CN116088296A - Modeling method, device and storage medium for pumping-storage energy-storage hydroelectric generating set - Google Patents
Modeling method, device and storage medium for pumping-storage energy-storage hydroelectric generating set Download PDFInfo
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Abstract
The invention relates to the technical field of power system simulation, in particular to a modeling method and device for a pumping, storing and energy-storing hydroelectric generating set and a computer storage medium. According to the modeling method of the pumping and accumulating energy-storage hydroelectric generating set, an equivalent circuit of a water diversion system is established, transient analysis is carried out, a transfer function of a water head and flow of the water diversion system is obtained through calculation, the transfer function of a water turbine is calculated, and a small signal model open-loop transfer function of the pumping and accumulating energy-storage hydroelectric generating set is constructed on the basis of a transfer function of a PID controller of the pumping and accumulating energy-storage hydroelectric generating set and a transfer function of a servo driving link; the model of the pumping and storing energy storage hydroelectric generating set, which is built by the invention, considers the water hammer effect brought by the water diversion system, systematically analyzes the model, highlights the nonlinear characteristics of the pumping and storing energy storage hydroelectric generating set, and can more truly reflect the actual working state of the pumping and storing energy storage hydroelectric generating set under each working condition.
Description
Technical Field
The invention relates to the technical field of power system simulation, in particular to a modeling method and device for a pumping, storing and energy-storing hydroelectric generating set and a computer storage medium.
Background
Along with the continuous improvement of the grid-connected proportion of the pumping and storage energy storage hydroelectric generating set in the power system, higher requirements are put on the capacity of the generating set to participate in the frequency control of a power grid. The dynamic characteristics of the water hammer effect and the pumping and accumulating energy-storage hydroelectric generating set can cause the frequency oscillation of the system, so that hidden danger exists in the safe and stable operation of the power system. Therefore, how to accurately reflect the working characteristics of the pumping and accumulating energy-storage hydroelectric generating set becomes a research hot spot.
The traditional classical pumping and accumulating energy-storage hydroelectric generating set model is used for simplifying a water diversion system, so that adverse effects of a water hammer effect generated by a water head, flow and flow speed on the running of the generating set can not be reflected, the nonlinear characteristics of the pumping and accumulating energy-storage hydroelectric generating set are not met, and the actual working state of the pumping and accumulating energy-storage hydroelectric generating set is not met.
Disclosure of Invention
Therefore, the invention aims to solve the technical problem that the nonlinear characteristic generated by the water hammer effect of the pipeline cannot be embodied in the prior art.
In order to solve the technical problems, the invention provides a modeling method of a pumping, storing and storing energy hydroelectric generating set, which comprises the following steps:
establishing an equivalent circuit of a water diversion system of the pumping and accumulating energy storage hydroelectric generating set;
performing transient analysis on the equivalent circuit, and calculating the water head and the flow of the water diversion system according to the equivalent circuit to obtain a transfer function of the water head and the flow of the water diversion system;
calculating a water turbine transfer function according to the transfer function of the water head and the flow of the water diversion system and the transfer coefficient of the water turbine;
and calculating to obtain the small signal model open loop transfer function of the pumping, accumulating and storing energy-storing hydroelectric generating set according to the transfer function of the PID controller, the transfer function of the servo driving link and the transfer function of the water turbine.
Preferably, the establishing an equivalent circuit of the water diversion system of the pumping and accumulating energy storage hydroelectric generating set comprises:
and the flow of the water diversion system is equivalent to current, the water head is equivalent to voltage, the pressure pipeline is equivalent to inductance and resistance, the capacity of the pressure regulating tank is equivalent to capacitance, and the dynamic characteristic is equivalent to an additionally introduced disturbance voltage source, so that an equivalent circuit of the water diversion system of the pumping and accumulating energy storage hydroelectric generating set is obtained.
Preferably, the transient analysis of the equivalent circuit and the calculation of the water diversion system water head and flow according to the equivalent circuit include:
performing transient analysis on the equivalent circuit, and calculating the water head and flow of the water diversion system according to kirchhoff voltage and current law, wherein the formula is expressed as follows:
wherein ,sin order to be a lagrangian operator,L 1 andR 1 equivalent inductance and resistance are characteristic of the first pressure conduit,L 2 andR 2 equivalent inductance and resistance, delta, for the second pressure conduit characteristicQ 1 Represents the flow before pressure regulation, delta Ht 1 Represents the pressure regulating tank water head corresponding to the time t1, delta Ht2 represents the pressure regulating tank water head corresponding to the time t2, ct 1 Representing the capacity of the pressure regulating tank, deltaHRepresenting disturbance signals, i.e. water head, deltaQAnd the flow after pressure regulation is represented, namely the flow of the diversion system.
Preferably, the acquiring a transfer function of the water head and the flow of the water diversion system comprises:
the transfer function of the water head and the flow of the water diversion system is obtained according to the ratio of the water head and the flow of the water diversion system, and the formula is expressed as follows:
wherein ,
，/>
，Q 0 for the initial flow rate in the pipe,H 0 is the initial head in the pipe.
Preferably, the hydraulic turbine transfer function is calculated according to the transfer function of the water head and the flow of the diversion system and the hydraulic turbine transfer coefficient, and the formula is expressed as follows:
wherein ,e y 、e h 、e qy 、e qh the hydraulic turbine moment to guide vane opening transfer coefficient, the hydraulic turbine moment to water head transfer coefficient, the hydraulic turbine flow to guide vane opening transfer coefficient and the hydraulic turbine flow to water head transfer coefficient of the pumping-accumulating energy-storing hydroelectric generating set are respectively adopted.
Preferably, the small signal model open loop transfer function of the pumping, accumulating and storing energy-storing hydroelectric generating set is calculated according to the transfer function of the PID controller, the transfer function of the servo driving link and the transfer function of the water turbine, and the formula is expressed as follows:
wherein ,
for the transfer function of the PID controller, < >>
Is transmitted for servo driving linkDelivery function(s)>
Is the transfer function of the water turbine.
Preferably, the PID controller transfer function is a fractional order PID controller transfer function, and the formula is:
wherein ,k P 、k I 、k D the proportional coefficient, the integral coefficient and the differential coefficient are controlled by fractional order PID respectively,λandμfor the corresponding fractional order, ΔyFor the guide vane opening deviation, deltaωIn order to be a deviation of the rotational speed,k w is the constant of inertia which is the constant of the inertia,sin order to be a lagrangian operator,T d as a result of the differential coefficient,b p is a permanent state slip coefficient.
Preferably, the formula of the servo driving link transfer function is expressed as:
wherein ,k p1 、k i1 、k d1 for the PID parameter of the servo driving link,T 0 andT c the time coefficients of the starting and the closing of the hydraulic generator are respectively,T 2 is the feedback coefficient of the hydraulic generator,
is a lagrangian.
The invention also provides a device comprising:
the equivalent circuit building module is used for building an equivalent circuit of the water diversion system of the pumping and accumulating energy storage hydroelectric generating set;
the water head and flow transfer function acquisition module is used for performing transient analysis on the equivalent circuit, calculating the water head and flow of the water diversion system according to the equivalent circuit, and acquiring a transfer function of the water head and the flow of the water diversion system;
the water turbine transfer function acquisition module is used for calculating a water turbine transfer function according to the transfer function of the water head and the flow of the diversion system and the water turbine transfer coefficient;
and the extraction and storage energy storage hydroelectric generating set model acquisition module is used for calculating and obtaining the small signal model open-loop transfer function of the extraction and storage energy storage hydroelectric generating set according to the transfer function of the PID controller, the transfer function of the servo driving link and the transfer function of the water turbine.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program realizes the steps of the modeling method of the pumping and accumulating energy storage hydroelectric generating set when being executed by a processor.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the modeling method of the pumping and accumulating energy-storage hydroelectric generating set, an equivalent circuit of a water diversion system is established, transient analysis is carried out, a transfer function of a water head and flow of the water diversion system is obtained through calculation, the transfer function of a water turbine is calculated, and a small signal model open-loop transfer function of the pumping and accumulating energy-storage hydroelectric generating set is constructed on the basis of a transfer function of a PID controller of the pumping and accumulating energy-storage hydroelectric generating set and a transfer function of a servo driving link; the model of the pumping and storing energy storage hydroelectric generating set, which is built by the invention, considers the water hammer effect brought by the water diversion system, systematically analyzes the model, highlights the nonlinear characteristics of the pumping and storing energy storage hydroelectric generating set, and can more truly reflect the actual working state of the pumping and storing energy storage hydroelectric generating set under each working condition.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which:
FIG. 1 is a primary structure diagram of an extraction and storage energy storage hydroelectric generating set;
FIG. 2 is a flow chart of an implementation of a modeling method of a pumping and accumulating energy-storage hydroelectric generating set provided by the invention;
FIG. 3 is a schematic view of a priming system;
FIG. 4 is a schematic diagram of an equivalent circuit of the priming system;
FIG. 5 is a schematic diagram of a small signal circuit model of the priming system;
FIG. 6 is a graph of a fractional order PID controller transfer function model;
FIG. 7 is a graph of a transfer function model of a fractional PID controller of a water turbine speed regulation system of the pumping and accumulating energy storage hydroelectric generating set;
fig. 8 is a diagram comparing a classical model with a small signal model of the pumping and accumulating energy-storage hydroelectric generating set.
Detailed Description
The core of the invention is to provide a modeling method and device for the pumping, storage and energy storage hydroelectric generating set and a computer storage medium, which embody the nonlinear characteristics of the pumping, storage and energy storage hydroelectric generating set and can truly reflect the actual working state of the pumping, storage and energy storage hydroelectric generating set under various working conditions.
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the pumping and accumulating energy-storage hydroelectric generating set is divided into a speed regulating system and a hydroelectric generating set according to a primary system structure, wherein the speed regulating system consists of a controller and a hydraulic servo driving link, and the hydroelectric generating set consists of a prime motor and a generator.
When the power of the pumping and accumulating energy-storage hydroelectric generating set is regulated, the power of the hydraulic generator is automatically increased and decreased under the control of the speed regulating system to finish load variation. The working principle of the speed regulating system is that the rotating speed deviation of the hydraulic generator is reflected as the valve opening of the prime motor through the speed regulator, so that the aim of changing the output mechanical power of the prime motor is fulfilled. The speed regulator of the pumping and accumulating energy storage hydroelectric generating set adopts a PID controller, a valve adjusting signal output by the controller is transmitted to a hydraulic actuating mechanism, and a digital valve adjusting instruction converts the valve adjusting signal into a guide vane opening signal through an electrohydraulic conversion link, so that the control of the guide vane opening of the hydroelectric generating set is realized; wherein, the transfer function of the PID controller is:
Δy、Δωthe deviation of the opening degree and the deviation of the rotating speed of the guide vane of the hydraulic generator of the pumping and accumulating energy storage hydroelectric generating set are respectively;k p 、k i 、k d is a PID controller parameter;k w is the constant of inertia which is the constant of the inertia,sin order to be a lagrangian operator,T d as a result of the differential coefficient,b p is a permanent state slip coefficient.
The transfer function of the servo driving link is as follows:
wherein ,k p1 、k i1 、k d1 for the PID parameter of the servo driving link,T 0 andT c the time coefficients of the starting and the closing of the hydraulic generator are respectively,T 2 is the feedback coefficient of the hydraulic generator,
is a lagrangian.
The ideal pumping-accumulating energy-storing hydroelectric generating set model can well reflect the system characteristics under the operation working conditions of rated water head and load, but can generate frequency oscillation under the small fluctuation working condition. The pumping-accumulating energy-storing hydroelectric generating set has typical nonlinear characteristics, can be linearized at a steady-state working point, namely a frequency stabilization point, and has the following expression:
in the formula ：Δm t 、ΔQ、ΔHThe relative moment, the relative flow and the relative working water head of the water turbine in the water turbine set are respectively;e y 、e h 、e x 、e qy 、e qh 、e qx the method comprises the steps of respectively transmitting the moment of a water turbine to the opening degree of a guide vane, transmitting the moment to the water head, transmitting the moment to the rotating speed, transmitting the flow to the opening degree of the guide vane, transmitting the flow to the water head, and transmitting the flow to the rotating speed. The transfer coefficient is obtained by linearizing a stable operating point of the water turbine of the pumping and storage energy storage hydroelectric generating set after grid-connected operation, and can reflect dynamic characteristics under the small disturbance working condition.
The classical water pumping and accumulating energy storage hydroelectric generating set model does not consider the water hammer effect, simplifies the water diversion system, and cannot reflect the adverse effect of the water hammer effect generated by the water head, the flow and the flow velocity on the running of the set.
Therefore, in order to ensure the accuracy of the model of the pumping and accumulating energy-storage hydroelectric generating set and embody the nonlinear characteristics generated by the water hammer effect of the pipeline, please refer to fig. 2, the invention provides a modeling method of the pumping and accumulating energy-storage hydroelectric generating set, which comprises the following specific operation steps:
s101, establishing an equivalent circuit of a water diversion system of the pumping and accumulating energy storage hydroelectric generating set;
s102, performing transient analysis on the equivalent circuit, and calculating the water head and the flow of the water diversion system according to the equivalent circuit to obtain a transfer function of the water head and the flow of the water diversion system;
s103, calculating a water turbine transfer function according to the transfer function of the water head and the flow of the water diversion system and the transfer coefficient of the water turbine;
s104, calculating to obtain the small signal model open loop transfer function of the pumping storage energy storage hydroelectric generating set according to the transfer function of the PID controller, the transfer function of the servo driving link and the transfer function of the water turbine.
According to the modeling method of the pumping and accumulating energy-storage hydroelectric generating set, an equivalent circuit of a water diversion system is established, transient analysis is carried out, a transfer function of a water head and flow of the water diversion system is obtained through calculation, the transfer function of a water turbine is calculated, and a small signal model open-loop transfer function of the pumping and accumulating energy-storage hydroelectric generating set is constructed on the basis of a transfer function of a PID controller of the pumping and accumulating energy-storage hydroelectric generating set and a transfer function of a servo driving link; the model of the pumping and storing energy storage hydroelectric generating set, which is built by the invention, considers the water hammer effect brought by the water diversion system, systematically analyzes the model, highlights the nonlinear characteristics of the pumping and storing energy storage hydroelectric generating set, and can more truly reflect the actual working state of the pumping and storing energy storage hydroelectric generating set under each working condition.
Based on the above embodiments, the present embodiment describes step S101 in detail:
the water diversion system structure is shown in fig. 3, and comprises: the device comprises an upstream water pumping and accumulating reservoir, a first pressure pipeline, a vortex traction pipe, a second pressure pipeline, a downstream water pumping and accumulating reservoir and a pressure regulating tank connected with the vortex traction tank, which are sequentially connected.
The flow of the water diversion system is equivalent to current, the water head is equivalent to voltage, the pressure pipeline is equivalent to series inductance and resistance, the capacity of the pressure regulating tank is equivalent to capacitance, the dynamic characteristic is equivalent to an additionally introduced disturbance voltage source, and an equivalent circuit of the water diversion system of the pumping and accumulating energy storage hydroelectric generating set is obtained, as shown in fig. 4, wherein the physical meaning of each parameter is as follows:R 1 is the equivalent resistance (s 2 /m 5 ），R 2 Is the equivalent resistance (s 2 /m 5 ），L 1 Equivalent inductance(s) 2 /m 2 ），L 2 Equivalent inductance(s) 2 /m 2 ），C 1 Is the equivalent capacitance (m 2 ），H U Represents the water head (m) of the water reservoir upstream of the pumping and accumulating power station,H D represents the water head (m) of the water reservoir downstream of the pumping station,H 1 represents the pressure regulating tank water head (m),Hrepresenting the disturbance signal(s),Q 1 represents the flow rate (m) 3 /s），QRepresents the flow (m) 3 /s）。
Based on the above embodiments, the present embodiment describes step S102 in detail:
performing transient analysis on the equivalent circuit to obtain a small-signal circuit model, as shown in fig. 5, and calculating the water head and flow of the water diversion system according to kirchhoff voltage and current law, wherein the formula is expressed as follows:
wherein ,sin order to be a lagrangian operator,L 1 andR 1 equivalent inductance and resistance are characteristic of the first pressure conduit,L 2 andR 2 equivalent inductance and resistance, delta, for the second pressure conduit characteristicQ 1 Represents the flow before pressure regulation, delta Ht 1 Represents the pressure regulating tank water head corresponding to the time t1, delta Ht2 represents the pressure regulating tank water head corresponding to the time t2, ct 1 Representing the capacity of the pressure regulating tank, deltaHRepresenting disturbance signals, namely the water head of the water diversion system, which is obtained according to the comprehensive characteristic curve of the water turbine in the pumping and storing energy-storing hydroelectric generating set and is closer to the actual working state, deltaQAnd the flow after pressure regulation is represented, namely the flow of the diversion system.
The transfer function of the water head and the flow of the water diversion system is obtained according to the ratio of the water head and the flow of the water diversion system, and the formula is expressed as follows:
wherein ,
，/>
，Q 0 for the initial flow rate in the pipe,H 0 is the initial head in the pipe.
Based on the above embodiments, the present embodiment describes in detail step S103:
according to the transfer function of the water head and the flow of the diversion system and the transfer coefficient of the water turbine, the transfer function of the water turbine is calculated, and the formula is expressed as follows:
wherein ,e y 、e h 、e qy 、e qh the hydraulic turbine moment to guide vane opening transfer coefficient, the hydraulic turbine moment to water head transfer coefficient, the hydraulic turbine flow to guide vane opening transfer coefficient and the hydraulic turbine flow to water head transfer coefficient of the pumping-accumulating energy-storing hydroelectric generating set are respectively adopted.
Based on the above embodiments, the present embodiment describes in detail step S104:
according to the transfer function of the PID controller, the transfer function of the servo driving link and the transfer function of the water turbine, calculating to obtain the small signal model open loop transfer function of the pumping storage energy storage hydroelectric generating set, wherein the formula is expressed as follows:
wherein ,
for the transfer function of the PID controller, < >>
For the servo drive element transfer function, < >>
Is the transfer function of the water turbine.
The transfer function of the PID controller is a fractional order PID controller transfer function:
as shown in fig. 6, fractional order PID controller adopts fractional order calculus control, wherein the differential order and the integral order in fractional order calculus are non-integers, and fractional order PID controller fractional order calculus control can be expressed as:
where a and t are the upper and lower limits of the differentiation, alpha is the order of integration,
is the integration step interval. Fractional order PID controllers include Riemann-Liouville (RL) and Grunwald-Letnikov (GL), with RL being expressed as:
where m is the highest integral value and f (·) is the euler function.
GL may represent:
where h is the step size and k is the current accumulation coefficient. The n-order derivative of the signal x (t) added at time t=0 is subjected to the radon transform, so that the following can be obtained:
where L represents a pull-type transform and s represents a transform coefficient.
The fractional differential equation of the fractional PID controller is:
wherein u (t) is the controller output and e (t) is the controller error input; d is a differential operator and is used to determine the differential value,k P 、k I 、k D respectively proportional gain, integral coefficient and differential coefficient, wherein lambda and mu are respectively integral order and differential order, the value range is (0-2), and the transfer function of the fractional PID controller can be obtained by carrying out Laplace transformation on the values:
introduction of fractional orders λ and μ, such that the controller-tunable parameters become [ [k P ，k I ，k D ，λ，μ]The control range is wider, the control precision is higher, whenλ=μWhen=1, the fractional order PID controller is specialized as a conventional PID controller. By reasonably and flexibly adjusting parameters, a better control effect can be achieved, and the system performance is effectively improved.
As shown in fig. 7, when the pumping and accumulating energy-storing hydroelectric generating set participates in frequency modulation, the change of the rotating speed of the pumping and accumulating energy-storing hydroelectric generating set is accurately controlled by the fractional order PID controller, and then is transmitted to a servo driving link of the pumping and accumulating energy-storing hydroelectric generating set under the control instruction of the opening of the guide vane, so as to form a final opening value of the guide vane, and further, the active output of the pumping and accumulating energy-storing hydroelectric generating set is adjusted to meet the frequency modulation requirement of the system, and the transfer function of the fractional order PID controller is as follows:
wherein ,k p 、k I 、k D the proportional coefficient, the integral coefficient and the differential coefficient are controlled by fractional order PID respectively,λandμfor the corresponding fractional order, ΔyFor the guide vane opening deviation, deltaωIn order to be a deviation of the rotational speed,k w is the constant of inertia which is the constant of the inertia,sin order to be a lagrangian operator,T d as a result of the differential coefficient,b p is a permanent state slip coefficient.
The fractional order PID controller is applied to a water turbine speed regulation system of the pumping storage energy storage hydroelectric generating set, and the introduction of fractional order in the integration link can effectively eliminate static deviation of the opening degree of the guide vane, so that the change of the opening degree of the guide vane is smooth; the introduction of fractional order in the differential link can effectively inhibit the oscillation of the deviation of the opening degree of the guide vane of the output signal generated by the dynamic change of the rotating speed, and finally the opening degree of the guide vane output by the speed regulating system is more accurate and stable due to the connection of the fractional order PID controller.
Based on the embodiment, when the influence of the mechanical torque of the pumping-accumulating energy-storing hydroelectric generating set on the dynamic stability of the power system is analyzed, a second-order model of the generator is as follows:
wherein ,Jis the moment of inertia; deltam t and Δm e The mechanical torque and the electromagnetic torque are respectively,Das damping coefficient, deltaδIs the rotor angle variation.
Will be described above as deltaδ-ΔωThe decomposition is carried out on a coordinate system, and the following steps are obtained:
wherein ,D G is the damping torque coefficient of the motor,K G for synchronizing torque coefficients, whenD G Providing positive damping for a positive generator to a system whenD G Providing negative damping for the system for the negative-time generator may cause low-frequency oscillations of the system.
According to the comparison of the classical model of the pumping and accumulating energy-storage hydroelectric generating set and the small signal model provided by the invention, as shown in fig. 8, the following can be obtained: when the system frequency responds, the frequency minimum point is close to the steady-state frequency deviation, the small signal model built by the invention accords with the characteristic of rapid adjustment of the active output of the pumping, storage and energy storage hydroelectric generating set, the feasibility is realized, and the model built by the invention is smoother to the frequency adjustment.
Based on the embodiment, the invention also provides a structural block diagram of the modeling device of the pumping and storing energy storage hydroelectric generating set; the specific apparatus may include:
the equivalent circuit building module is used for building an equivalent circuit of the water diversion system of the pumping and accumulating energy storage hydroelectric generating set;
the water head and flow transfer function acquisition module is used for performing transient analysis on the equivalent circuit, calculating the water head and flow of the water diversion system according to the equivalent circuit, and acquiring a transfer function of the water head and the flow of the water diversion system;
the water turbine transfer function acquisition module is used for calculating a water turbine transfer function according to the transfer function of the water head and the flow of the diversion system and the water turbine transfer coefficient;
and the extraction and storage energy storage hydroelectric generating set model acquisition module is used for calculating and obtaining the small signal model open-loop transfer function of the extraction and storage energy storage hydroelectric generating set according to the transfer function of the PID controller, the transfer function of the servo driving link and the transfer function of the water turbine.
The pumping and accumulating energy-storing hydroelectric generating set modeling device of the present embodiment is used to implement the foregoing pumping and accumulating energy-storing hydroelectric generating set modeling method, so that the specific implementation of the pumping and accumulating energy-storing hydroelectric generating set modeling device can be found in the foregoing example portions of the pumping and accumulating energy-storing hydroelectric generating set modeling method, for example, the equivalent circuit establishing module, the water head and flow transfer function obtaining module, the water turbine transfer function obtaining module, and the pumping and accumulating energy-storing hydroelectric generating set model obtaining module are respectively used to implement steps S101, S102, S103, and S104 in the foregoing pumping and accumulating energy-storing hydroelectric generating set modeling method, so that the specific implementation thereof can refer to the description of the examples of the corresponding portions and will not be repeated herein.
The embodiment of the invention also provides modeling equipment of the pumping and accumulating energy-storage hydroelectric generating set, which comprises the following components:
a memory for storing a computer program;
and the processor is used for realizing the steps of the modeling method of the pumping and accumulating energy storage hydroelectric generating set when executing the computer program.
The specific embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program realizes the steps of the modeling method of the pumping storage energy storage hydroelectric generating set when being executed by a processor.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (10)
1. The modeling method of the pumping and accumulating energy storage hydroelectric generating set is characterized by comprising the following steps of:
establishing an equivalent circuit of a water diversion system of the pumping and accumulating energy storage hydroelectric generating set;
performing transient analysis on the equivalent circuit, and calculating the water head and the flow of the water diversion system according to the equivalent circuit to obtain a transfer function of the water head and the flow of the water diversion system;
calculating a water turbine transfer function according to the transfer function of the water head and the flow of the water diversion system and the transfer coefficient of the water turbine;
and calculating to obtain the small signal model open loop transfer function of the pumping, accumulating and storing energy-storing hydroelectric generating set according to the transfer function of the PID controller, the transfer function of the servo driving link and the transfer function of the water turbine.
2. The modeling method of the pumping and accumulating energy-storing hydroelectric generating set according to claim 1, wherein the establishing an equivalent circuit of the pumping and accumulating energy-storing hydroelectric generating set water diversion system comprises:
and the flow of the water diversion system is equivalent to current, the water head is equivalent to voltage, the pressure pipeline is equivalent to inductance and resistance, the capacity of the pressure regulating tank is equivalent to capacitance, and the dynamic characteristic is equivalent to an additionally introduced disturbance voltage source, so that an equivalent circuit of the water diversion system of the pumping and accumulating energy storage hydroelectric generating set is obtained.
3. The modeling method of a pumping and accumulating energy storage hydroelectric generating set according to claim 2, wherein the transient analysis of the equivalent circuit and the calculation of the water head and flow of the water diversion system according to the equivalent circuit comprise:
performing transient analysis on the equivalent circuit, and calculating the water head and flow of the water diversion system according to kirchhoff voltage and current law, wherein the formula is expressed as follows:
wherein ,sin order to be a lagrangian operator,L 1 andR 1 equivalent inductance and resistance are characteristic of the first pressure conduit,L 2 andR 2 equivalent inductance and resistance, delta, for the second pressure conduit characteristicQ 1 Represents the flow before pressure regulation, delta Ht 1 Represents the pressure regulating tank water head corresponding to the time t1, delta Ht2 represents the pressure regulating tank water head corresponding to the time t2, ct 1 Representing the capacity of the pressure regulating tank, deltaHRepresenting disturbance signals, i.e. water head, deltaQAnd the flow after pressure regulation is represented, namely the flow of the diversion system.
4. A method of modeling a pumped storage hydro power generation unit as defined in claim 3 wherein the obtaining a transfer function of water head and flow of the water diversion system comprises:
the transfer function of the water head and the flow of the water diversion system is obtained according to the ratio of the water head and the flow of the water diversion system, and the formula is expressed as follows:
wherein ,
，/>
，Q 0 for the initial flow rate in the pipe,H 0 is the initial head in the pipe.
5. The modeling method of a pumping and accumulating energy-storing hydroelectric generating set according to claim 4, wherein the water turbine transfer function is calculated according to the transfer function of the water head and the flow of the water diversion system and the transfer coefficient of the water turbine, and the formula is expressed as follows:
wherein ,e y 、e h 、e qy 、e qh the hydraulic turbine moment to guide vane opening transfer coefficient, the hydraulic turbine moment to water head transfer coefficient, the hydraulic turbine flow to guide vane opening transfer coefficient and the hydraulic turbine flow to water head transfer coefficient of the pumping-accumulating energy-storing hydroelectric generating set are respectively adopted.
6. The modeling method of the pumping and accumulating energy storage hydroelectric generating set according to claim 1, wherein the small signal model open loop transfer function of the pumping and accumulating energy storage hydroelectric generating set is calculated according to the transfer function of the PID controller, the transfer function of the servo driving link and the transfer function of the water turbine, and the formula is expressed as follows:
wherein ,
for the transfer function of the PID controller, < >>
For the servo drive element transfer function, < >>
Is the transfer function of the water turbine.
7. The modeling method of a pumping and accumulating energy storage hydroelectric generating set according to claim 6, wherein the transfer function of the PID controller is a fractional-order PID controller transfer function, and the formula is as follows:
wherein ,k P 、k I 、k D the proportional coefficient, the integral coefficient and the differential coefficient are controlled by fractional order PID respectively,λandμfor the corresponding fractional order, ΔyFor the guide vane opening deviation, deltaωIn order to be a deviation of the rotational speed,k w is the constant of inertia which is the constant of the inertia,sin order to be a lagrangian operator,T d as a result of the differential coefficient,b p is a permanent state slip coefficient.
8. The modeling method of a pumping and accumulating energy storage hydroelectric generating set according to claim 6, wherein the formula of the transfer function of the servo driving link is expressed as:
wherein ,k p1 、k i1 、k d1 for the PID parameter of the servo driving link,T 0 andT c the time coefficients of the starting and the closing of the hydraulic generator are respectively,T 2 is the feedback coefficient of the hydraulic generator,
is a lagrangian.
9. The utility model provides a take out and hold energy storage hydroelectric set modeling device which characterized in that includes:
the equivalent circuit building module is used for building an equivalent circuit of the water diversion system of the pumping and accumulating energy storage hydroelectric generating set;
the water head and flow transfer function acquisition module is used for performing transient analysis on the equivalent circuit, calculating the water head and flow of the water diversion system according to the equivalent circuit, and acquiring a transfer function of the water head and the flow of the water diversion system;
the water turbine transfer function acquisition module is used for calculating a water turbine transfer function according to the transfer function of the water head and the flow of the diversion system and the water turbine transfer coefficient;
and the extraction and storage energy storage hydroelectric generating set model acquisition module is used for calculating and obtaining the small signal model open-loop transfer function of the extraction and storage energy storage hydroelectric generating set according to the transfer function of the PID controller, the transfer function of the servo driving link and the transfer function of the water turbine.
10. A computer readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the steps of a method for modeling an extraction and storage hydroelectric power generation set according to any of claims 1 to 8.
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