CN117072370A - Hydropower station LCU opening analog quantity open-loop and closed-loop and variable integral closed-loop combined control method and system - Google Patents
Hydropower station LCU opening analog quantity open-loop and closed-loop and variable integral closed-loop combined control method and system Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000012544 monitoring process Methods 0.000 claims abstract description 100
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 59
- 125000004122 cyclic group Chemical group 0.000 claims description 46
- 238000006243 chemical reaction Methods 0.000 claims description 33
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- 230000003068 static effect Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 4
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- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
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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
- F03B15/00—Controlling
- F03B15/02—Controlling by varying liquid flow
- F03B15/04—Controlling by varying liquid flow of turbines
- F03B15/06—Regulating, i.e. acting automatically
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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Abstract
The invention discloses a control method and a control system for the combination of open loop and closed loop of LCU opening analog quantity and variable integral closed loop of a hydropower station; the method optimizes on the basis of the original hydropower station monitoring system guide vane opening analog quantity open-loop and closed-loop combined control method in the opening direction, and realizes the hydropower station LCU opening analog quantity open-loop and closed-loop combined control method in the opening and closing directions by increasing the direction coefficient, thereby having the characteristics of quick open-loop control and precise closed-loop control, simultaneously meeting the requirements of good speed of the adjusting process and no static difference after stable adjustment, and improving the dynamic and static adjusting quality.
Description
Technical Field
The invention relates to the technical field, in particular to a control method and a control system for the combination of open loop and closed loop of LCU opening analog quantity and variable integral closed loop of a hydropower station.
Background
At present, in the operation process of the hydroelectric generating set, a monitoring system usually adopts a power closed-loop conventional pulse regulation mode in an opening mode, and opening increasing and decreasing pulses are output to a speed regulator electric control system through an intermediate relay so as to control the opening of the hydroelectric generating set, so that the problems that the opening of a guide vane and the active power regulation speed are low, the regulation process is easily influenced by the reaction of a water hammer and the inertia of the set, and the like are solved. In order to overcome the defects, the China Yangtze river electric power Co., ltd. Filed an invention patent of a control method and a system (ZL 202011418747.0) combining closed-loop and open-loop control of the opening analog quantity of the guide vane. The method is based on a data table corresponding to the water head, the active power and the guide vane opening, in an opening mode, adopts a mode of combining checking the corresponding data table, open-loop control and closed-loop control to quickly and accurately regulate the active power of a unit, and outputs a brand new method of analog quantity control signals of the guide vane opening, and aims to solve the problems that the regulation process is easily influenced by the reaction of a water hammer and the inertia of the unit due to the adoption of a power closed-loop conventional pulse regulation mode in the opening mode, and the static deviation is caused by the deviation of the data table corresponding to the water head, the active power and the guide vane opening in the pure open-loop control mode, thereby realizing the quick, accurate and stable control of the guide vane opening and the active power of the unit and improving the regulation quality. However, the method only realizes a hydropower station monitoring system guide vane opening analog quantity open-loop and closed-loop combined control method in an open direction. The method is optimized by research and improvement of Sanxia gold Sha Jiangchuan cloud water-electricity development limited company of the electric company of Yangtze river, china, and the whole company of the electric company of the Yangtze river.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a control method and a control system for combining open loop and closed loop of the opening analog quantity of the LCU of the hydropower station with variable integral closed loop.
In order to achieve the above purpose, the invention adopts the following technical scheme: a hydropower station LCU opening analog quantity open loop and closed loop combined control method comprises the following steps:
s1, initializing control parameters delta D, delta D2 and control variable D1 of a monitoring system Control of 、D2 Control of Initializing data of a one-to-one correspondence table of the direction coefficient k, the self-adding conversion coefficient k2, the initialization water head, the active power and the guide vane opening;
s2, the monitoring system collects the active power set value G Given a given The opening degree of the guide vane is fed back to D, and the water head w of the unit is fed back to the guide vane;
s3, detecting whether the monitoring system is in an opening mode or not, if so, entering a step S4; otherwise, adopting non-opening mode control, and returning to the step S2;
s4, detecting an active power given value G by a monitoring system Given a given Whether refreshing is carried out, if so, the step S5 is carried out; otherwise, go to step S9;
s5, the monitoring system gives a value G according to the active power Given a given And the current unit water head w is used for checking a water head, the active power and the guide vane opening one-to-one correspondence data table, and the corresponding guide vane opening value D is calculated Watch (watch) ；
S6, controlling variable D1 Control of Giving an initial value D;
s7, detecting D by using monitoring system Watch (watch) If so, the step S9 is entered; otherwise, enter step S8;
s8, detecting D by using monitoring system Watch (watch) If so, go to step S9; otherwise, directly entering step S9;
S9、D1 control of ＝D1 Control of +k Δd, Δd being the control parameter increase step size;
s10, detecting whether k=1 by a monitoring system, if yes, entering a step S11; otherwise, go to step S12;
s11, detecting whether D1 is detected by the monitoring system Control of >D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step S14 is entered; otherwise, directly enter step S14;
s12, detecting whether k= -1 by the monitoring system, if yes, entering a step S13; otherwise, go to step S14;
s13, detecting whether D1 is detected by the monitoring system Control of <D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step S14 is entered; otherwise, directly enter step S14;
s14, if |D Watch (watch) -D∣<Δd2, step S15 is entered; otherwise, go to step S16;
S15、D2 control of ＝D2 Control of +k2*(G Given a given -G)；
S16、D Control of ＝D1 Control of +D2 Control of ；
S17. The monitoring system outputs a guide vane opening analog quantity control signal D Control of And returning to the step S2.
As a further improvement of the present invention, step S5 is specifically:
the water head, the active power and the guide vane opening degree one-to-one correspondence data table is as follows:
| W 1 | W 2 | … | W x-1 | W x | … | W p-1 | W p | |
| G 1 | D 1,1 | D 2,1 | … | D x-1，1 | D x，1 | … | D p-1,1 | D p，1 |
| G 2 | D 1,2 | D 2,2 | … | D x-1，2 | D x，2 | … | D p-1,2 | D p，2 |
| … | … | … | … | … | … | … | … | … |
| G y-1 | D 1，y-1 | D 2，y-1 | … | D x-1，y-1 | D x，y-1 | … | D p-1,y-1 | D p，y-1 |
| G y | D 1，y | D 2，y | … | D x-1，y | D x，y | … | D p-1,y | D p，y |
| … | … | … | … | … | … | … | … | … |
| G q-1 | D 1，q-1 | D 2，q-1 | … | D x-1，q-1 | D x，q-1 | … | D p-1,q-1 | D p，q-1 |
| G q | D 1，q | D 2，q | … | D x-1，q | D x，q | … | D p-1,q | D p，q |
in the table, p, q, x, y is a positive integer, x is more than 1 and less than or equal to p, y is more than 1 and less than or equal to q, dx and y are the opening degrees of guide vanes corresponding to the active power of Wx water head Gy;
if W is x-1 ≤w≤W x ，G y-1 ≤G Given a given ≤G y Then:
d table y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )；
d Table y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )；
D Watch (watch) ＝d Table y-1 +(d Table y -d Table y-1 )(G Given a given -G y-1 )/(G y -G y-1 )。
The invention also discloses a control system for combining open loop and closed loop of the LCU opening analog quantity of the hydropower station, which comprises the following components:
a table lookup calculation module for collecting the active power given G Given a given And the water head w of the unit, the water head, the active power and the opening degree of the guide vane are calculated in a one-to-one correspondence table, and a calculation result D is output Watch (watch) Feeding the amplitude limiting module;
a cyclic self-adding 1 module for monitoring D Watch (watch) Changing an enabling signal and collecting a guide vane opening signal D; when the enable signal acts, D1 Control of Giving an initial value D; the cyclic self-adding 1 module continuously adds D1 Control of Cyclic self-addition of k ΔD, output D1 Control of Feeding the amplitude limiting module;
the limiting module is used for collecting D output by the table look-up calculation module Watch (watch) And cycle self-addition 1D1 of module output Control of For D1 Control of To output the clipping output, the maximum value is D if k=1 Watch (watch) If k= -1, the minimum value is D Watch (watch) The method comprises the steps of carrying out a first treatment on the surface of the The amplitude limiting module controls the analog quantity of the opening degree of the guide vane to be D1 Control of Output to adder;
a cyclic self-adding 2 module for monitoring Watch (watch) -D∣<Delta D2 enable signal and collect active power given G Given a given A power feedback G and a conversion coefficient k2; when the enable signal acts, D2 Control of Giving an initial value of 0; the cyclic self-adding 2 module continuously adds D2 Control of Cyclic self-addition of k2 (G Given a given -G), output D2 Control of Giving the adder;
adder for collecting D1 output by amplitude limiting module Control of And D2 output by the cyclic self-adding 2 module Control of After addition, outputting a guide vane opening analog quantity control signal D Control of To the governor electrical control system.
The invention also discloses a hydropower station LCU opening analog quantity open loop and variable integral closed loop combined control method, which comprises the following steps:
s1, initializing control parameters delta D, delta D2 and control variable D1 of a monitoring system Control of 、D2 Control of Initializing data of a one-to-one correspondence table of the direction coefficient k, the self-adding conversion coefficient k2, the initialization water head, the active power and the guide vane opening;
s2, the monitoring system collects the active power set value G Given a given The opening degree of the guide vane is fed back to D, and the water head w of the unit is fed back to the guide vane;
s3, detecting whether the monitoring system is in an opening mode or not, if so, entering a step S4; otherwise, adopting non-opening mode control, and returning to the step S2;
s4, detecting an active power given value G by a monitoring system Given a given Whether refreshing is carried out, if so, the step S5 is carried out; otherwise, go to step S9;
s5, the monitoring system gives a value G according to the active power Given a given And the current unit water head w is used for checking a water head, the active power and the guide vane opening one-to-one correspondence data table, and the corresponding guide vane opening value D is calculated Watch (watch) ；
S6、Control variable D1 Control of Giving an initial value D, and entering a step S7;
s7, detecting D by using monitoring system Watch (watch) If so, the step S9 is entered; otherwise, enter step S8;
s8, detecting D by using monitoring system Watch (watch) If so, go to step S9; otherwise, directly entering step S9;
S9、D1 control of ＝D1 Control of +k Δd, Δd being the control parameter increase step size;
s10, detecting whether k=1 by a monitoring system, if yes, entering a step S11; otherwise, go to step S12;
s11, detecting whether D1 is detected by the monitoring system Control of >D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step S14 is entered; otherwise, go to step S14;
s12, detecting whether k= -1 by the monitoring system, if yes, entering a step S13; otherwise, go to step S14;
s13, detecting whether D1 is detected by the monitoring system Control of <D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step S14 is entered; otherwise, directly enter step S14;
s14, if |D Watch (watch) -D∣<Δd2, step S15 is entered; otherwise, go to step S17;
s15, if |D Watch (watch) -D∣<Δd3, k2=j2, and step S16 is entered; otherwise, k2=j1, go to step S16;
S16、D2 control of ＝D2 Control of +k2*(G Given a given -G)；
S17、D Control of ＝D1 Control of +D2 Control of ；
S18, the monitoring system outputs a guide vane opening analog quantity control signal D Control of And returning to the step S2.
As a further improvement of the present invention, step 5 is specifically as follows:
the water head, the active power and the opening degree of the guide vane are in one-to-one correspondence with each other in the data table:
| W 1 | W 2 | … | W x-1 | W x | … | W p-1 | W p | |
| G 1 | D 1,1 | D 2,1 | … | D x-1，1 | D x，1 | … | D p-1,1 | D p，1 |
| G 2 | D 1,2 | D 2,2 | … | D x-1，2 | D x，2 | … | D p-1,2 | D p，2 |
| … | … | … | … | … | … | … | … | … |
| G y-1 | D 1，y-1 | D 2，y-1 | … | D x-1，y-1 | D x，y-1 | … | D p-1,y-1 | D p，y-1 |
| G y | D 1，y | D 2，y | … | D x-1，y | D x，y | … | D p-1,y | D p，y |
| … | … | … | … | … | … | … | … | … |
| G q-1 | D 1，q-1 | D 2，q-1 | … | D x-1，q-1 | D x，q-1 | … | D p-1,q-1 | D p，q-1 |
| G q | D 1，q | D 2，q | … | D x-1，q | D x，q | … | D p-1,q | D p，q |
in the table, p, q, x, y is a positive integer, x is more than 1 and less than or equal to p, y is more than 1 and less than or equal to q, dx and y are the opening degrees of guide vanes corresponding to the active power of Wx water head Gy;
if W is x-1 ≤w≤W x ，G y-1 ≤G Given a given ≤G y Then:
d table y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )；
d Table y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )；
D Watch (watch) ＝d Table y-1 +(d Table y -d Table y-1 )(G Given a given -G y-1 )/(G y -G y-1 )。
The invention also discloses a hydropower station LCU opening analog quantity open loop and variable integral closed loop combined control system, which comprises:
a table lookup calculation module for collecting the active power given G Given a given And the water head w of the unit, the water head, the active power and the opening degree of the guide vane are calculated in a one-to-one correspondence table, and a calculation result D is output Watch (watch) Feeding the amplitude limiting module;
a cyclic self-adding 1 module for monitoring D Watch (watch) Changing an enabling signal and collecting a guide vane opening signal D; when the enable signal acts, D1 Control of Giving an initial value D; the cyclic self-adding 1 module continuously adds D1 Control of Cyclic self-addition of k ΔD, output D1 Control of Feeding the amplitude limiting module;
the limiting module is used for collecting D output by the table look-up calculation module Watch (watch) And D1 output by the cyclic self-adding 1 module Control of For D1 Control of To output the clipping output, the maximum value is D if k=1 Watch (watch) If k= -1, the minimum value is D Watch (watch) The method comprises the steps of carrying out a first treatment on the surface of the The amplitude limiting module controls the analog quantity of the opening degree of the guide vane to be D1 Control of Output to adder;
a cyclic self-adding 2 module for monitoring Watch (watch) -D∣<Delta D2 enable signal and collect active power given G Given a given A power feedback G and a conversion coefficient k2; when the enable signal acts, D2 Control of Giving an initial value of 0; the cyclic self-adding 2 module continuously adds D2 Control of Cyclic self-addition of k2 (G Given a given -G), output D2 Control of Giving the adder;
a selector 2 module for monitoring Watch (watch) -D∣<DeltaD 3 selects a signal, wherein a channel 0 acquires a conversion coefficient j1, and the channel 1 acquires a conversion coefficient j2; when |D Watch (watch) -D∣<When Δd3 is not satisfied, the selector 2 module selects channel 0 and outputs a conversion coefficient k2=j1; when |D Watch (watch) -D∣<When Δd3 is satisfied, the selector 2 module selects channel 1, outputting a conversion coefficient k2=j2; the selector 2 module outputs the conversion coefficient k2 to the cyclic self-adding 2 module;
adder for collecting D1 output by amplitude limiting module Control of And D2 output by the cyclic self-adding 2 module Control of After addition, outputting a guide vane opening analog quantity control signal D Control of To the governor electrical control system.
The beneficial effects of the invention are as follows:
the control method can realize the combination control of the bidirectional open loop and the closed loop of the switch, has the characteristic of quick open loop control and the advantage of accurate closed loop control, thereby simultaneously meeting the requirements of good speed performance in the adjusting process and no static difference after stable adjustment and improving the dynamic and static adjusting quality. The concrete steps are as follows:
1. the two-way open loop and closed loop combined control of the switch can be realized.
2. The method has the characteristic of quick open-loop adjustment, thereby improving the speed of the adjustment process.
3. The influence of the water hammer reaction and the unit inertia in the adjusting process can be avoided through open loop control, and the risk of divergent oscillation of the whole control system is reduced.
4. The closed-loop control system has the advantages of accurate closed-loop control, no static difference after stable adjustment, and improved dynamic and static adjustment quality.
5. The performance and quality of small amplitude or terminal adjustment of the opening degree and active power of the guide vanes of the unit can be improved through variable integral closed-loop control. .
Drawings
FIG. 1 is a flow chart of a method for controlling the combination of open loop and closed loop of LCU opening analog of a hydropower station in embodiment 1 of the invention;
FIG. 2 is a diagram showing a control structure combining open loop and closed loop of LCU opening analog quantity of a hydropower station in embodiment 1 of the invention;
FIG. 3 is a flow chart of a method for controlling the combination of open loop and variable integration closed loop of LCU opening analog quantity of a hydropower station in embodiment 2 of the invention;
fig. 4 is a diagram showing a combined control structure of an open loop and a variable integration closed loop of an LCU opening analog of a hydropower station according to embodiment 2 of the present invention.
Detailed Description
The power plant monitoring system is generally divided into a plant station layer and a local control unit layer. The local control unit layer is connected with the power station control network, and the local monitoring task of the designated equipment is completed by adopting a field bus technology.
The monitoring system in the invention particularly refers to a local control unit layer which is distributed according to controlled object units and consists of Local Control Units (LCUs) of a whole plant, wherein the local control unit layer comprises unit LCUs, station LCUs, public LCUs, switching station LCUs and dam top LCUs. Each Local Control Unit (LCU) comprises a PLC, a touch screen, network equipment, a cabinet and the like and is responsible for equipment data acquisition and processing, equipment state monitoring and process monitoring, equipment control and regulation and equipment information communication.
The unit LCU PLC adopts a Unity Quantum 67261 controller manufactured by French Schneider company.
The method and the system are applied to a monitoring system of a certain power plant.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Example 1
The embodiment is a hydropower station LCU opening analog quantity open-loop and closed-loop combined control method in the on-off double directions. The hydropower station LCU opening analog quantity open-loop and closed-loop combined control method in the opening and closing directions is realized by adding a direction coefficient by optimizing on the basis of the hydropower station monitoring system guide vane opening analog quantity open-loop and closed-loop combined control method in the original opening direction.
The open-loop control of the opening degree of the guide vane is particularly suitable for the situation of large-amplitude and rapid adjustment of the opening degree and the active power of the guide vane of the unit. The open loop control can effectively avoid the influence of the water hammer reaction of the water diversion pipeline and the inertia effect of the water turbine generator set in the adjusting process, and reduce the risk of the divergence oscillation of the guide vane opening and the active power of the whole control system.
The closed-loop control of the opening degree of the guide vane is particularly suitable for the situation of small-amplitude or terminal accurate adjustment of the opening degree and the active power of the guide vane of the unit.
Calculating the opening D of the guide vane by using the switching condition of open loop control and closed loop control as a table look-up Watch (watch) The absolute value of the difference with the opening D of the guide vane is smaller than delta D2.
As shown in fig. 1, the detailed process steps of the hydropower station LCU opening analog open-loop and closed-loop combined control method according to the embodiment are as follows:
1. control parameters delta D, delta D2 and control variable D1 of monitoring system Control of 、D2 Control of And initializing data of a one-to-one correspondence table of the direction coefficient k, the self-adding conversion coefficient k2, the water head, the active power and the opening degree of the guide vane, and entering the step 2. Normally controlled variable D2 Control of An initial value of 0 is assigned.
2. The monitoring system collects the active power set value G Given a given And (3) feeding back the opening degree of the guide vane D, and feeding the unit water head w into the step 3.
3. The monitoring system detects whether the monitoring system is in an opening mode, if so, the monitoring system enters a step 4; otherwise, adopting a non-opening mode control method, and returning to the step 2.
4. The monitoring system detects the active power set value G Given a given Whether refreshing is carried out, if so, entering a step 5; otherwise, go to step 9.
5. The monitoring system is based on the active power set value G Given a given And the current unit water head w is used for checking a water head, the active power and the guide vane opening one-to-one correspondence data table, and the corresponding guide vane opening value D is calculated Watch (watch) 。
The data table of one-to-one correspondence of water head, active power and guide vane opening is shown in table 1. (wherein p, q, x, y is a positive integer, x is more than 1 and less than or equal to p, y is more than 1 and less than or equal to q, dx and y are the opening degree of the guide vane corresponding to the active power of Wx water head Gy)
Table 1 head, active power and vane opening one-to-one data table
| W 1 | W 2 | … | W x-1 | W x | … | W p-1 | W p | |
| G 1 | D 1,1 | D 2,1 | … | D x-1，1 | D x，1 | … | D p-1,1 | D p，1 |
| G 2 | D 1,2 | D 2,2 | … | D x-1，2 | D x，2 | … | D p-1,2 | D p，2 |
| … | … | … | … | … | … | … | … | … |
| G y-1 | D 1，y-1 | D 2，y-1 | … | D x-1，y-1 | D x，y-1 | … | D p-1,y-1 | D p，y-1 |
| G y | D 1，y | D 2，y | … | D x-1，y | D x，y | … | D p-1,y | D p，y |
| … | … | … | … | … | … | … | … | … |
| G q-1 | D 1，q-1 | D 2，q-1 | … | D x-1，q-1 | D x，q-1 | … | D p-1,q-1 | D p，q-1 |
| G q | D 1，q | D 2，q | … | D x-1，q | D x，q | … | D p-1,q | D p，q |
If W is x-1 ≤w≤W x ，G y-1 ≤G Given a given ≤G y Then:
d table y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )。
d Table y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )。
D Watch (watch) ＝d Table y-1 +(d Table y -d Table y-1 )(G Given a given -G y-1 )/(G y -G y-1 ). And (6) entering a step 6.
6. Control variable D1 Control of Giving an initial value D, and entering a step 7.
7. Monitoring system detects D Watch (watch) If the size is larger, if so, k=1, entering 9 steps; otherwise, go to step 8.
8. Monitoring system detects D Watch (watch) If the size is smaller, if so, k= -1, entering 9 steps; otherwise, go to step 9.
9、D1 Control of ＝D1 Control of +k represents Δd, Δd is the control parameter increasing step, and step 10 is entered.
10. The monitoring system detects whether k=1, if yes, step 11 is entered; otherwise, go to step 12.
11. Monitoring system detects whether D1 Control of >D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step 14, entering; otherwise, go to step 14.
12. The monitoring system detects whether k= -1, if yes, step 13 is entered; otherwise, go to step 14.
13. Monitoring system detects whether or notD1 Control of <D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step 14, entering; otherwise, go to step 14.
14. If |D Watch (watch) -D∣<Delta D2, entering a 15 th step; otherwise, go to step 16.
15、D2 Control of ＝D2 Control of +k2*(G Given a given -G), go to step 16.
16、D Control of ＝D1 Control of +D2 Control of Step 17 is entered.
17. The monitoring system outputs a guide vane opening analog quantity control signal D Control of And returning to the step 2.
The control structure diagram of the combination of open loop and closed loop of LCU opening analog quantity of the hydropower station in the embodiment is shown in fig. 2, and mainly comprises a table lookup calculation module 1, a circulation self-adding 1 module 2, a limiting module 3, a circulation self-adding 2 module 4 and an adder 5.
The table lookup calculation module 1 collects the active power given G Given a given And the water head w of the unit, the water head, the active power and the opening degree of the guide vane are calculated in a one-to-one correspondence table, and a calculation result D is output Watch (watch) To the clipping module 3.
Circulation self-adding 1 module 2 monitoring D Watch (watch) And (3) changing an enabling signal and collecting a guide vane opening signal D. When the enable signal acts, D1 Control of The initial value D is assigned. The cyclic self-adding 1 module 2 continuously adds D1 Control of Cyclic self-addition of k ΔD, output D1 Control of To the clipping module 3.
The limiting module 3 collects D output by the table look-up calculation module 1 Watch (watch) And D1 output by the cyclic self-adding 1 module 2 Control of For D1 Control of To output the clipping output, the maximum value is D if k=1 Watch (watch) If k= -1, the minimum value is D Watch (watch) . The amplitude limiting module 3 controls the analog quantity of the opening degree of the guide vane to be D1 Control of Output to adder 5.
Loop self-addition 2 module 4 monitoring |d Watch (watch) -D∣<Delta D2 enable signal and collect active power given G Given a given A power feedback G and a conversion coefficient k2. When the enable signal acts, D2 Control of An initial value of 0 is assigned. Cyclic self-adding2 modules 4 continuously pair D2 Control of Cyclic self-addition of k2 (G Given a given -G), output D2 Control of To adder 5.
D1 output by the amplitude limiting module 3 is collected by the adder 5 Control of And D2 output by the cyclic self-adding 2 module 4 Control of After addition, outputting a guide vane opening analog quantity control signal D Control of To the governor electrical control system.
Example 2
In order to further improve the performance and quality of small-amplitude or terminal adjustment of the opening degree and the active power of the guide vane of the unit, optimization and improvement are carried out on the basis of a hydropower station LCU opening degree analog quantity open-loop and closed-loop combined control method and structure, variable integral closed-loop control is realized, and the hydropower station LCU opening degree analog quantity open-loop and variable integral closed-loop combined control method and structure are formed.
According to the method, based on a water head, active power and guide vane opening corresponding data table, in an opening mode, a mode of combining open loop control with variable integral closed loop control is adopted to quickly and accurately regulate active power of a unit, and a brand new method for outputting guide vane opening analog quantity control signals is adopted, so that the problems that the conventional power closed loop pulse regulation mode is adopted in the opening mode, the active power regulation speed is low, the regulation process is easily influenced by water hammer reaction and unit inertia action, the static deviation exists in opening control due to deviation of the water head, the active power and the guide vane opening corresponding data table in the pure open loop control mode, and the like are solved, meanwhile, the small amplitude of the guide vane opening and the active power of the unit or the performance and quality of tail end regulation of the guide vane opening and the active power of the unit are improved, the quick accurate stable control of the guide vane opening and the active power of the unit is realized, and the regulation quality is improved.
The control method of combining open-loop control and variable-integral closed-loop control of the LCU opening analog quantity of the hydropower station in the embodiment adopts a control method of firstly performing open-loop control and then performing variable-integral closed-loop control.
The open-loop control of the opening degree of the guide vane is particularly suitable for the situation of large-amplitude and rapid adjustment of the opening degree and the active power of the guide vane of the unit. The open loop control can effectively avoid the influence of the water hammer reaction of the water diversion pipeline and the inertia effect of the water turbine generator set in the adjusting process, and reduce the risk of the divergence oscillation of the guide vane opening and the active power of the whole control system.
The closed-loop control of the opening degree of the guide vane is particularly suitable for the situation of small-amplitude or terminal accurate adjustment of the opening degree and the active power of the guide vane of the unit. The small-amplitude or terminal adjustment performance and quality of the guide vane opening and the active power of the unit can be improved through the guide vane opening sectional variable integral closed-loop control. Calculating the opening D of the guide vane by using the variable integral closed-loop control switching condition as a table look-up Watch (watch) The absolute value of the difference with the opening D of the guide vane is smaller than delta D3.
Calculating the opening D of the guide vane by using the switching condition of open loop control and closed loop control as a table look-up Watch (watch) The absolute value of the difference with the opening D of the guide vane is smaller than delta D2.
As shown in fig. 3, the detailed process steps of the hydropower station LCU opening analog open-loop and variable integral closed-loop combined control method according to the embodiment are as follows:
1. control parameters delta D, delta D2 and control variable D1 of monitoring system Control of 、D2 Control of And initializing data of a one-to-one correspondence table of the direction coefficient k, the self-adding conversion coefficient k2, the water head, the active power and the opening degree of the guide vane, and entering the step 2. Normally controlled variable D2 Control of An initial value of 0 is assigned.
2. The monitoring system collects the active power set value G Given a given And (3) feeding back the opening degree of the guide vane D, and feeding the unit water head w into the step 3.
3. The monitoring system detects whether the monitoring system is in an opening mode, if so, the monitoring system enters a step 4; otherwise, adopting a non-opening mode control method, and returning to the step 2.
4. The monitoring system detects the active power set value G Given a given Whether refreshing is carried out, if so, entering a step 5; otherwise, go to step 9.
5. The monitoring system is based on the active power set value G Given a given And the current unit water head w is used for checking a water head, the active power and the guide vane opening one-to-one correspondence data table, and the corresponding guide vane opening value D is calculated Watch (watch) 。
The data table of one-to-one correspondence of water head, active power and guide vane opening is shown in table 1. (p, q, x, y in the table is a positive integer, x is more than 1 and less than or equal to p, y is more than 1 and less than or equal to q, dx and y are guide vane opening degrees corresponding to Wx water head Gy active power) table 1 water head, one-to-one data table of active power and guide vane opening degrees
If W is x-1 ≤w≤W x ，G y-1 ≤G Given a given ≤G y Then:
d table y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )。
d Table y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )。
D Watch (watch) ＝d Table y-1 +(d Table y -d Table y-1 )(G Given a given -G y-1 )/(G y -G y-1 ). And (6) entering a step 6.
6. Control variable D1 Control of Giving an initial value D, and entering a step 7.
7. Monitoring system detects D Watch (watch) If the size is larger, if so, k=1, entering 9 steps; otherwise, go to step 8.
8. Monitoring system detects D Watch (watch) If the size is smaller, if so, k= -1, entering 9 steps; otherwise, go to step 9.
9、D1 Control of ＝D1 Control of +k represents Δd, Δd is the control parameter increasing step, and step 10 is entered.
10. The monitoring system detects whether k=1, if yes, step 11 is entered; otherwise, go to step 12.
11. Monitoring system detects whether D1 Control of >D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step 14, entering; otherwise, go to step 14.
12. The monitoring system detects whether k= -1, if yes, step 13 is entered; otherwise, go to step 14.
13. Monitoring system detects whether D1 Control of <D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step 14, entering; otherwise, go to step 14.
14. If |D Watch (watch) -D∣<Delta D2, entering a 15 th step; otherwise, go to step 17.
15. If |D Watch (watch) -D∣<Δd3, k2=j2, go to step 16; otherwise, k2=j1, go to step 16.
16、D2 Control of ＝D2 Control of +k2*(G Given a given -G), go to step 17.
17、D Control of ＝D1 Control of +D2 Control of Step 18 is entered.
18. The monitoring system outputs a guide vane opening analog quantity control signal D Control of And returning to the step 2.
The control structure diagram of the combination of the open-loop and the variable-integration closed-loop of the LCU opening analog of the hydropower station in the embodiment is shown in fig. 4, and mainly comprises a table lookup calculation module 1, a circulation self-adding 1 module 2, a limiting module 3, a circulation self-adding 2 module 4, a selector 2 module 5 and an adder 6.
The table lookup calculation module 1 collects the active power given G Given a given And the water head w of the unit, the water head, the active power and the opening degree of the guide vane are calculated in a one-to-one correspondence table, and a calculation result D is output Watch (watch) To the clipping module 3.
Circulation self-adding 1 module 2 monitoring D Watch (watch) And (3) changing an enabling signal and collecting a guide vane opening signal D. When the enable signal acts, D1 Control of The initial value D is assigned. The cyclic self-adding 1 module 2 continuously adds D1 Control of Cyclic self-addition of k ΔD, output D1 Control of To the clipping module 3.
The limiting module 3 collects D output by the table look-up calculation module 1 Watch (watch) And D1 output by the cyclic self-adding 1 module 2 Control of For D1 Control of To output the clipping output, the maximum value is D if k=1 Watch (watch) If k= -1, the minimum value is D Watch (watch) . The amplitude limiting module 3 controls the analog quantity of the opening degree of the guide vaneNumber D1 Control of Output to adder 6.
Loop self-addition 2 module 4 monitoring |d Watch (watch) -D∣<Delta D2 enable signal and collect active power given G Given a given A power feedback G and a conversion coefficient k2. When the enable signal acts, D2 Control of An initial value of 0 is assigned. The cyclic self-adding 2 module 4 continuously adds D2 Control of Cyclic self-addition of k2 (G Given a given -G), output D2 Control of To adder 6.
Selector 2 module 5 monitors |D Watch (watch) -D∣<DeltaD 3 selects a signal whose channel 0 collects a conversion coefficient j1 and channel 1 collects a conversion coefficient j2. When |D Watch (watch) -D∣<When Δd3 is not satisfied, the selector 2 module 5 selects channel 0, outputting a conversion coefficient k2=j1; when |D Watch (watch) -D∣<When Δd3 is satisfied, the selector 2 module 5 selects the channel 1 and outputs the conversion coefficient k2=j2 。 The selector 2 module 8 outputs the conversion coefficient k2 to the cyclic self-addition 2 module 4.
D1 output by the amplitude limiting module 3 is collected by the adder 6 Control of And D2 output by the cyclic self-adding 2 module 4 Control of After addition, outputting a guide vane opening analog quantity control signal D Control of To the governor electrical control system.
The invention combines the control method and the control system of the combination of the sectional open-loop control of the analog quantity of the guide vane opening and the variable parameter PID closed-loop control of the speed regulator in the prior art, the control method and the control system of the combination of the sectional open-loop control of the analog quantity of the guide vane opening and the PID closed-loop control of the speed regulator can realize the switch bidirectional guide vane control function of the control system of the combination of the open-loop control of the analog quantity of the guide vane opening and the variable parameter PID closed-loop control of the speed regulator.
The foregoing examples merely illustrate specific embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (6)
1. The control method for combining open loop and closed loop of LCU opening analog quantity of the hydropower station is characterized by comprising the following steps:
s1, initializing control parameters delta D, delta D2 and control variable D1 of a monitoring system Control of 、D2 Control of Initializing data of a one-to-one correspondence table of the direction coefficient k, the self-adding conversion coefficient k2, the initialization water head, the active power and the guide vane opening;
s2, the monitoring system collects the active power set value G Given a given The opening degree of the guide vane is fed back to D, and the water head w of the unit is fed back to the guide vane;
s3, detecting whether the monitoring system is in an opening mode or not, if so, entering a step S4; otherwise, adopting non-opening mode control, and returning to the step S2;
s4, detecting an active power given value G by a monitoring system Given a given Whether refreshing is carried out, if so, the step S5 is carried out; otherwise, go to step S9;
s5, the monitoring system gives a value G according to the active power Given a given And the current unit water head w is used for checking a water head, the active power and the guide vane opening one-to-one correspondence data table, and the corresponding guide vane opening value D is calculated Watch (watch) ；
S6, controlling variable D1 Control of Giving an initial value D;
s7, detecting D by using monitoring system Watch (watch) If so, the step S9 is entered; otherwise, enter step S8;
s8, detecting D by using monitoring system Watch (watch) If so, go to step S9; otherwise, directly entering step S9;
S9、D1 control of ＝D1 Control of +k Δd, Δd being the control parameter increase step size;
s10, detecting whether k=1 by a monitoring system, if yes, entering a step S11; otherwise, go to step S12;
s11, detecting whether D1 is detected by the monitoring system Control of >D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step S14 is entered; otherwise, directly enter step S14;
s12, detecting whether k= -1 by the monitoring system, if yes, entering a step S13; otherwise, go to step S14;
s13, detecting whether D1 is detected by the monitoring system Control of <D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step S14 is entered; otherwise, directly enter step S14;
s14, if |D Watch (watch) -D∣<Δd2, step S15 is entered; otherwise, go to step S16;
S15、D2 control of ＝D2 Control of +k2*(G Given a given -G)；
S16、D Control of ＝D1 Control of +D2 Control of ；
S17, the monitoring system outputs a guide vane opening analog quantity control signal D Control of And returning to the step S2.
2. The hydropower station LCU opening analog quantity open-loop and closed-loop combined control method according to claim 1, wherein the step S5 is specifically as follows:
the water head, the active power and the guide vane opening degree one-to-one correspondence data table is as follows:
in the table, p, q, x, y is a positive integer, x is more than 1 and less than or equal to p, y is more than 1 and less than or equal to q, dx and y are the opening degrees of guide vanes corresponding to the active power of Wx water head Gy;
if W is x-1 ≤w≤W x ，G y-1 ≤G Given a given ≤G y Then:
d table y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )；
d Table y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )；
D Watch (watch) ＝d Table y-1 +(d Table y -d Table y-1 )(G Given a given -G y-1 )/(G y -G y-1 )。
3. Control system that hydropower station LCU aperture analog quantity open-loop and closed-loop combined together, characterized by including:
a table lookup calculation module for collecting the active power given G Given a given And the water head w of the unit, the water head, the active power and the opening degree of the guide vane are calculated in a one-to-one correspondence table, and a calculation result D is output Watch (watch) Feeding the amplitude limiting module;
a cyclic self-adding 1 module for monitoring D Watch (watch) Changing an enabling signal and collecting a guide vane opening signal D; when the enable signal acts, D1 Control of Giving an initial value D; the cyclic self-adding 1 module continuously adds D1 Control of Cyclic self-addition of k ΔD, output D1 Control of Feeding the amplitude limiting module;
the limiting module is used for collecting D output by the table look-up calculation module Watch (watch) And D1 output by the cyclic self-adding 1 module Control of For D1 Control of To output the clipping output, the maximum value is D if k=1 Watch (watch) If k= -1, the minimum value is D Watch (watch) The method comprises the steps of carrying out a first treatment on the surface of the The amplitude limiting module controls the analog quantity of the opening degree of the guide vane to be D1 Control of Output to adder;
a cyclic self-adding 2 module for monitoring Watch (watch) -D∣<Delta D2 enable signal and collect active power given G Given a given A power feedback G and a conversion coefficient k2; when the enable signal acts, D2 Control of Giving an initial value of 0; the cyclic self-adding 2 module continuously adds D2 Control of Cyclic self-addition of k2 (G Given a given -G), output D2 Control of Giving the adder;
adder for collecting D1 output by amplitude limiting module Control of And D2 output by the cyclic self-adding 2 module Control of After addition, outputting a guide vane opening analog quantity control signal D Control of To the governor electrical control system.
4. The hydropower station LCU opening analog open-loop and variable integral closed-loop combined control method is characterized by comprising the following steps of:
s1, initializing control parameters delta D, delta D2 and control variable D1 of a monitoring system Control of 、D2 Control of Initializing data of a one-to-one correspondence table of the direction coefficient k, the self-adding conversion coefficient k2, the initialization water head, the active power and the guide vane opening;
s2, the monitoring system collects the active power set value G Given a given The opening degree of the guide vane is fed back to D, and the water head w of the unit is fed back to the guide vane;
s3, detecting whether the monitoring system is in an opening mode or not, if so, entering a step S4; otherwise, adopting non-opening mode control, and returning to the step S2;
s4, detecting an active power given value G by a monitoring system Given a given Whether refreshing is carried out, if so, the step S5 is carried out; otherwise, go to step S9;
s5, the monitoring system gives a value G according to the active power Given a given And the current unit water head w is used for checking a water head, the active power and the guide vane opening one-to-one correspondence data table, and the corresponding guide vane opening value D is calculated Watch (watch) ；
S6, controlling variable D1 Control of Giving an initial value D, and entering a step S7;
s7, detecting D by using monitoring system Watch (watch) If so, the step S9 is entered; otherwise, enter step S8;
s8, detecting D by using monitoring system Watch (watch) If so, go to step S9; otherwise, directly entering step S9;
S9、D1 control of ＝D1 Control of +k Δd, Δd being the control parameter increase step size;
s10, detecting whether k=1 by a monitoring system, if yes, entering a step S11; otherwise, go to step S12;
s11, detecting whether D1 is detected by the monitoring system Control of >D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step S14 is entered; otherwise, go to step S14;
s12, detecting whether k= -1 by the monitoring system, if yes, entering a step S13; otherwise, go to step S14;
s13, detecting whether D1 is detected by the monitoring system Control of <D Watch (watch) If yes, D1 Control of ＝D Watch (watch) Step S14 is entered; otherwise, directly enter step S14;
s14, if |D Watch (watch) -D∣<Δd2, step S15 is entered; otherwise, go to step S17;
s15, if |D Watch (watch) -D∣<Δd3, k2=j2, and step S16 is entered; otherwise, k2=j1, go to step S16;
S16、D2 control of ＝D2 Control of +k2*(G Given a given -G)；
S17、D Control of ＝D1 Control of +D2 Control of ；
S18, the monitoring system outputs a guide vane opening analog quantity control signal D Control of And returning to the step S2.
5. The hydropower station LCU opening analog quantity open-loop and variable integral closed-loop combined control method according to claim 4, wherein the step 5 is specifically as follows:
the water head, the active power and the opening degree of the guide vane are in one-to-one correspondence with each other in the data table:
in the table, p, q, x, y is a positive integer, x is more than 1 and less than or equal to p, y is more than 1 and less than or equal to q, dx and y are the opening degrees of guide vanes corresponding to the active power of Wx water head Gy;
if W is x-1 ≤w≤W x ，G y-1 ≤G Given a given ≤G y Then:
d table y-1 ＝D x-1，y-1 +(D x，y-1 -D x-1，y-1 )(w-W x-1 )/(W x -W x-1 )；
d Table y ＝D x-1，y +(D x，y -D x-1，y )(w-W x-1 )/(W x -W x-1 )；
D Watch (watch) ＝d Table y-1 +(d Table y -d Table y-1 )(G Given a given -G y-1 )/(G y -G y-1 )。
6. The utility model provides a hydropower station LCU aperture analog quantity open-loop and variable integration closed-loop combine together control system which characterized in that includes:
a table lookup calculation module for collecting the active power given G Given a given And the water head w of the unit, the water head, the active power and the opening degree of the guide vane are calculated in a one-to-one correspondence table, and a calculation result D is output Watch (watch) Feeding the amplitude limiting module;
a cyclic self-adding 1 module for monitoring D Watch (watch) Changing an enabling signal and collecting a guide vane opening signal D; when the enable signal acts, D1 Control of Giving an initial value D; the cyclic self-adding 1 module continuously adds D1 Control of Cyclic self-addition of k ΔD, output D1 Control of Feeding the amplitude limiting module;
the limiting module is used for collecting D output by the table look-up calculation module Watch (watch) And D1 output by the cyclic self-adding 1 module Control of For D1 Control of To output the clipping output, the maximum value is D if k=1 Watch (watch) If k= -1, the minimum value is D Watch (watch) The method comprises the steps of carrying out a first treatment on the surface of the The amplitude limiting module controls the analog quantity of the opening degree of the guide vane to be D1 Control of Output to adder;
a cyclic self-adding 2 module for monitoring Watch (watch) -D∣<Delta D2 enable signal and collect active power given G Given a given A power feedback G and a conversion coefficient k2; when the enable signal acts, D2 Control of Giving an initial value of 0; the cyclic self-adding 2 module continuously adds D2 Control of Cyclic self-addition of k2 (G Given a given -G), output D2 Control of Giving the adder;
a selector 2 module for monitoring Watch (watch) -D∣<DeltaD 3 selects a signal, wherein a channel 0 acquires a conversion coefficient j1, and the channel 1 acquires a conversion coefficient j2; when |D Watch (watch) -D∣<When Δd3 is not satisfied, the selector 2 module selects channel 0 and outputs a conversion coefficient k2=j1;when |D Watch (watch) -D∣<When Δd3 is satisfied, the selector 2 module selects channel 1, outputting a conversion coefficient k2=j2; the selector 2 module outputs the conversion coefficient k2 to the cyclic self-adding 2 module;
adder for collecting D1 output by amplitude limiting module Control of And D2 output by the cyclic self-adding 2 module Control of After addition, outputting a guide vane opening analog quantity control signal D Control of To the governor electrical control system.
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