CN115853657A - Speed control method, device, equipment and medium of diesel generator - Google Patents
Speed control method, device, equipment and medium of diesel generator Download PDFInfo
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Abstract
The invention discloses a speed control method, a device, equipment and a medium of a diesel generator, wherein the diesel generator comprises a speed regulation controller, and the speed regulation controller comprises the following steps: acquiring a target rotating speed value and an actual rotating speed value of the current working condition of the diesel generator, and calculating a proportional parameter theoretical value, an integral parameter theoretical value and a differential parameter theoretical value of the speed regulation controller according to the target rotating speed value and the actual rotating speed value; and calculating to obtain an optimal proportional parameter value, an optimal integral parameter and an optimal differential parameter value according to the proportional parameter theoretical value, the integral parameter theoretical value and the differential parameter theoretical value, further calculating to obtain an output value of the speed regulating controller according to the optimal parameter, and controlling the regulating speed of the diesel generator according to the output value of the speed regulating controller so that the actual rotating speed value follows the target rotating speed value and is stabilized at the target rotating speed value. According to the technical scheme, the diesel generator can have higher speed regulation precision under different working conditions, and the transient rotating speed index of the diesel generator set in the load-carrying process of the nuclear power plant is met.
Description
Technical Field
The embodiment of the invention relates to the technical field of diesel generators, in particular to a speed control method, a speed control device, speed control equipment and speed control media of a diesel generator.
Background
The diesel generating set needs to carry various types of electric equipment under the accident condition of a nuclear power plant, and has high-power loads and low-power precise instruments and meters. In order to avoid the influence of the switching of the high-power equipment on the normal operation of other electric equipment, the requirement of the auxiliary power system on the transient response performance of the diesel generating set is extremely strict.
The speed regulation controller of the diesel generator is a key component for determining the transient response performance of the diesel generator set, so that the transient response performance parameters of the speed regulation controller are very important for different working conditions, and once the transient rotating speed regulation rate does not meet the index requirement, the on-load program needs to be modified, the load distribution is regulated, and the design iteration of a control algorithm is increased.
Disclosure of Invention
The embodiment of the invention provides a speed control method, a speed control device, speed control equipment and a speed control medium of a diesel generator, which are used for ensuring that the diesel generator can have higher speed regulation precision under different working conditions, meeting transient rotating speed indexes of the diesel generator set of a nuclear power plant in a loading process and avoiding load distribution modification and loading program adjustment caused by insufficient speed regulation capacity.
In a first aspect, an embodiment of the present invention provides a speed control method for a diesel generator, where the diesel generator includes a speed adjustment controller, the control method includes:
acquiring a target rotating speed value and an actual rotating speed value of a current working condition of the diesel generator;
calculating a proportional parameter theoretical value, an integral parameter theoretical value and a differential parameter theoretical value of the speed adjusting controller according to the target rotating speed value and the actual rotating speed value;
calculating to obtain an optimal proportional parameter value, an optimal integral parameter and an optimal differential parameter value according to the proportional parameter theoretical value, the integral parameter theoretical value and the differential parameter theoretical value;
and calculating to obtain an output value of the speed regulation controller according to the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value, and controlling the speed regulation of the diesel generator according to the output value of the speed regulation controller so that the actual rotating speed value changes along with the target rotating speed value and is stabilized at the target rotating speed value.
In a second aspect, an embodiment of the present invention further provides a speed control device of a diesel generator, configured to execute the speed control method of the diesel generator according to the first aspect, where the control device includes:
the acquisition module is used for acquiring a target rotating speed value and an actual rotating speed value of the current working condition of the diesel generator;
the first calculation module is used for calculating a proportional parameter theoretical value, an integral parameter theoretical value and a differential parameter theoretical value of the speed adjusting controller according to the target rotating speed value and the actual rotating speed value;
the second calculation module is used for calculating to obtain an optimal proportional parameter value, an optimal integral parameter and an optimal differential parameter value according to the proportional parameter theoretical value, the integral parameter theoretical value and the differential parameter theoretical value;
and the control module is used for calculating an output value of the speed regulation controller according to the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value, and controlling the diesel generator to regulate the speed according to the output value of the speed regulation controller, so that the actual rotating speed value changes along with the target rotating speed value and is stabilized at the target rotating speed value.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the speed control method of a diesel generator according to the first aspect.
In a fourth aspect, the present invention further provides a computer-readable storage medium, which stores computer instructions for causing a processor to implement the speed control method of the diesel generator according to the first aspect when executed.
According to the embodiment of the invention, the target rotating speed value and the actual rotating speed value of the current working condition of the diesel generator are obtained through calculation to obtain the proportional parameter theoretical value, the integral parameter theoretical value and the differential parameter theoretical value of the speed regulation controller, the parameter of the speed regulation controller is corrected on the basis of the theoretical values to obtain the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value, and the output value of the speed regulation controller is obtained through calculation according to the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value. Therefore, under different working conditions of the diesel generator, the speed regulation device can have higher speed regulation precision, meet the transient rotating speed index of the diesel generator in the load carrying process of the nuclear power plant, avoid modifying load distribution and adjusting load carrying programs due to insufficient speed regulation capacity, and improve the operation reliability of the diesel generator.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the technical solutions in the prior art, and it is obvious that the drawings in the following description, although being some specific embodiments of the present invention, can be extended and extended to other structures and drawings by those skilled in the art according to the basic concepts of the device structure, the driving method and the manufacturing method disclosed and suggested by the various embodiments of the present invention, without making sure that these should be within the scope of the claims of the present invention.
Fig. 1 is a flowchart of a speed control method of a diesel generator according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for controlling the speed of a diesel generator according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a speed control device of a diesel generator according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail and completely by embodiments with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the basic idea disclosed and suggested by the embodiments of the present invention, are within the scope of the present invention.
Fig. 1 is a flowchart of a speed control method of a diesel generator according to an embodiment of the present invention, where as shown in fig. 1, the diesel generator includes a speed adjustment controller, and the control method includes:
s101, acquiring a target rotating speed value and an actual rotating speed value of the current working condition of the diesel generator.
And S102, calculating according to the target rotating speed value and the actual rotating speed value to obtain a proportional parameter theoretical value, an integral parameter theoretical value and a differential parameter theoretical value of the speed regulation controller.
S103, calculating according to the theoretical value of the proportional parameter, the theoretical value of the integral parameter and the theoretical value of the differential parameter to obtain an optimal proportional parameter value, an optimal integral parameter and an optimal differential parameter value.
And S104, calculating to obtain an output value of the speed adjusting controller according to the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value, and controlling the speed of the diesel generator to be adjusted according to the output value of the speed adjusting controller so that the actual rotating speed value changes along with the target rotating speed value and is stabilized at the target rotating speed value.
It will be appreciated that for the control subjects of a non-linear time varying system such as a diesel engine, the sensitivity of the speed regulator controller input and output varies with the operating conditions. The speed regulation controller usually adopts a proportional-integral-derivative regulator, namely a PID regulator, the change of a proportional parameter, an integral parameter and a derivative parameter in the speed regulation controller has different influences on the position of a rack of the diesel generator, and if the magnitude of the three control parameters is within an interval range, the action capacity of the integral parameter on the speed regulation controller is possibly too strong, so that the system is easy to destabilize. Therefore, the optimal values of the proportional parameter, the integral parameter and the differential parameter in the speed regulation controller under different working conditions are difficult to obtain, and the diesel generator cannot be guaranteed to have higher speed regulation precision so as to meet the transient rotating speed index of the diesel generator set of the nuclear power plant in the loading process.
Specifically, a target rotation speed value and an actual rotation speed value of the current working condition of the diesel generator are obtained, where the target rotation speed value may be any value set by a system or a user, and the embodiment of the present invention is not specifically limited to this. The actual rotation speed value may be obtained by a speed sensor, or may be calculated by a value obtained by another sensor, which is not specifically limited in this embodiment of the present invention. And then calculating according to the proportional parameter theoretical value, the integral parameter theoretical value and the differential parameter theoretical value of the speed regulation controller to obtain an optimal proportional parameter value, an optimal integral parameter and an optimal differential parameter value. It can be understood that the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value are the optimal control parameters of the speed regulation controller under the current working condition, then the output value of the speed regulation controller is obtained by calculation according to the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value, when the output value of the speed regulator is calculated, the calculation can be performed according to the transfer function of the speed regulation controller, because the actual control system is usually a digital control system, the transfer function of the speed regulation controller needs to be discretized, the specific discretization mode of the embodiment of the present invention is not particularly limited, and can be set according to the actual requirements, for example, an incremental discretization mode or a bilinear transformation discretization mode, etc. is adopted. Therefore, the speed of the diesel generator is controlled according to the output value of the speed adjusting controller, so that the actual rotating speed value changes along with the target rotating speed value and is stabilized at the target rotating speed value, and the process is guaranteed to have the characteristic of quick and stable dynamic response. Therefore, under different working conditions of the diesel generator, such as idling, acceleration, deceleration, rated speed to overspeed and other working conditions, higher speed regulation precision can be achieved, transient speed indexes of the diesel generator in the load carrying process of the nuclear power plant are met, load distribution modification and load carrying program adjustment caused by insufficient speed regulation capacity are avoided, and the running reliability of the diesel generator is improved.
In the embodiment of the invention, the target rotating speed value and the actual rotating speed value of the current working condition of the diesel generator are obtained through calculation to obtain the proportional parameter theoretical value, the integral parameter theoretical value and the differential parameter theoretical value of the speed adjusting controller, the parameter of the speed adjusting controller is corrected on the basis of the theoretical values to obtain the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value, and the output value of the speed adjusting controller is obtained through calculation according to the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value. Therefore, under different working conditions of the diesel generator, the speed regulation device can have higher speed regulation precision, meet the transient rotating speed index of the diesel generator in the load carrying process of the nuclear power plant, avoid modifying load distribution and adjusting load carrying programs due to insufficient speed regulation capacity, and improve the operation reliability of the diesel generator.
Optionally, an optimal ratio parameter value K p ' satisfies: k is more than or equal to 10 p ' < 500; optimal integral parameter K i ' satisfies: k is more than or equal to 0 i ' is less than or equal to 10; optimum differential parameter value K d ' satisfies: k is more than or equal to 0 d ’≤1。
Specifically, the optimum ratio parameter value K p ' generally, the actual rotating speed value is adjusted to quickly reach the target rotating speed value, namely, the optimal proportional parameter value K p The greater the value of' the faster the dynamic response speed of the speed regulator controller. Optimal integral parameter K i ' generally, a steady-state error between an actual rotating speed value and a target rotating speed value is adjusted, so that the steady-state error is eliminated, and the accuracy of speed adjustment is improved. Optimum differential parameter value K d ' generally, the stabilization time for stabilizing the actual rotation speed value at the target rotation speed value is adjusted when the optimum differential parameter value K d A larger or smaller value of' will reduce the interference rejection of the system, and thus, in practiceIn the practical application process, the optimal differential parameter value K can be set according to the actual requirement d The value of' ensures that the speed regulation controller has better speed regulation precision and stability.
Optionally, fig. 2 is a flowchart of another speed control method for a diesel generator according to an embodiment of the present invention, and as shown in fig. 2, the calculating a theoretical value of a proportional parameter, a theoretical value of an integral parameter, and a theoretical value of a derivative parameter of a speed adjustment controller according to a target rotation speed value and an actual rotation speed value includes: and calculating an input value x of the speed regulation controller according to a formula x = r-y according to the target rotating speed value r and the actual rotating speed value y. According to the input value x of the speed regulation controller, according to the formula K j ＝g[f(x)]Calculating to obtain a proportional parameter theoretical value K of the speed regulation controller p Integral parameter theoretical value K i And a differential parameter theoretical value K d . Wherein, K j Comprising K p 、K i And K d F (x) is an activation function with respect to the variable x, f (x) = (e) x -e -x )/(e x +e -x )，x 1 ＝f(x)，g(x 1 ) To relate to x 1 The activation function of (a) is selected,
therefore, the control method mainly comprises the following steps:
s201, acquiring a target rotating speed value and an actual rotating speed value of the current working condition of the diesel generator.
And S202, calculating an input value x of the speed regulation controller according to a formula x = r-y according to the target rotating speed value r and the actual rotating speed value y.
S203, according to the formula K j ＝g[f(x)]Calculating to obtain a proportional parameter theoretical value K of the speed regulation controller p Integral parameter theoretical value K i And a differential parameter theoretical value K d 。
Wherein, K j Comprising K p 、K i And K d F (x) is an activation function with respect to the variable x, f (x) = (e) x -e -x )/(e x +e -x )，x 1 ＝f(x)，g(x 1 ) To relate to x 1 The activation function of (a) is selected,
and S204, calculating according to the theoretical value of the proportional parameter, the theoretical value of the integral parameter and the theoretical value of the differential parameter to obtain an optimal proportional parameter value, an optimal integral parameter and an optimal differential parameter value.
S205, calculating to obtain an output value of the speed adjusting controller according to the optimal proportional parameter value, the optimal integral parameter value and the optimal differential parameter value, and controlling the diesel generator to adjust the speed according to the output value of the speed adjusting controller, so that the actual rotating speed value changes along with the target rotating speed value and is stabilized at the target rotating speed value.
Specifically, a target rotating speed value r and an actual rotating speed value y of the current working condition of the diesel generator are obtained, then a difference value of the target rotating speed value r and the actual rotating speed value y, namely an input value x of the speed adjusting controller, is obtained according to x = r-y, and then the difference value is obtained through a formula K j ＝g[f(x)]Calculating to obtain a proportional parameter theoretical value K of the speed regulation controller p Integral parameter theoretical value K i And a differential parameter theoretical value K d Wherein, in the step (A),
further optionally, the calculating according to the theoretical value of the proportional parameter, the theoretical value of the integral parameter, and the theoretical value of the differential parameter to obtain an optimal value of the proportional parameter, an optimal value of the integral parameter, and an optimal value of the differential parameter includes:
calculating the optimal proportional parameter value K according to the following formula p ', optimal integral parameter K i ' and optimum differential parameter value K d ’：
Wherein the content of the first and second substances,
denotes the partial derivative, u being the velocityAdjusting the output value of the controller, K j Comprising K p 、K i And K d ，K j ' includes K p ’、K i ' and K d ’，m j Comprising m p 、m i And m d ，m p Represents a proportional weight coefficient, m i Represents an integral weight coefficient, m d Representing a differential weight coefficient.
In particular, the method comprises the following steps of,
is a sensitivity coefficient, i.e.>
Is a sensitivity factor of the ratio parameter, <' > is selected>
Sensitive coefficient for integral parameter>
Is the coefficient of sensitivity of the differential parameter. m is j Is a weight coefficient, i.e. m p Is the weight coefficient of the proportional parameter, m i As weight coefficients of integral parameters, m d Is the weight coefficient of the differential parameter. Thus, the theoretical value K of the proportional parameter is calculated p And the weighting coefficient m of the proportional parameter p Is substituted into>
The optimal proportional parameter value K can be calculated p ', integrating the parameter theoretical value K i And the weight coefficient m of the integral parameter i Is substituted into>
The optimal integral parameter K can be calculated i ', dividing the theoretical value K of the differential parameter d Weight coefficient m of good sum differential parameter d Is substituted into>
Calculating to obtain optimal differential parameter value K d ’。
Optionally, 100 ≦ m p ≤1000；0≤m i ≤200；0≤m d ≤1。
Optionally, with reference to fig. 1, calculating an output value of the speed adjusting controller according to the optimal proportional parameter value, the optimal integral parameter value, and the optimal derivative parameter value, including:
the output value u (k) of the speed regulator controller is calculated according to the following formula:
u(k)＝u(k-1)+K p ′[x(k)-x(k-1)]+K i ′x(k)+K d ′[x(k)-2x(k-1)+x(k-2)]；
wherein u (K-1) is the output value of the previous time, x (K) is the input value of the speed regulating controller at the current time, x (K-1) is the input value of the speed regulating controller at the previous time, x (K-2) is the input value of the speed regulating controller at the previous time, and K p ' as optimal value of the ratio parameter, K i ' As an optimal integral parameter, K d ' is the optimum differential parameter value.
Specifically, the optimal ratio parameter value K is set p ', optimal integral parameter K i ' and optimum differential parameter value K d The output value u (k) of the speed regulation controller at the current moment can be obtained by substituting the output value u (k) of the speed regulation controller, and the regulation speed of the diesel generator is controlled by further control operation by utilizing the output value u (k) of the speed regulation controller, so that the actual rotating speed value is changed along with the target rotating speed value and is stabilized at the target rotating speed value, thereby realizing accurate speed regulation control of the diesel generator, improving the good dynamic response performance and robustness of the diesel generator under different working conditions, meeting the transient rotating speed index of the diesel generator in a nuclear power plant in a loading process, avoiding modification of load distribution and adjustment of a loading program due to insufficient speed regulation capacity, and improving the running reliability of the diesel generator.
Based on the same inventive concept, an embodiment of the present invention further provides a speed control device of a diesel generator, configured to execute the speed control method of the diesel generator in any of the embodiments, and fig. 3 is a schematic structural diagram of the speed control device of the diesel generator provided in the embodiment of the present invention, as shown in fig. 3, the speed control device includes: the obtaining module 10 is configured to obtain a target rotation speed value and an actual rotation speed value of the current working condition of the diesel generator. And the first calculating module 20 is configured to calculate a proportional parameter theoretical value, an integral parameter theoretical value and a derivative parameter theoretical value of the speed adjusting controller according to the target rotating speed value and the actual rotating speed value. And the second calculating module 30 is configured to calculate an optimal proportional parameter value, an optimal integral parameter value, and an optimal differential parameter value according to the proportional parameter theoretical value, the integral parameter theoretical value, and the differential parameter theoretical value. And the control module 40 is used for calculating an output value of the speed adjusting controller according to the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value, and controlling the diesel generator to adjust the speed according to the output value of the speed adjusting controller, so that the actual rotating speed value changes along with the target rotating speed value and is stabilized at the target rotating speed value.
According to the embodiment of the invention, the target rotating speed value and the actual rotating speed value of the current working condition of the diesel generator are obtained through the obtaining module 10, then the proportional parameter theoretical value, the integral parameter theoretical value and the differential parameter theoretical value of the speed regulation controller are obtained through calculation of the first calculating module 20, on the basis of the theoretical values, the parameters of the speed regulation controller are corrected through the second calculating module 30, the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value are obtained, the control module 40 obtains the output value of the speed regulation controller through calculation according to the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value, then the speed of the diesel generator is regulated and controlled according to the output value of the speed regulation controller, the actual rotating speed value changes along with the target rotating speed value and is stabilized at the target rotating speed value, and the speed regulation controller is guaranteed to have a rapid and stable dynamic response characteristic. Therefore, under different working conditions of the diesel generator, the speed regulation device can have higher speed regulation precision, meet the transient rotating speed index of the diesel generator in the load carrying process of the nuclear power plant, avoid modifying load distribution and adjusting load carrying programs due to insufficient speed regulation capacity, and improve the operation reliability of the diesel generator.
Based on the same inventive concept, the present embodiment further provides an electronic device, and fig. 4 is a schematic structural diagram of the electronic device provided in the present embodiment, as shown in fig. 4, the electronic device includes one or more processors 101; a storage device 102 for storing one or more programs; when the one or more programs are executed by the one or more processors 101, the one or more processors 101 are caused to implement the method for controlling the speed of a diesel generator in any of the embodiments described above.
Specifically, the electronic device may further include an input device 103 and an output device 104. The processor 101, the storage device 102, the input device 103 and the output device 104 in the electronic apparatus may be connected by a bus or other means, and the connection by the bus is taken as an example in fig. 4.
The storage device 102 in the electronic device is used as a computer-readable storage medium for storing one or more programs, which may be software programs, computer-executable programs, and modules, such as program instructions or modules corresponding to the speed control method of the diesel generator provided in the embodiment. The processor 101 executes various functional applications and data processing of the electronic device by executing software programs, instructions and modules stored in the storage device 102, namely, implements the speed control method of the diesel generator in the above method embodiment. The storage device 102 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device, and the like. In addition, the storage device 102 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage 102 may further include memory located remotely from the processor 101, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The input device 103 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic apparatus. The output device 104 may include a display device such as a display screen.
Of course, it will be understood by those skilled in the art that when one or more programs included in the electronic device are executed by the one or more processors 101, the programs may also perform operations associated with the speed control method of the diesel generator provided in any of the embodiments of the present invention.
The present embodiment also provides a computer readable storage medium, which stores computer instructions for causing a processor to implement the speed control method of the diesel generator in any of the above embodiments when executed.
The computer storage media of the present embodiments may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer-readable storage medium may be, for example, a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A speed control method of a diesel generator, characterized in that the diesel generator includes a speed regulation controller, the control method comprising:
acquiring a target rotating speed value and an actual rotating speed value of a current working condition of the diesel generator;
calculating a proportional parameter theoretical value, an integral parameter theoretical value and a differential parameter theoretical value of the speed adjusting controller according to the target rotating speed value and the actual rotating speed value;
calculating to obtain an optimal proportional parameter value, an optimal integral parameter and an optimal differential parameter value according to the proportional parameter theoretical value, the integral parameter theoretical value and the differential parameter theoretical value;
and calculating to obtain an output value of the speed regulation controller according to the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value, and controlling the speed regulation of the diesel generator according to the output value of the speed regulation controller so that the actual rotating speed value changes along with the target rotating speed value and is stabilized at the target rotating speed value.
2. The method of controlling the speed of a diesel generator according to claim 1, wherein calculating a proportional parameter theoretical value, an integral parameter theoretical value, and a derivative parameter theoretical value of a speed regulator controller from the target rotational speed value and the actual rotational speed value includes:
calculating an input value x of the speed regulation controller according to a formula x = r-y according to the target rotating speed value r and the actual rotating speed value y;
according to the input value x of the speed regulation controller, according to the formula K j ＝g[f(x)]Calculating to obtain a theoretical value K of a proportional parameter of the speed regulation controller p Integral parameter theoretical value K i And a differential parameter theoretical value K d ；
Wherein, K j Comprising K p 、K i And K d F (x) is an activation function with respect to the variable x, f (x) = (e) x -e -x )/(e x +e -x )，x 1 ＝f(x)，g(x 1 ) To relate to variable x 1 The activation function of (a) is selected,
3. the method for controlling the speed of a diesel generator according to claim 1, wherein calculating an optimal value of a proportional parameter, an optimal value of an integral parameter, and an optimal value of a differential parameter from the theoretical value of the proportional parameter, the theoretical value of the integral parameter, and the theoretical value of the differential parameter comprises:
calculating the optimal proportional parameter value K according to the following formula p ', optimal integral parameter K i ' and optimum differential parameter value K d ’：
Wherein, the first and the second end of the pipe are connected with each other,
denotes the partial derivative, u is the output value of the speed regulator controller, K j Comprising K p 、K i And K d ，K j ' includes K p ’、K i ' and K d ’，m j Comprising m p 、m i And m d ，m p Represents a proportional weight coefficient, m i Represents an integral weight coefficient, m d Representing a differential weight coefficient.
4. The speed control method of a diesel generator according to claim 3, characterized in that 100. Ltoreq. M p ≤1000；0≤m i ≤200；0≤m d ≤1。
5. Speed control of a diesel generator according to claim 1Method for producing, characterized in that said optimum value of the proportional parameter K p ' satisfies: k is more than or equal to 10 p ’≤500；
The optimal integral parameter K i ' satisfies: k is more than or equal to 0 i ’≤10；
The optimum differential parameter value K d ' satisfies: k is more than or equal to 0 d ’≤1。
6. The speed control method of a diesel generator according to claim 1, wherein calculating an output value of a speed regulation controller from the optimal proportional parameter value, the optimal integral parameter value, and the optimal derivative parameter value includes:
calculating an output value u (k) of the speed regulation controller according to the following formula:
u(k)＝u(k-1)+K p ′[x(k)-x(k-1)]+K i ′x(k)+K d ′[x(k)-2x(k-1)+x(k-2)]；
wherein u (K-1) is an output value of a previous time, x (K) is an input value of the speed regulation controller at a current time, x (K-1) is an input value of the speed regulation controller at a previous time, x (K-2) is an input value of the speed regulation controller at a previous time, and K p ' as optimal value of the ratio parameter, K i ' As an optimal integral parameter, K d ' is the optimum differential parameter value.
7. A speed control apparatus of a diesel generator for performing the speed control method of the diesel generator according to any one of claims 1 to 6, the control apparatus comprising:
the acquisition module is used for acquiring a target rotating speed value and an actual rotating speed value of the current working condition of the diesel generator;
the first calculation module is used for calculating a proportional parameter theoretical value, an integral parameter theoretical value and a differential parameter theoretical value of the speed adjusting controller according to the target rotating speed value and the actual rotating speed value;
the second calculation module is used for calculating to obtain an optimal proportional parameter value, an optimal integral parameter and an optimal differential parameter value according to the proportional parameter theoretical value, the integral parameter theoretical value and the differential parameter theoretical value;
and the control module is used for calculating to obtain an output value of the speed adjusting controller according to the optimal proportional parameter value, the optimal integral parameter and the optimal differential parameter value, and controlling the adjusting speed of the diesel generator according to the output value of the speed adjusting controller so that the actual rotating speed value changes along with the target rotating speed value and is stabilized at the target rotating speed value.
8. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the diesel generator speed control method of any of claims 1-6.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing a processor to implement the speed control method of a diesel generator according to any one of claims 1-6 when executed.
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| CN202211642224.3A CN115853657A (en) | 2022-12-20 | 2022-12-20 | Speed control method, device, equipment and medium of diesel generator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211642224.3A CN115853657A (en) | 2022-12-20 | 2022-12-20 | Speed control method, device, equipment and medium of diesel generator |
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| CN202211642224.3A Pending CN115853657A (en) | 2022-12-20 | 2022-12-20 | Speed control method, device, equipment and medium of diesel generator |
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Address after: 201600 building 6, No. 901, Xinge Road, Xinqiao Town, Songjiang District, Shanghai Applicant after: Shanghai Yuzhang Electric Co.,Ltd. Applicant after: Shanghai Nuclear Engineering Research and Design Institute Co.,Ltd. Address before: 201600 building 6, No. 901, Xinge Road, Xinqiao Town, Songjiang District, Shanghai Applicant before: Shanghai Yuzhang Electric Co.,Ltd. Applicant before: SHANGHAI NUCLEAR ENGINEERING RESEARCH & DESIGN INSTITUTE Co.,Ltd. |