CN116608081A - Hydraulic turbine speed regulator opening degree control method and system - Google Patents
Hydraulic turbine speed regulator opening degree control method and system Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The application provides a method and a system for controlling the opening degree of a speed regulator of a water turbine, wherein the method comprises the following steps: acquiring water head data, a frequency signal and an initial PID control signal of a water turbine; generating a difference correction coefficient by combining the water head data and preset power setting; correcting an initial difference coefficient preset in the water turbine through the difference correction coefficient to obtain an adjustment difference coefficient; generating an adjusted PID control signal in combination with the frequency signal, the initial PID control signal and the adjusted difference coefficient; generating an opening control signal by combining the water head data, the power setting and a preset opening setting; and superposing the PID control signal and the opening control signal to generate a control signal of the water turbine. The application has the effect of not setting power or opening degree to adjust dead zone, and solves the problem that the primary frequency modulation is not possible to act or is incorrect under the condition of small frequency difference.
Description
Technical Field
The application belongs to the technical field of hydroelectric generating set control, and particularly relates to a method and a system for controlling the opening degree of a speed regulator of a water turbine.
Background
In an electric power system, a hydroelectric generating set bears a large number of peak regulation and frequency modulation tasks. The hydroelectric generating set can timely and rapidly adjust the output power of the hydroelectric generating set according to the power grid dispatching requirement and the power grid frequency change condition so as to meet the requirements of power grid active power balance and frequency adjustment. For grid-connected hydroelectric generating sets, there are two control modes generally, one is an opening control method, which aims at opening control, has good stability, is not influenced by external interference, and has small influence on the adjustment parameters by operation conditions. But the control objective is difficult to meet the requirements of the power grid on the power regulation objective. Thus, another method of regulation: the power control method is largely employed in practice.
However, the power regulation mode is a feedback control mode, which utilizes the difference value between the target power and the actual power to generate the control output of the hydraulic turbine servomotor according to a certain power rule, and the control parameters are greatly influenced by the operation working conditions, so that the parameter setting difficulty is high. In addition, due to the influence of the water pressure pulsation of the water turbine, the feedback power can have certain fluctuation in a stable state. In order to reduce frequent unnecessary actions of the hydraulic turbine governor, a certain power dead zone is often set. Because of the existence of the dead zone of power regulation, when the regulation target power caused by the fluctuation of the power grid frequency is smaller than the dead zone set value, the hydraulic turbine speed regulator cannot generate any regulation effect, so that the primary frequency modulation performance of the hydraulic turbine speed regulator with small frequency difference cannot meet the power grid assessment requirement. For this situation, more rational and efficient control methods for the governor of the water turbine have to be studied.
Disclosure of Invention
The application provides a method and a system for controlling the opening degree of a water turbine speed regulator, which are used for solving the problem that the primary frequency modulation performance of the small-frequency-difference water turbine speed regulator cannot meet the power grid assessment requirement.
In a first aspect, the present application provides a method for controlling the opening degree of a speed regulator of a water turbine, comprising the steps of:
acquiring water head data, a frequency signal and an initial PID control signal of a water turbine;
generating a difference correction coefficient by combining the water head data and preset power setting;
correcting an initial difference coefficient preset in the water turbine through the difference correction coefficient to obtain an adjustment difference coefficient;
generating an adjusted PID control signal in combination with the frequency signal, the initial PID control signal and the adjusted difference coefficient;
generating an opening control signal by combining the water head data, the power setting and a preset opening setting;
and superposing the PID control signal and the opening control signal to generate a control signal of the water turbine.
Optionally, the step of generating a difference correction coefficient by combining the head data and a preset power setting includes the steps of:
performing forward bias on preset power setting to obtain a forward bias operation working condition point;
calculating a first opening predicted value by combining the forward bias operation working condition point and the water head data;
carrying out negative bias on preset power setting to obtain a negative bias operation working condition point;
calculating a second opening predicted value by combining the negative bias operation working condition point and the water head data;
and calculating a difference correction coefficient by combining the first opening predicted value and the second opening predicted value.
Optionally, the frequency signal includes frequency data and a preset frequency setting, and the generating the adjusted PID control signal by combining the frequency signal, the initial PID control signal, and the adjusted difference coefficient includes the following steps:
calculating a frequency error from the frequency data and the frequency set;
generating a control error signal in combination with the frequency error, the initial PID control signal, and the adjustment difference coefficient;
and generating a regulating PID control signal based on the control error signal through a PID control algorithm.
Optionally, the generating the opening control signal by combining the water head data, the power setting and the preset opening setting includes the following steps:
judging whether the operation mode of the water turbine is a grid-connected operation mode or a non-grid-connected operation mode;
if the operation mode of the water turbine is the non-grid-connected operation mode, giving a preset opening as an opening control signal;
and if the operation mode of the water turbine is the grid-connected operation mode, generating the opening control signal by combining the water head data and the power setting.
Optionally, said generating said opening control signal in combination with said head data and said power setting comprises the steps of:
acquiring historical operation data of the water turbine;
constructing and training a convolutional neural network model based on the historical operating data;
generating an output vector from the head data and the power setting;
and outputting the output vector to the convolutional neural network model to obtain an opening prediction signal, and taking the opening prediction signal as the opening control signal.
In a second aspect, the present application also provides a hydraulic turbine governor opening control system, the system comprising:
the data acquisition module is used for acquiring water head data, frequency signals and initial PID control signals of the water turbine;
the correction coefficient generation module is used for generating a difference correction coefficient by combining the water head data and preset power setting;
the difference coefficient adjusting module is used for correcting an initial difference coefficient preset in the water turbine through the difference correction coefficient to obtain an adjusted difference coefficient;
the PID control module is used for generating an adjustment PID control signal by combining the frequency signal, the initial PID control signal and the adjustment difference coefficient;
the opening control switching module is used for generating an opening control signal by combining the water head data, the power setting and a preset opening setting;
and the control output module is used for superposing the PID control signal and the opening control signal to generate a control signal of the water turbine.
Optionally, the correction coefficient generating module includes:
the positive bias unit is used for carrying out positive bias on preset power setting to obtain a positive bias operation working condition point;
the first opening prediction unit is used for combining the forward bias operation working condition point and the water head data to calculate and obtain a first opening prediction value;
the negative bias unit is used for carrying out negative bias on preset power setting to obtain a negative bias operation working condition point;
the second opening prediction unit is used for combining the negative bias operation working condition point and the water head data to calculate a second opening prediction value;
and the correction coefficient calculation unit is used for combining the first opening predicted value and the second opening predicted value to calculate and obtain a difference correction coefficient.
Optionally, the frequency signal includes frequency data and a preset frequency setting, and the PID control module includes:
a frequency error calculation unit configured to calculate a frequency error from the frequency data and the frequency set;
an error signal generation unit for generating a control error signal in combination with the frequency error, the initial PID control signal and the adjustment difference coefficient;
and the PID control signal generating unit is used for generating a regulating PID control signal according to the control error signal and through a PID control algorithm.
Optionally, the opening control switching module includes:
the operation mode judging unit is used for judging whether the operation mode of the water turbine is a grid-connected operation mode or a non-grid-connected operation mode;
and the first opening control unit is preset with an opening given value and is used for outputting the opening given value as an opening control signal when the judgment result of the operation mode judgment unit is that the operation mode of the water turbine is the non-grid-connected operation mode.
Optionally, the opening control switching module further includes:
the historical data acquisition unit is used for acquiring historical operation data of the water turbine;
the model building unit is used for building and training a convolutional neural network model based on the historical operation data;
a vector generation unit for generating an output vector from the head data and the power setting;
and the second opening control unit is used for outputting the output vector to the convolutional neural network model to obtain an opening prediction signal when the judgment result of the operation mode judgment unit is that the operation mode of the water turbine is the grid-connected operation mode, and outputting the opening prediction signal as the opening control signal.
The beneficial effects of the application are as follows:
the opening control method of the water turbine speed regulator provided by the application comprises the following steps: acquiring water head data, a frequency signal and an initial PID control signal of a water turbine; generating a difference correction coefficient by combining the water head data and preset power setting; correcting an initial difference coefficient preset in the water turbine through the difference correction coefficient to obtain an adjustment difference coefficient; generating an adjusted PID control signal in combination with the frequency signal, the initial PID control signal and the adjusted difference coefficient; generating an opening control signal by combining the water head data, the power setting and a preset opening setting; and superposing the PID control signal and the opening control signal to generate a control signal of the water turbine. Therefore, the application maintains the advantages of good stability and no interference from external factors of the traditional hydraulic turbine governor opening control method, realizes fine control of hydraulic turbine power through power opening prediction, and realizes accurate control of primary frequency modulation through correction and adjustment of the self-adaptive difference coefficient.
Drawings
Fig. 1 is a schematic flow chart of a method for controlling the opening of a water turbine governor according to one embodiment of the present application.
Fig. 2 is a flow chart of generating a difference correction coefficient according to one embodiment of the present application.
FIG. 3 is a flow chart illustrating generation of a tuning PID control signal according to an embodiment of the application.
Fig. 4 is a schematic flow chart of generating an opening control signal according to an embodiment of the present application.
Fig. 5 is a second flow chart of generating an opening control signal according to an embodiment of the present application.
Fig. 6 is a schematic diagram of a system for controlling the opening of a speed regulator of a water turbine according to one embodiment of the present application.
Reference numerals illustrate:
1. a data acquisition module; 2. a correction coefficient generation module; 3. a difference coefficient adjustment module; 4. a PID control module; 5. an opening control switching module; 6. a control output module; 21. a positive bias unit; 22. a first opening degree prediction unit; 23. a negative bias unit; 24. a second opening degree prediction unit; 25. a correction coefficient calculation unit; 41. a frequency error calculation unit; 42. an error signal generation unit; 43. and a PID control signal generating unit.
Detailed Description
The application discloses a method for controlling the opening of a speed regulator of a water turbine.
In one embodiment, referring to fig. 1, the method for controlling the opening degree of the water turbine governor specifically includes the following steps:
s101, acquiring water head data, a frequency signal and an initial PID control signal of the water turbine.
The water head data generally refers to the height difference that water flow can be converted into mechanical energy output by the water turbine, namely the difference between kinetic energy and potential energy carried in water flow movement. The water head is related to parameters such as the speed, flow rate and pipeline sectional area of water flow, and is generally expressed by the water head per unit area. The frequency signal comprises real-time frequency data of the hydraulic turbine governor and preset frequency set by the governor. The initial PID control signal comes from the PID control module of the water turbine, which is mainly a control system for adjusting and controlling parameters such as the rotation speed, the water head and the load of the water turbine. The PID control module consists of three parts including proportional, integral and differential control. The proportional control produces the adjustment amplitude by measuring the difference between the system output value and the desired value. The integral control can check the past errors of the system, so that the adjustment amplitude is more accurate, and the differential control can adjust the control amplitude according to the current feedback condition of the system, so that the stability and the response speed of the system are improved. The PID control module of the water turbine can be adjusted and optimized according to specific application scenes and requirements, so that a more efficient and accurate control effect is achieved.
S102, combining the water head data and preset power to give a difference correction coefficient.
The power setting is a preset given value of the water turbine speed regulator, positive and negative bias can be carried out on the power setting to obtain a positive and negative bias operation working condition point, and then the opening value of the water turbine speed regulator is predicted by combining water head data, so that a difference correction coefficient is finally calculated according to the opening value.
S103, correcting an initial difference coefficient preset in the water turbine through the difference correction coefficient to obtain an adjustment difference coefficient.
The calculation formula of the adjustment difference coefficient is as follows:
wherein: kb is a difference correction coefficient, bp is an adjustment difference coefficient, bp 0 Is the preset initial difference coefficient.
S104, combining the frequency signal, the initial PID control signal and the adjustment difference coefficient to generate an adjustment PID control signal.
The frequency error is calculated based on the frequency signal, then the frequency error, the initial PID control signal and the adjustment difference coefficient are combined to generate a control error signal, and finally the adjustment PID control signal is generated through a PID control algorithm.
S105, generating an opening control signal by combining the water head data, the power setting and the preset opening setting.
The method comprises the steps of judging whether the operation mode of the water turbine is grid-connected operation or not, and selecting different modes to generate opening signals according to a judging result.
S106, superposing the PID control signal and the opening control signal to generate a control signal of the water turbine.
The implementation principle of the embodiment is as follows:
and generating a required opening control signal according to the power setting and through power opening prediction control, thereby improving the power control precision of the opening control method. Meanwhile, the initial difference coefficient is corrected by generating the difference correction coefficient, so that the primary frequency modulation of the water turbine speed regulator is accurately controlled.
In one embodiment, referring to fig. 2, step S102, that is, combining the head data and the preset power, specifically includes the following steps:
s201, performing positive bias on preset power setting to obtain a positive bias operation working condition point.
Wherein, the forward bias of the power setting means that the power set value or the expected value of the system is set to be a certain amount higher than the actual output power, so that the controller can control the output power of the system more accurately. The positive bias can place the operating point of the control system in a higher value region of the output power, so that adjustment errors can be reduced, and the stability and response speed of the control system are improved. In a hydraulic turbine control system, the positive bias can be generally realized by changing the opening degree of a hydraulic speed regulator or adjusting a control valve, and can be adjusted and optimized according to specific hydraulic turbine parameters and running states so as to obtain better adjusting effect.
For example, assuming that the water turbine head data is H, the preset power is given as Cp, the forward bias is expected to be 5%, the power after the forward bias is given as Cp 1=105% Cp, and thus the forward bias operation point S1 is [ Cp1, H ].
S202, calculating to obtain a first opening degree predicted value by combining the forward bias operation working condition point and the water head data.
In one embodiment, the step S202 further includes the following steps: acquiring historical water head data, historical power setting and historical opening value of a speed regulator of the water turbine; establishing an opening degree prediction model based on a convolutional neural network; and training an opening prediction model through the historical water head data, the historical power setting and the historical opening value of the speed regulator. After the opening prediction model is trained, the forward bias operation working condition point and the water head data are input into the trained opening prediction model, and the first opening prediction value can be calculated.
S203, carrying out negative bias on preset power setting to obtain a negative bias operation working condition point.
For example, assuming that the water head data of the water turbine is H, the preset power is given as Cp, and the negative bias is expected to be 5%, the power after the negative bias is given as Cp 2=95%cp, so the negative bias operation point S2 is [ Cp2, H ].
S204, calculating a second opening predicted value by combining the negative bias operation working condition point and the water head data.
In one embodiment, the step S204 further includes the following steps: acquiring historical water head data, historical power setting and historical opening value of a speed regulator of the water turbine; establishing an opening degree prediction model based on a convolutional neural network; and training an opening prediction model through the historical water head data, the historical power setting and the historical opening value of the speed regulator. After the opening prediction model is trained, the negative bias operation working condition point and the water head data are input into the trained opening prediction model, and the second opening prediction value can be calculated.
S205, calculating a difference correction coefficient by combining the first opening predicted value and the second opening predicted value.
The calculation formula of the difference correction coefficient is as follows:
wherein: kb is the difference correction coefficient, y 1 Is the first opening degree predicted value, y 2 Is the second opening degree predicted value.
In one embodiment, the frequency signal includes frequency data and a preset frequency setting, referring to fig. 3, step S104 of generating a tuning PID control signal by combining the frequency signal, the initial PID control signal and the tuning difference coefficient specifically includes the following steps:
s301, calculating a frequency error according to the frequency data and the frequency set.
The calculation formula of the frequency error is as follows:
Xe＝Cf-freq
wherein: xe is the frequency error, cf is the frequency given, and freq is the frequency data.
S302, combining the frequency error, the initial PID control signal and the adjustment difference coefficient to generate a control error signal.
The initial PID control signal is an initial frequency value output by the PID controller of the water turbine, and the control error signal can be understood as an actual control error difference value, so that the calculation formula of the actual control error difference value is as follows:
Ce＝Xe-Bp×f 0
wherein: ce is the actual control error difference, xe is the frequency error, bp is the adjustment difference coefficient, f 0 The initial frequency value is output by the PID controller of the water turbine.
S303, generating a regulating PID control signal based on the control error signal through a PID control algorithm.
The PID control signal is adjusted by error correction, and the frequency value output by the PID control module is adjusted. The formula for generating the tuning PID control signal by the PID control algorithm is as follows:
wherein: f (f) pid For adjusting the PID control signal, kp is the proportional control coefficient, ki is the integral control coefficient, and kd is the derivative control coefficient.
In one embodiment, referring to fig. 4, step S105, that is, generating the opening control signal in combination with the head data, the power setting, and the preset opening setting specifically includes the following steps:
s401, judging that the operation mode of the water turbine is a grid-connected operation mode or a non-grid-connected operation mode, and executing step S402 if the operation mode of the water turbine is the non-grid-connected operation mode; if the operation mode of the water turbine is the grid-connected operation mode, step S403 is executed.
S402, giving the preset opening as an opening control signal.
S403, generating an opening control signal by combining the water head data and the power setting.
In one embodiment, referring to fig. 5, step S403, that is, generating the opening control signal by combining the head data and the power setting, specifically includes the following steps:
s501, acquiring historical operation data of the water turbine.
Wherein the historical operating data includes historical head data, historical power settings, and governor historical opening values.
S502, constructing and training a convolutional neural network model based on historical operation data.
In this embodiment, the specific steps of step S502 are as follows: constructing a convolutional neural network model; and training a convolutional neural network model through the historical water head data, the historical power setting and the historical opening value of the speed regulator.
S503, generating an output vector according to the water head data and the power.
Wherein, assuming that the water head data is H and the power is given as Cp, the output vector Sp generated according to the water head data and the power is given as [ Cp, H ].
S504, outputting the output vector to a convolutional neural network model to obtain an opening prediction signal, and taking the opening prediction signal as an opening control signal.
The application also discloses a system for controlling the opening of the water turbine speed regulator.
In one embodiment, referring to fig. 6, a hydraulic turbine governor opening control system includes: the system comprises a data acquisition module, a correction coefficient generation module, a difference coefficient adjustment module, a PID control module, an opening control switching module and a control output module. The data acquisition module is connected with the PID control module to acquire an initial PID control signal of the PID control module, and is also used for acquiring water head data and a frequency signal of the water turbine, wherein the frequency signal comprises frequency data and preset frequency setting.
The correction coefficient generation module is connected with the data acquisition module to receive the water head data, and the correction coefficient generation module combines the received water head data with preset power to generate a difference correction coefficient. The difference coefficient adjusting module is connected with the correction coefficient generating module, receives the difference correction coefficient, corrects the preset initial difference coefficient in the water turbine through the difference correction coefficient, and outputs an adjusted difference coefficient. The calculation formula of the adjustment difference coefficient is as follows:
wherein: kb is a difference correction coefficient, bp is an adjustment difference coefficient, bp 0 Is the preset initial difference coefficient.
The PID control module is connected with the data acquisition module and the difference coefficient adjustment module, receives the frequency signal from the data acquisition module, acquires the adjustment difference coefficient and the initial PID control signal from the difference coefficient adjustment module, and generates the adjustment PID control signal by combining the frequency signal, the initial PID control signal and the adjustment difference coefficient.
The opening control switching module is connected with the data acquisition module to receive the water head data and the preset opening setting, so that an opening control signal is generated by combining the water head data, the power setting and the preset opening setting. The control output module is respectively connected with the PID control module and the opening control switching module and is used for superposing the PID control signal and the opening control signal to generate a control signal of the water turbine speed regulator.
Referring to fig. 6, in the present embodiment, the correction coefficient generation module includes:
and the positive bias unit is used for carrying out positive bias on the preset power setting to obtain a positive bias operation working condition point.
The first opening prediction unit is used for combining the forward bias operation working condition point and the water head data to calculate and obtain a first opening prediction value.
And the negative bias unit is used for carrying out negative bias on the preset power setting to obtain a negative bias operation working condition point.
The second opening prediction unit is used for combining the negative bias operation working condition point and the water head data to calculate and obtain a second opening prediction value.
And the correction coefficient calculation unit is used for combining the first opening predicted value and the second opening predicted value to calculate and obtain a difference correction coefficient.
Assuming that the water head data of the water turbine is H, the preset power is given as Cp, the positive bias is expected to be 5%, the negative bias is expected to be 5%, the power after the positive bias is given as Cp 1=105% Cp, the positive bias operation point S1 is [ Cp1, H ], the power after the negative bias is given as Cp 2=95% Cp, and the negative bias operation point S2 is [ Cp2, H ].
In one embodiment, the correction coefficient generation module further comprises a historical data acquisition unit for acquiring the historical water head data of the water turbine, the historical power setting and the historical opening value of the speed regulator, and a prediction model construction unit for establishing an opening prediction model based on the convolutional neural networkAnd training an opening prediction model through the historical water head data, the historical power setting and the historical opening value of the speed regulator. The first opening prediction unit inputs the forward bias operation working condition point and the water head data into an opening prediction model to obtain a first opening prediction value y 1 The method comprises the steps of carrying out a first treatment on the surface of the The second opening prediction unit inputs the negative bias operation working condition point and the water head data into an opening prediction model to obtain a second opening prediction value y 2 . The calculation formula of the difference correction coefficient kb is as follows:
referring to fig. 6, in the present embodiment, the PID control module includes:
a frequency error calculation unit for calculating a frequency error based on the frequency data and the frequency setting.
And the error signal generation unit is used for generating a control error signal by combining the frequency error, the initial PID control signal and the adjustment difference coefficient.
And the PID control signal generating unit is used for generating a regulating PID control signal according to the control error signal and through a PID control algorithm.
The calculation formula of the frequency error is as follows:
Xe＝Cf-freq
wherein: xe is the frequency error, cf is the frequency given, and freq is the frequency data.
The initial PID control signal is an initial frequency value output by the PID controller of the water turbine, and the control error signal can be understood as an actual control error difference value, so that the calculation formula of the actual control error difference value is as follows:
Ce＝Xe-Bp×f 0
wherein: ce is the actual control error difference, xe is the frequency error, bp is the adjustment difference coefficient, f 0 The initial frequency value is output by the PID controller of the water turbine.
And the PID control signal is regulated by error correction and regulation, and the frequency value is output by the PID control module. The formula for generating the tuning PID control signal by the PID control algorithm is as follows:
wherein: f (f) pid For adjusting the PID control signal, kp is the proportional control coefficient, ki is the integral control coefficient, and kd is the derivative control coefficient.
In one embodiment, the opening control switching module includes:
the operation mode judging unit is used for judging whether the operation mode of the water turbine is a grid-connected operation mode or a non-grid-connected operation mode.
And the first opening control unit is preset with an opening given and is used for outputting the opening given as an opening control signal when the judgment result of the operation mode judgment unit is that the operation mode of the water turbine is a non-grid-connected operation mode.
And the historical data acquisition unit is used for acquiring historical operation data of the water turbine.
And the model construction unit is used for constructing and training the convolutional neural network model based on the historical operation data.
And the vector generation unit is used for generating an output vector according to the water head data and the power set.
And the second opening control unit is used for outputting the output vector to the convolutional neural network model to obtain an opening prediction signal when the judgment result of the operation mode judgment unit is that the operation mode of the water turbine is the grid-connected operation mode, and outputting the opening prediction signal as an opening control signal.
Wherein the historical operating data includes historical head data, historical power settings, and governor historical opening values. In one embodiment, the model building unit builds a convolutional neural network model and trains the convolutional neural network model by historical head data, historical power settings, and governor historical opening values. Assuming that the head data is H and the power is given as Cp, the vector generation unit generates an output vector Sp of [ Cp, H ] based on the head data and the power.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of protection of the application is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the application, the steps may be implemented in any order and there are many other variations of the different aspects of one or more embodiments of the application as above, which are not provided in detail for the sake of brevity.
One or more embodiments of the present application are intended to embrace all such alternatives, modifications and variations as fall within the broad scope of the present application. Accordingly, any omissions, modifications, equivalents, improvements and others which are within the spirit and principles of the one or more embodiments of the application are intended to be included within the scope of the application.
Claims (10)
1. The opening control method of the water turbine speed regulator is characterized by comprising the following steps of:
acquiring water head data, a frequency signal and an initial PID control signal of a water turbine;
generating a difference correction coefficient by combining the water head data and preset power setting;
correcting an initial difference coefficient preset in the water turbine through the difference correction coefficient to obtain an adjustment difference coefficient;
generating an adjusted PID control signal in combination with the frequency signal, the initial PID control signal and the adjusted difference coefficient;
generating an opening control signal by combining the water head data, the power setting and a preset opening setting;
and superposing the PID control signal and the opening control signal to generate a control signal of the water turbine.
2. The method for controlling the opening degree of a water turbine governor according to claim 1, wherein the step of generating a difference correction coefficient by combining the head data and a preset power setting includes the steps of:
performing forward bias on preset power setting to obtain a forward bias operation working condition point;
calculating a first opening predicted value by combining the forward bias operation working condition point and the water head data;
carrying out negative bias on preset power setting to obtain a negative bias operation working condition point;
calculating a second opening predicted value by combining the negative bias operation working condition point and the water head data;
and calculating a difference correction coefficient by combining the first opening predicted value and the second opening predicted value.
3. The method of controlling opening of a hydraulic turbine governor according to claim 1, wherein the frequency signal includes frequency data and a preset frequency setting, and the generating an adjusted PID control signal by combining the frequency signal, the initial PID control signal, and the adjusted difference coefficient includes the steps of:
calculating a frequency error from the frequency data and the frequency set;
generating a control error signal in combination with the frequency error, the initial PID control signal, and the adjustment difference coefficient;
and generating a regulating PID control signal based on the control error signal through a PID control algorithm.
4. The hydraulic turbine governor opening control method of claim 1, wherein the generating an opening control signal in combination with the head data, the power setting, and a preset opening setting comprises the steps of:
judging whether the operation mode of the water turbine is a grid-connected operation mode or a non-grid-connected operation mode;
if the operation mode of the water turbine is the non-grid-connected operation mode, giving a preset opening as an opening control signal;
and if the operation mode of the water turbine is the grid-connected operation mode, generating the opening control signal by combining the water head data and the power setting.
5. The hydraulic turbine governor opening control method of claim 4, wherein the combining the head data and the power setting to generate the opening control signal comprises the steps of:
acquiring historical operation data of the water turbine;
constructing and training a convolutional neural network model based on the historical operating data;
generating an output vector from the head data and the power setting;
and outputting the output vector to the convolutional neural network model to obtain an opening prediction signal, and taking the opening prediction signal as the opening control signal.
6. A hydraulic turbine governor opening control system, the system comprising:
the data acquisition module is used for acquiring water head data, frequency signals and initial PID control signals of the water turbine;
the correction coefficient generation module is used for generating a difference correction coefficient by combining the water head data and preset power setting;
the difference coefficient adjusting module is used for correcting an initial difference coefficient preset in the water turbine through the difference correction coefficient to obtain an adjusted difference coefficient;
the PID control module is used for generating an adjustment PID control signal by combining the frequency signal, the initial PID control signal and the adjustment difference coefficient;
the opening control switching module is used for generating an opening control signal by combining the water head data, the power setting and a preset opening setting;
and the control output module is used for superposing the PID control signal and the opening control signal to generate a control signal of the water turbine.
7. The hydraulic turbine governor opening control system of claim 6, wherein the correction factor generation module comprises:
the positive bias unit is used for carrying out positive bias on preset power setting to obtain a positive bias operation working condition point;
the first opening prediction unit is used for combining the forward bias operation working condition point and the water head data to calculate and obtain a first opening prediction value;
the negative bias unit is used for carrying out negative bias on preset power setting to obtain a negative bias operation working condition point;
the second opening prediction unit is used for combining the negative bias operation working condition point and the water head data to calculate a second opening prediction value;
and the correction coefficient calculation unit is used for combining the first opening predicted value and the second opening predicted value to calculate and obtain a difference correction coefficient.
8. The hydraulic turbine governor opening control system of claim 6, wherein the frequency signal comprises frequency data and a preset frequency setting, the PID control module comprising:
a frequency error calculation unit configured to calculate a frequency error from the frequency data and the frequency set;
an error signal generation unit for generating a control error signal in combination with the frequency error, the initial PID control signal and the adjustment difference coefficient;
and the PID control signal generating unit is used for generating a regulating PID control signal according to the control error signal and through a PID control algorithm.
9. The hydraulic turbine governor opening control system of claim 6, wherein the opening control switching module comprises:
the operation mode judging unit is used for judging whether the operation mode of the water turbine is a grid-connected operation mode or a non-grid-connected operation mode;
and the first opening control unit is preset with an opening given value and is used for outputting the opening given value as an opening control signal when the judgment result of the operation mode judgment unit is that the operation mode of the water turbine is the non-grid-connected operation mode.
10. The hydraulic turbine governor opening control system of claim 9, wherein the opening control switching module further comprises:
the historical data acquisition unit is used for acquiring historical operation data of the water turbine;
the model building unit is used for building and training a convolutional neural network model based on the historical operation data;
a vector generation unit for generating an output vector from the head data and the power setting;
and the second opening control unit is used for outputting the output vector to the convolutional neural network model to obtain an opening prediction signal when the judgment result of the operation mode judgment unit is that the operation mode of the water turbine is the grid-connected operation mode, and outputting the opening prediction signal as the opening control signal.
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| CN202310496570.3A CN116608081A (en) | 2023-05-05 | 2023-05-05 | Hydraulic turbine speed regulator opening degree control method and system |
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| CN202310496570.3A CN116608081A (en) | 2023-05-05 | 2023-05-05 | Hydraulic turbine speed regulator opening degree control method and system |
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