a control quality evaluation module according to an embodiment of the present invention;
fig. 9 is a schematic diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made by way of specific embodiments with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of operation control of a cogeneration unit according to an embodiment of the present invention, in which the cogeneration unit employs multiple control modes, an output reference value of the cogeneration unit is set in each control mode, an output of the cogeneration unit includes a main steam pressure, a heat supply steam extraction pressure, and a unit load, and a corresponding output reference value includes a main steam pressure output reference value, a heat supply steam extraction pressure output reference value, and a unit load output reference value; the operation control method of the cogeneration unit provided by the embodiment of the invention respectively controls the actual output value of the main steam pressure, the actual output value of the heat supply steam extraction pressure and the actual output value of the unit load by controlling the fuel quantity, the heat supply steam extraction regulating valve and the high-pressure regulating valve.
Fig. 2 is a flowchart of an implementation of the operation control method for the cogeneration unit according to the embodiment of the present invention, which is detailed as follows:
step S201, acquiring an actual output value of the cogeneration unit in the current control mode.
In the implementation, the actual output value of the cogeneration unit is obtained, the current actual output condition can be obtained, and the coordination control can be conveniently carried out according to the actual output condition.
And S202, calculating output tracking errors of various outputs of the cogeneration unit according to the output reference value and the actual output value of the cogeneration unit in the current control mode.
In this embodiment, by calculating the output tracking error of each output of the cogeneration unit, the difference between the current output condition of the cogeneration unit and the preset condition can be determined, so as to adjust the second output value subsequently, and enable the output of the cogeneration unit to achieve the preset effect.
And step S203, calculating a control gain matrix of the cogeneration unit according to the output tracking error in the current control mode.
In this embodiment, the output tracking error of the cogeneration unit is data that the output of the cogeneration unit needs to be adjusted, and based on this, the control gain matrix is calculated, so that the actual output value of the cogeneration unit can be made closer to the output reference value.
And step S204, inputting the control gain matrix into the cogeneration unit, and determining the actual output target value of the cogeneration unit after adjustment.
In this embodiment, the control gain matrix includes a state feedback matrix and an error gain matrix, and the obtained control gain matrix controls the cogeneration unit, so that the weight of the input variable and the weight of the state variable of the cogeneration unit can be controlled, and the cogeneration unit can be controlled comprehensively and flexibly, and output of the cogeneration unit meets the control requirements of power supply and heat supply in different control modes.
According to the embodiment of the invention, the current actual output condition can be obtained by obtaining the actual output value of the cogeneration unit; and then according to the output reference value and the actual output value, calculating an output tracking error of each output of the cogeneration unit, wherein the tracking output error is the difference between the current output condition and the preset condition of the cogeneration unit and is also data required to be adjusted by the output of the cogeneration unit, and based on the data, calculating a control gain matrix, wherein the control gain matrix comprises a state feedback matrix and an error gain matrix, and the obtained control gain matrix is used for controlling the cogeneration unit, so that the weight of the input variable and the weight of the state variable of the cogeneration unit can be comprehensively and flexibly controlled, the actual output value of the cogeneration unit is closer to the output reference value, the output of the cogeneration unit achieves the expected effect, and the control requirements of power supply and heat supply under different control modes are met.
In a possible implementation manner, in step S202, an output tracking error of each output of the cogeneration unit is calculated according to the output reference value and the actual output value of the cogeneration unit in the current control mode, which may be detailed as: according to
Calculating output tracking errors of each output; wherein, X e (t) output tracking error of cogeneration unit during t time, Y d And (tau) is an output reference value of the cogeneration unit at the moment tau in the current control mode, Y (tau) is an actual output value of the cogeneration unit at the moment tau, t is the time for controlling the running of the cogeneration unit, and tau is any time in the time t.
In this embodiment, the output tracking errors of the outputs of the cogeneration unit are respectively calculated according to the actual output value and the output reference value of the cogeneration unit in the time t, and the difference between the current output condition of the cogeneration unit and the preset condition is determined.
In a possible implementation manner, in step S203, a control gain matrix of the cogeneration unit is calculated according to the output tracking error in the current control mode, which may be detailed as: under the current control mode, calculating an extended state space model of the cogeneration unit according to the output tracking error; determining a cost function of LQR control based on an extended state space model; determining a state weight matrix and an input weight matrix of the LQR control based on the cost function; and calculating a control gain matrix of the cogeneration unit according to the state weight matrix and the input weight matrix.
In the embodiment, according to the output tracking error, the original state space model of the cogeneration unit is expanded to obtain an expanded state space model, so that the existing cogeneration unit is accurately described; determining a cost function of LQR control based on an extended state space model, wherein the cost function is determined on the principle of ensuring the minimum consumption of output tracking error and input, so that a control gain matrix suitable for a cogeneration unit can be calculated subsequently; the determination of the state weight matrix and the input weight matrix directly influences the control gain matrix, and the appropriate state weight matrix and the input weight matrix are determined, so that the appropriate control gain matrix can be obtained, the state variables and the input variables of the cogeneration unit can be controlled, and the control requirements of power supply and heat supply under different control modes are met.
Expanding the original state space model of the cogeneration unit, wherein the obtained expanded state space model can be expressed as follows:
for convenience of representation, let X r (t)＝[X(t),X e (t)] T Then the extended state space model can be expressed as:
Y(t)＝C r X r (t)
wherein the content of the first and second substances,
a first derivative of an input vector representing an original state space model of the cogeneration unit at time t,
representing a first derivative of an output tracking error of the cogeneration unit at a time t, A representing a first system parameter of an extended state space model, B representing a control parameter of the state space model, C representing a second system parameter of the extended state space model, I representing a unit vector, and X representing a unit vector 1 (t) an input vector, U, of an original state space model of the cogeneration unit at time t 1 (t) represents the state feedback in LQR control at time t, Y d (t) represents an output reference value of the cogeneration unit at time t, Y (t) represents an output vector of the cogeneration unit at time t,
first derivative, X, of a state vector representing an extended state space model of a cogeneration unit at time t r (t) State vector representing an extended State space model of the cogeneration Unit at time t, A r System matrix representing an extended state space model, B r A first control matrix, B, representing an extended state space model d A second control matrix representing an extended state space model, Y (t) representing an output vector of the extended state space model of the cogeneration unit at time t, C r Represents the output matrix of the extended state space model, and T represents the transpose of the matrix.
Determining a cost function of the LQR control based on the output tracking error on the principle of ensuring the minimum consumption of the output tracking error and the input, wherein the cost specifically can be as follows:
wherein J represents a cost function value of the LQR control, Q represents a state weight matrix of the LQR control, and R represents an input weight matrix of the LQR control; in addition, the state weight matrix and the input weight matrix are both adjustable positive definite matrices, generally diagonal matrices.
Further, determining a state weight matrix and an input weight matrix of the LQR control based on the cost function includes: and determining a state weight matrix and an input weight matrix of each output by adopting a particle swarm optimization algorithm based on the cost function.
In this embodiment, a particle swarm optimization algorithm is used to replace a manual debugging method in a conventional method, the state weight matrix and the input weight matrix are optimized through the particle swarm optimization algorithm with the minimum membership function value as a target, so that a proper state weight matrix and a proper input weight matrix can be quickly and accurately found, and the condition that the experience of a debugging worker is excessively relied on is avoided, and an optimal result cannot be obtained.
In one possible implementation, calculating a control gain matrix for the cogeneration unit based on the state weight matrix and the input weight matrix comprises: calculating a positive definite matrix solution of the Riccati equation corresponding to the minimum cost function based on the state weight matrix and the input weight matrix; and calculating a control gain matrix of the cogeneration unit according to the positive definite matrix solution, wherein the control gain matrix comprises a state feedback matrix and an error gain matrix.
Specifically, the state feedback in the LQR control is U 1 (t)＝-KX r (t), the cost function of the extended state space model may be updated to
Correspondingly, the Riccati equation corresponding to the minimum cost function is A r T P r +P r A r -P r B r R -1 B r T P r +Q＝0，K＝R -1 B r T P r Where K denotes a control gain matrix of the cogeneration unit, P r A positive definite matrix solution of the Riccati equation is obtained; therefore, a positive definite matrix solution of the ricati equation is calculated, and a control gain matrix can be obtained.
Further, the control gain matrix includes a state feedback matrix and an error gain matrix, and may be expressed as K = [ (] [ ]K c ,K i ]，K c Represents a state feedback matrix, K i An error gain matrix is represented.
After the state weight matrix and the input weight matrix are determined, the Riccati equation has a positive definite matrix solution; then, according to the positive definite matrix solution, a control gain matrix can be obtained through calculation; the control gain matrix specifically comprises a state feedback matrix and an error gain matrix, wherein the state feedback matrix acts on input variables, namely original input parameters, of the cogeneration unit, the error gain matrix acts on state variable output error tracking of the cogeneration unit, and the weights of the input variables and the weights of the state variables of the cogeneration unit can be comprehensively and flexibly controlled through the state feedback matrix and the error gain matrix.
In a possible implementation manner, before inputting the control gain matrix to the cogeneration unit and determining the adjusted actual output target value of the cogeneration unit in step S204, the method further includes: acquiring the heat supply extraction flow output by the cogeneration unit; calculating a heat supply state signal according to the heat supply extraction flow; determining a fuel adjusting signal according to the heat supply state signal and a preset heat supply quality signal; step S204 inputs the control gain matrix to the cogeneration unit, and determines an actual output target value after adjustment of the cogeneration unit, which may be detailed as: and inputting the fuel adjusting signal and the control gain matrix into the cogeneration unit, and determining the actual output target value of the cogeneration unit after adjustment.
In the embodiment, when the cogeneration unit is in a power supply priority mode, a part of steam originally used as a heat source enters the intermediate pressure cylinder to continue to work through heat source active response control at the earlier stage of variable load so as to respond to a load instruction of the unit; in the later stage of variable load, when the response of the fuel quantity of the boiler can change along with the load, the combined heat and power generation unit needs to return part of heat source steam which is 'borrowed' in the earlier stage of the variable load to a heat supply network so as to avoid generating obvious influence on heat users; therefore, the heat supply state signal is calculated according to the heat supply extraction flow, the heat supply condition of the current cogeneration unit is determined, the fuel adjusting signal is determined according to the heat supply state signal and the preset heat supply quality signal, and the deviation between the actual value and the target value of the heat supply extraction flow of the cogeneration unit can be obtained, so that the energy input by the cogeneration unit is increased subsequently, and finally, the actual output value of the cogeneration unit reaches the control requirement, thereby realizing the accurate balance of the energy.
In a possible implementation manner, the calculating the heat supply state signal according to the heat supply extraction steam flow comprises: according to
Calculating a heat supply state signal; wherein the content of the first and second substances,
signal representing heat supply status, m H Represents the heat supply extraction flow rate t of the cogeneration unit output 1 Indicating the starting moment, t, of obtaining the flow of the extraction steam 2 Indicating the end of the acquisition of the flow of the extraction steam
Determining a fuel adjustment signal according to the heat supply status signal and a preset heat supply quality signal, comprising: according to
Determining a fuel adjustment signal; wherein the content of the first and second substances,
indicating a fuel regulation signal, P d An output reference value representing a unit load of the cogeneration unit, P represents an actual output value of the unit load of the cogeneration unit, m Hd Represents a pre-set heating quality signal that is,
indicating a heating status signal.
The relation between the actual output value of the unit load of the cogeneration unit and the extraction steam flow at each stage is as follows:
wherein D is F Shows the feed water flow rate, h m Denotes the enthalpy of the main steam, sigma denotes the enthalpy rise of reheat, h c Represents the exhaust enthalpy of the turbine, m represents the extraction mass flow matrix,
represents an auxiliary vector, m FPT Indicating the extraction flow, h, of the feedwater pump turbine i Represents the i-th stage extraction enthalpy value, h H Represents the enthalpy value of the heating extraction steam.
In a possible mode, acquiring current working condition information, an actual output value and control parameters of the cogeneration unit; determining a historical case corresponding to the current working condition information and a first control quality value of the historical case in a preset historical case library; calculating a second control quality value of the cogeneration unit according to the actual output value of the cogeneration unit; taking the historical case or the current control parameter corresponding to the larger control quality value in the first control quality value and the second control quality value as control reference information; and updating output reference values of various outputs in the corresponding control mode according to the control reference information, and updating a historical case library.
In the embodiment, the current state of the cogeneration unit can be determined by evaluating the current control condition of the cogeneration unit; then, the first control quality value and the second control quality value are compared, so that whether the current state of the cogeneration unit is superior to the historical optimal state under the same working condition information or not can be determined; if the historical optimal state in the historical case library is better, the control parameters of the cogeneration unit are not optimal at the moment, and the adjustment space is available, so that the control parameters of the current cogeneration unit can be adjusted by taking the relevant information corresponding to the first control quality value as reference; if the current state of the cogeneration unit is better, the control parameters of the cogeneration unit are more suitable at the moment, and the control parameters at the moment are updated into the historical database, so that the control condition of the subsequent cogeneration unit can be evaluated conveniently, and the control parameters can be adjusted.
In a specific embodiment, a cogeneration unit with a capacity of 300MW is selected to verify the operation control method of the cogeneration unit provided by the present application, wherein the linear weighting of the output tracking error of the cogeneration unit is taken as a membership function, which can be specifically expressed as:
wherein, X e,1 (τ) output tracking error, X, of main steam pressure of cogeneration unit at time τ e,2 (τ) output tracking error, X, of the heating extraction pressure of the cogeneration unit at time τ e,3 (τ) output tracking error, δ, of unit load of cogeneration unit at time τ 1 Weight, δ, corresponding to the output tracking error expressed as the principal steam pressure 2 Expressed as the weight, delta, corresponding to the output tracking error of the heating extraction pressure 3 And the weight corresponding to the output tracking error of the unit load is expressed.
The cogeneration unit operates in a power-supply-priority mode, and heat source regulation is used as a main regulation means for load tracking. Based on the situation, when the membership function of the particle swarm optimization algorithm is set, the weights of the main steam pressure, the heat supply steam extraction pressure and the unit load are respectively set to be 0.3, 0.1 and 0.6. In the PSO optimization, the particle population size is 100 and the maximum number of iterations is 30. Through optimization, the state weight matrix and the control weight matrix are respectively: q = diag (1,10) 5 ,1,10 5 ,10 5 ,6050,10 5 ),R＝diag(1,1,1)
State feedback matrix K c Sum and difference gain matrix K i Respectively as follows:
PI is selected for controllers of the accurate energy balance link; wherein the parameter of the energy balance controller is P =1, I =0.2; the parameters of the heat source quality recovery controller are P =0.5 and I =1.
And selecting a traditional furnace and machine CCS strategy for comparison, wherein a steam turbine PID controls load through a high-pressure regulating valve, parameters of the steam turbine PID are P =0.1 and I =0.02, a boiler PID controls main steam pressure through regulating fuel quantity, parameters of the boiler PID are P =30, I =0.1 and D =20000, and a heat supply network PID controls heat supply steam extraction pressure through regulating a heat supply steam extraction regulating valve, parameters of the heat supply steam extraction regulating valve are P =1 and I = -50.
In the Matlab/Simulink environment, the cogeneration unit was stabilized at a 235MW load condition before 100 seconds, during which the main steam pressure was stabilized at 16.67MPa and the heating steam extraction pressure was stabilized at 0.35MPa. At 100 seconds, the AGC load command is increased from 235MW to 245MW at a rate of 12MW/min, and the set values of the main steam pressure and the heating extraction pressure are kept unchanged; the final obtained result can be shown in fig. 3, fig. 4 and fig. 5, and the optimal control strategy is adopted to represent the operation control method of the cogeneration unit provided by the application.
FIG. 3 illustrates tracking of unit loads under an optimal control strategy and a conventional CCS strategy, with dashed lines indicating commands of active response of heat sources, straight lines indicating results under the optimal control strategy, and long and short dashed lines indicating results under the conventional CCS strategy, wherein the dashed lines and the straight lines are almost coincident; and as can be seen from fig. 3, under the action of the active response of the heat source to the load command, the actual output value of the unit load climbs to the target value 245MW when receiving the command 151.6s, which is significantly faster than the conventional CCS strategy.
Fig. 4 shows the tracking situation of the steam pressure under the optimization control strategy and the conventional CCS strategy, and it can be known from fig. 4 that the maximum fluctuation of the main steam pressure is only 0.03MPa under the effect of the optimization control strategy, and appears 48.4s after the AGC sends a load instruction, which is beneficial to realizing the smooth operation of the cogeneration unit; in contrast, under the action of the conventional CCS strategy, there is a maximum fluctuation of the main steam pressure exceeding 0.2 MPa. The load of the unit is adjusted by the regulating valve of the steam turbine under the coordination mode of the furnace and the unit, so that the obvious fluctuation of main steam is caused; it is clear that the optimal control strategy is superior to the traditional CCS strategy in terms of smooth running.
Fig. 5 shows the tracking situation of the heat supply extraction steam pressure under the optimization control strategy and the conventional CCS strategy, and it can be known from fig. 5 that when the cogeneration unit adopts the optimization control strategy, the heat supply extraction steam pressure is significantly reduced at the initial stage of adjustment, and then when the energy provided by the fuel is sufficient, the heat supply extraction steam pressure is gradually restored to the set value; when the CCS strategy is adopted by the combined heat and power generation unit, the load is not adjusted by using a heat source, so that the heating steam extraction pressure only slightly fluctuates.
The heat source quality is obtained by evaluating the heat supply extraction pressure of the cogeneration unit, that is, evaluating the heat supply condition, and as can be seen from the variation trend of the heat source quality shown in fig. 6, the heat source quality gradually recovers to the set value after being adjusted for about 400 seconds due to the precise energy balance.
According to the embodiment of the invention, the current actual output condition can be obtained by acquiring the actual output value of the cogeneration unit; calculating output tracking errors of various outputs of the cogeneration unit according to the output reference value and the actual output value, wherein the tracking output errors are the difference between the current output condition and the preset condition of the cogeneration unit and are data required to be adjusted by the output of the cogeneration unit, and based on the tracking output errors, calculating a control gain matrix, wherein the control gain matrix comprises a state feedback matrix and an error gain matrix, and controlling the cogeneration unit through the obtained control gain matrix; in addition, the deviation between the actual value and the target value of the heat supply extraction steam flow of the cogeneration unit is obtained by determining the fuel adjusting signal, so that the energy input by the cogeneration unit is increased, the heat supply quality can be prevented from being reduced, the actual output value of the cogeneration unit can reach the control requirement more quickly, and the control requirements of power supply and heat supply under different control modes are met.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The following are embodiments of the apparatus of the invention, reference being made to the corresponding method embodiments described above for details which are not described in detail therein.
Fig. 7 is a schematic structural diagram of an operation control device of a cogeneration unit according to an embodiment of the present invention, and for convenience of description, only the portions related to the embodiment of the present invention are shown, and the details are as follows:
as shown in fig. 7, the cogeneration unit operation control device 7 includes:
an obtaining module 71, configured to obtain an actual output value of the cogeneration unit in the current control mode;
the first calculation module 72 is used for calculating output tracking errors of various outputs of the cogeneration unit according to the output reference value and the actual output value of the cogeneration unit in the current control mode;
a second calculation module 73, which calculates a control gain matrix of the cogeneration unit according to the output tracking error in the current control mode;
the determination module 74 inputs the control gain matrix to the cogeneration unit and determines the adjusted actual output target value of the cogeneration unit.
In a possible implementation manner, the first calculating module 72 is specifically configured to:
according to
Calculating output tracking errors of each output;
wherein X e (t) is the output tracking error of the cogeneration unit during time t, Y d And (tau) is an output reference value of the cogeneration unit at the moment tau in the current control mode, Y (tau) is an actual output value of the cogeneration unit at the moment tau, t is the time for controlling the running of the cogeneration unit, and tau is any time in the time t.
In a possible implementation manner, the second calculating module 73 is specifically configured to:
under the current control mode, calculating an extended state space model of the cogeneration unit according to the output tracking error;
determining a cost function of LQR control based on an extended state space model;
determining a state weight matrix and an input weight matrix of the LQR control based on the cost function;
and calculating a control gain matrix of the cogeneration unit according to the state weight matrix and the input weight matrix.
In one possible implementation, the second calculating module 73 determines the state weight matrix and the input weight matrix of the LQR control based on the cost function, and is configured to:
and determining a state weight matrix and an input weight matrix of each output by adopting a particle swarm optimization algorithm based on the cost function.
In one possible implementation, the second calculation module 73 calculates a control gain matrix of the cogeneration unit based on the state weight matrix and the input weight matrix, for:
calculating a positive definite matrix solution of the Riccati equation corresponding to the minimum cost function based on the state weight matrix and the input weight matrix;
and calculating a control gain matrix of the cogeneration unit according to the positive definite matrix solution, wherein the control gain matrix comprises a state feedback matrix and an error gain matrix.
In a possible implementation manner, the operation control device 7 of the cogeneration unit further includes a third calculation module 75 and a fourth calculation module 76;
the obtaining module 71 is further configured to obtain a heat supply extraction steam flow output by the cogeneration unit;
a third calculating module 75, configured to calculate a heat supply state signal according to the heat supply extraction flow;
a fourth calculation module 76 for determining a fuel adjustment signal based on the heat supply status signal and a predetermined heat supply quality signal;
the determination module 74 is specifically configured to input the fuel adjustment signal and the control gain matrix to the cogeneration unit to determine the adjusted actual output target value of the cogeneration unit.
In a possible implementation manner, the third calculating module 75 is specifically configured to:
according to
Calculating a heat supply state signal;
wherein the content of the first and second substances,
signal representing heat supply status, m H Represents the heat supply extraction flow rate t of the cogeneration unit output 1 Indicates the starting moment of obtaining the heat supply extraction steam flow, t 2 Representing the end time of obtaining the heat supply steam extraction flow;
the fourth calculating module 76 is specifically configured to:
according to
Determining a fuel adjustment signal;
wherein, the first and the second end of the pipe are connected with each other,
indicating a fuel regulation signal, P d An output reference value representing the unit load of the cogeneration unit, P represents the ratio of the output of the cogeneration unit to the heating steam extraction flow,
error in tracking, m, representing the flow of heat extraction steam Hd Represents a pre-set heating quality signal that is,
representing a heating status signal.
In a possible manner, referring to a schematic structural diagram of the control quality evaluation module shown in fig. 8, the control quality evaluation module 8 includes:
a data storage unit 81 for storing historical operation information and historical cases of the cogeneration unit;
the case reasoning unit 82 is used for determining a historical case corresponding to the current working condition information of the cogeneration unit;
the evaluation unit 83 is used for calculating a second control quality value of the cogeneration unit according to the actual output value of the cogeneration unit; taking the historical case or the current control parameter corresponding to the larger control quality value in the first control quality value and the second control quality value as control reference information;
a communication unit 84 for storing the control reference information to the data storage unit 81 and communicating with an external control system.
According to the embodiment of the invention, the actual output value of the cogeneration unit is obtained through the obtaining module, so that the current actual output condition can be obtained; then, a first calculation module calculates output tracking errors of various outputs of the cogeneration unit according to an output reference value and an actual output value, wherein the tracking output errors are the difference between the current output condition and the preset condition of the cogeneration unit and are data required to be adjusted by the output of the cogeneration unit, and based on the tracking output errors, a second calculation module calculates a control gain matrix, the control gain matrix comprises a state feedback matrix and an error gain matrix, the cogeneration unit is controlled through the obtained control gain matrix, specifically, the state weight matrix and the input weight matrix are determined through a particle swarm optimization algorithm, the condition that the artificial experience is excessively depended on is avoided, a more proper weight matrix can be determined, a proper control gain matrix is determined, the weights of input variables and the weights of the state variables of the cogeneration unit are comprehensively and flexibly controlled, the actual output value of the cogeneration unit is closer to the output reference value, and an expected effect is achieved; in addition, the deviation between the actual value and the target value of the heat supply extraction flow of the cogeneration unit is obtained by determining the fuel adjusting signal by using the fourth calculating module, so that the energy input by the cogeneration unit is increased, the heat supply quality can be prevented from being reduced, the actual output value of the cogeneration unit can reach the control requirement more quickly, and the control requirements of power supply and heat supply under different control modes are met.
Fig. 9 is a schematic diagram of an electronic device provided in an embodiment of the present invention. As shown in fig. 9, the electronic apparatus 9 of this embodiment includes: a processor 90, a memory 91 and a computer program 92 stored in said memory 91 and executable on said processor 90. The processor 90 implements the steps in the above-described respective embodiments of the operation control method of the cogeneration unit, for example, steps S201 to S204 shown in fig. 2, when executing the computer program 92. Alternatively, the processor 90, when executing the computer program 92, implements the functions of the modules in the above-described device embodiments, such as the functions of the modules 71 to 74 shown in fig. 7.
Illustratively, the computer program 92 may be partitioned into one or more modules/units that are stored in the memory 91 and executed by the processor 90 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 92 in the electronic device 9. For example, the computer program 92 may be divided into the modules 71 to 74 shown in fig. 7.
The electronic device 9 may include, but is not limited to, a processor 90, a memory 91. Those skilled in the art will appreciate that fig. 9 is merely an example of the electronic device 9, and does not constitute a limitation of the electronic device 9, and may include more or less components than those shown, or combine certain components, or different components, for example, the electronic device may also include input-output devices, network access devices, buses, etc.
The Processor 90 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may be an internal storage unit of the electronic device 9, such as a hard disk or a memory of the electronic device 9. The memory 91 may also be an external storage device of the electronic device 9, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the electronic device 9. Further, the memory 91 may also include both an internal storage unit and an external storage device of the electronic device 9. The memory 91 is used for storing the computer program and other programs and data required by the electronic device. The memory 91 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signal, telecommunications signal, and software distribution medium, etc.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. The operation control method of the cogeneration unit is characterized in that the cogeneration unit adopts a plurality of control modes, and an output reference value of the cogeneration unit is respectively set in each control mode; the method comprises the following steps:
acquiring an actual output value of the cogeneration unit in a current control mode;
calculating output tracking errors of various outputs of the cogeneration unit according to the output reference value and the actual output value of the cogeneration unit in the current control mode;
calculating a control gain matrix of the cogeneration unit according to the output tracking error in the current control mode;
and inputting the control gain matrix into the cogeneration unit, and determining the adjusted actual output target value of the cogeneration unit.
2. The cogeneration unit operation control method according to claim 1, wherein said calculating an output tracking error of each output of the cogeneration unit according to the output reference value and the actual output value of the cogeneration unit in the current control mode includes:
according to
Calculating output tracking errors of each output;
wherein, X e (t) is the output tracking error of the cogeneration unit during time t, Y d (τ) is the output reference value of the cogeneration unit at the time τ in the current control mode, Y (τ) is the actual output value of the cogeneration unit at the time τ, t is the time for controlling the operation of the cogeneration unit, and τ is any one time within the time t.
3. The cogeneration unit operation control method according to claim 2, wherein calculating a control gain matrix of the cogeneration unit based on the output tracking error in the current control mode includes:
under the current control mode, calculating an extended state space model of the cogeneration unit according to the output tracking error;
determining a cost function of the LQR control based on the extended state space model;
determining a state weight matrix and an input weight matrix of the LQR control based on the cost function;
and calculating a control gain matrix of the combined heat and power generation unit according to the state weight matrix and the input weight matrix.
4. The cogeneration unit operation control method according to claim 3, wherein determining the state weight matrix and the input weight matrix of the LQR control based on the cost function comprises:
and determining a state weight matrix and an input weight matrix of each output by adopting a particle swarm optimization algorithm based on the cost function.
5. The cogeneration unit operation control method according to claim 3, wherein calculating a control gain matrix of the cogeneration unit from the state weight matrix and the input weight matrix comprises:
calculating a positive definite matrix solution of the Riccati equation corresponding to the minimum cost function based on the state weight matrix and the input weight matrix;
and calculating a control gain matrix of the combined heat and power generation unit according to the positive definite matrix solution, wherein the control gain matrix comprises a state feedback matrix and an error gain matrix.
6. The cogeneration unit operation control method according to claim 1, further comprising, before inputting the control gain matrix to the cogeneration unit and determining the adjusted actual output target value of the cogeneration unit:
acquiring the heat supply extraction flow output by the cogeneration unit;
calculating a heat supply state signal according to the heat supply extraction flow;
determining a fuel adjusting signal according to the heat supply state signal and a preset heat supply quality signal;
the inputting the control gain matrix into the cogeneration unit and determining the adjusted actual output target value of the cogeneration unit includes:
and inputting the fuel adjusting signal and the control gain matrix into the cogeneration unit, and determining the actual output target value of the cogeneration unit after adjustment.
7. The cogeneration unit operation control method according to claim 6, wherein calculating a heat supply state signal according to the heat supply extraction steam flow rate comprises:
according to
Calculating a heat supply state signal;
wherein the content of the first and second substances,
represents the heating state signal, m H Representing the heating extraction flow, t, of the cogeneration unit output 1 Indicating the starting moment, t, at which the flow of said heating extraction is obtained 2 Representing the end time of obtaining the heat supply steam extraction flow;
determining a fuel adjustment signal according to the heat supply state signal and a preset heat supply quality signal, wherein the fuel adjustment signal comprises:
according to
Determining a fuel adjustment signal;
wherein, the first and the second end of the pipe are connected with each other,
indicating a fuel regulation signal, P d An output reference value representing the unit load of the combined heat and power generation unit, P represents the ratio of the output of the combined heat and power generation unit to the heating steam extraction flow,
represents the tracking error of the heat supply extraction flow, m Hd Represents a pre-set heating quality signal that is,
representing the heating status signal.
8. The operation control device of the cogeneration unit is characterized in that the cogeneration unit adopts a plurality of control modes, and an output reference value of the cogeneration unit is respectively set in each control mode; the device comprises:
the acquisition module is used for acquiring an actual output value of the cogeneration unit in the current control mode;
the first calculation module is used for calculating output tracking errors of various outputs of the combined heat and power generation unit according to the output reference value and the actual output value of the combined heat and power generation unit in the current control mode;
the second calculation module is used for calculating a control gain matrix of the combined heat and power generation unit according to the output tracking error in the current control mode;
and the determining module is used for inputting the control gain matrix to the cogeneration unit and determining the adjusted actual output target value of the cogeneration unit.
9. An electronic device comprising a memory for storing a computer program and a processor for invoking and running the computer program stored in the memory, wherein the processor implements the steps of the method of any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7 above.
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