CN117270379A - Fractional order PI of reactor core power λ D μ Controller control method - Google Patents
Fractional order PI of reactor core power λ D μ Controller control method Download PDFInfo
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- CN117270379A CN117270379A CN202310379760.7A CN202310379760A CN117270379A CN 117270379 A CN117270379 A CN 117270379A CN 202310379760 A CN202310379760 A CN 202310379760A CN 117270379 A CN117270379 A CN 117270379A
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000006870 function Effects 0.000 claims description 37
- 230000004992 fission Effects 0.000 claims description 30
- 230000003111 delayed effect Effects 0.000 claims description 24
- 239000002243 precursor Substances 0.000 claims description 9
- 230000009257 reactivity Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 5
- 230000006641 stabilisation Effects 0.000 claims description 5
- 238000011105 stabilization Methods 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 238000006467 substitution reaction Methods 0.000 claims description 3
- 230000036962 time dependent Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 210000002569 neuron Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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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
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention discloses a reactor core power fractional order PI λ D μ The controller control method comprises the following steps: step one, modeling reactor core power through a point reactor model to obtain a reactor core power transfer functionThe method comprises the steps of carrying out a first treatment on the surface of the Step two, constructing fractional order PI λ D μ The controller obtains fractional order PI λ D μ Transfer function of controllerThe method comprises the steps of carrying out a first treatment on the surface of the Step three, inputting the system input signalAnd error signalInput fractional order PI λ D μ Controller transmissionTransfer function, output control signalWill control the signalInput reactor core power transfer function, output system output signalOutput signal through systemReactor core power is controlled. By the technical scheme provided by the invention, higher degree of freedom of adjustment can be realized, and the multiphase information can enable the control process to be more accurate.
Description
Technical Field
The invention relates to the nuclear power field, in particular to a reactor core power fractional order PI λ D μ A controller controls a method.
Background
In recent years, the installed capacity of nuclear power in China is gradually increased, and higher requirements are put on the control problem of the nuclear power station. The nuclear power unit of the reactor is a complex nonlinear system, and all subsystems are mutually associated and have a certain degree of uncertainty.
Current reactor core power control methods have focused mainly on classical PID controllers. In 2001, chen Yuzhong, yang Kaijun et al have improved the classical PID control method of reactor core power, and have combined neurons with PID control to provide a nuclear reactor neuron PID control method. In 2015, liu Lei, luan Xiuchun et al have combined classical PID control with fuzzy control, and proposed a fuzzy PID control method. On the reactor core power model, a fractional order operator is introduced into a classical PID controller, and a certain fractional order PI is selected λ D μ Reactor core power fraction order PI for controller order λ D μ The control method has not been reported yet.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a reactor core power fraction order PI λ D μ The control method of the controller comprises the following steps ofThe steps are as follows:
step one, modeling reactor core power through a point reactor model to obtain a reactor core power transfer function；
Step two, constructing fractional order PI λ D μ The controller obtains fractional order PI λ D μ Transfer function of controller；
Step three, inputting the system input signalAnd error signal->Input fractional order PI λ D μ A controller transfer function outputting a control signal +.>Control signal +.>Input reactor core power transfer function, output system output signal +.>Output signal via system->Reactor core power is controlled.
Further, the reactor core power transfer function is obtained by modeling the reactor core power through a point reactor modelComprising:
modeling reactor core power using a point stack model:
，
wherein the method comprises the steps ofFor time (I)>For time-dependent neutron density and reactivity, < +.>For an effective delayed neutron fission fraction +.>For middle filial generation time, & lt & gt>For the number of neutrons per second produced by the source outside the reactor,/->Is->Group delayed neutron precursor core concentration, +.>Is->Group delayed neutron fission fraction,/->Is->Group delayed neutron precursor decay constant, +.>For fission rate->For fission cross section +.>For direct fission power, +.>Direct fission energy for each fission;
therein, whereinCan be expressed as:
，
wherein the method comprises the steps ofFor stabilizing the time parameter, +.>For a period of time, after stabilization +.>；
Can obtain stable time
，
Wherein the method comprises the steps ofThe neutron number generated by the neutron source per second outside the reactor at the stable moment;
substitution of single set of delayed neutrons for multiple setsThe equation can be obtained:
，
laplace transformation is carried out to obtain:
，
obtaining a transfer function：
，
Further, the construction fractional order PI λ D μ The controller obtains fractional order PI λ D μ Transfer function of controllerComprising:
introducing an R-L fractional order operator, which is as follows:
，
the R-L fractional order operator is introduced into a PID controller to obtain fractional order PI λ D μ Transfer function of the controller:
，
wherein the method comprises the steps ofIs a proportional coefficient->Is an integral time constant, +.>Is differential time constant, +.>And->Is fractional order PI λ D μ The integral and differential order of the controller.
Further, the system is input with signalsAnd error signal->Input fractional order PI λ D μ A controller transfer function outputting a control signal +.>Control signal +.>Input reactor core power transfer function, output system output signal +.>Output signal via system->Controlling reactor core power:
s1, filtering input signals
，
Wherein the method comprises the steps ofIs the number of discrete time steps of the input signal +.>An expression of time;
s2, calculating error
，
Wherein the method comprises the steps ofIs the error that is present in the error, and (2)>Is the system output->Is the discrete time step number>；
S3, determining control signals
，
Wherein the method comprises the steps ofFor control signal +.>For the time step, binomial factor +.>And->The coefficient recurrence equation is based on the fractional order differential term and integral term:
，
，
the beneficial effects of the invention are as follows: fractional order operators are introduced into a traditional reactor core power PID controller, and a reactor core power fractional order PI is provided λ D μ A control method. The fractional order PI λ D μ The control method has more parameters and higher degree of freedom of adjustment, and the multiphase information can enable the control process to be more accurate. In addition, the fractional order PID controller basically does not substitute noise in a high frequency band, has a filtering function, and is used for differentiating the term D μ It can be used alone as a compensator.
Drawings
FIG. 1 is a reactor core power fraction order PI λ D μ A flow diagram of a controller control method;
FIG. 2 is a reactor core power fraction order PI λ D μ A control block diagram.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
For the purpose of making the technical solution and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention. It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The features and capabilities of the present invention are described in further detail below in connection with the examples.
As shown in fig. 1, a reactor core power fraction PI λ D μ The controller control method comprises the following steps:
step one, modeling reactor core power through a point reactor model to obtain a reactor core power transfer function；
Step two, constructing fractional order PI λ D μ The controller obtains fractional order PI λ D μ Transfer function of controller；
Step three, inputting the system input signalAnd error signal->Input fractional order PI λ D μ A controller transfer function outputting a control signal +.>Control signal +.>Input reactor core power transfer function, output system output signal +.>Output signal via system->Reactor core power is controlled.
Further, the reactor core power transfer function is obtained by modeling the reactor core power through a point reactor modelComprising:
modeling reactor core power using a point stack model:
，
wherein the method comprises the steps ofFor time (I)>For time-dependent neutron density and reactivity, < +.>For an effective delayed neutron fission fraction +.>For middle filial generation time, & lt & gt>For the number of neutrons per second produced by the source outside the reactor,/->Is->Group delayed neutron precursor core concentration, +.>Is->Group delayed neutron fission fraction,/->Is->Group delayed neutron precursor decay constant, +.>For fission rate->For fission cross section +.>For direct fission power, +.>Direct fission energy for each fission;
therein, whereinCan be expressed as:
，
wherein the method comprises the steps ofFor stabilizing the time parameter, +.>For a period of time, after stabilization +.>；
Can obtain stable time
Wherein the method comprises the steps ofThe neutron number generated by the neutron source per second outside the reactor at the stable moment;
substitution of single set of delayed neutrons for multiple setsThe equation can be obtained:
，
laplace transformation is carried out to obtain:
，
obtaining a transfer function：
，
Further, the construction fractional order PI λ D μ The controller obtains fractional order PI λ D μ Transfer function of controllerComprising:
introducing an R-L fractional order operator, which is as follows:
，
the R-L fractional order operator is introduced into a PID controller to obtain fractional order PI λ D μ Transfer function of the controller:
，
wherein the method comprises the steps ofIs a proportional coefficient->Is an integral time constant, +.>Is differential time constant, +.>And->Is fractional order PI λ D μ The integral and differential order of the controller.
Further, the system is input with signalsAnd error signal->Input fractional order PI λ D μ A controller transfer function outputting a control signal +.>Control signal +.>Input reactor core power transfer function, output system output signal +.>Output signal via system->Controlling reactor core power:
s1, filtering input signals
，
Wherein the method comprises the steps ofIs the number of discrete time steps of the input signal +.>An expression of time;
s2, calculating error
，
Wherein the method comprises the steps ofIs the error that is present in the error, and (2)>Is the system output->Is the discrete time step number>；
S3, determining control signals
，
Wherein the method comprises the steps ofFor control signal +.>For the time step, binomial factor +.>And->The coefficient recurrence equation is based on the fractional order differential term and integral term:
，
，
specifically, step_1: reactor core power system transfer function:
we model the reactor core power using a point stack model:
，
: neutron density, neutron flux
: reactivity (in fact not only depends on +.>But only dependence on ++is considered here>），reactivity, only the time-dependence has been indicated (however, the reactivity is dependent on other variables)
: effective delayed neutron fission fraction effective delayed neutron fraction
: intermediate daughter time (neutron lifetime/core effective multiplication factor), prompt neutron generation time
: the number of neutrons generated by the off-stack neutron source per second, source;
: first->Group delayed neutron precursor core concentration, number of delayed neutron precursors of group +.>；
: first->Group delayed neutron fission fraction, fraction of delayed neutrons of group->；
: first->Group delayed neutron precursor decay constant, decay constant of group +.>；
: a split rate, a period in#/s;
: a fission cross section, a section cross-section;
: direct fission power, immediate fission power in MeV/s
: direct fission energy per fission immediate fission energy per fission in MeV
In the reactor core power control equationNon-constant, considering its variation over a period of time, there are:，
wherein the method comprises the steps ofFor a certain stabilization moment parameter, after stabilization +.>Can obtain stable moment->. Furthermore, when the nuclear reactor core is regarded as a point reactor, the operation complexity is greatly increased by a plurality of groups of delayed neutron dynamic equations, the necessity for researching the dynamic characteristics of the reactor core is not great, and a single group of delayed neutrons is used for approximately replacing a plurality of groups of->The equation can be obtained:
，
laplace transform is performed on the obtained product:
，
and then calculate the transfer function that can be obtained:
，
step_2: fractional order PI λ D μ Controller transfer function:
typically, in engineering, to achieve fine control of core power, a conventional PID controller is typically added to the core power model. In order to enable finer control of the PID controller, R-L fractional order operators are introduced therein, which are defined as:
，
introducing fractional order operator to obtain the productMemory, finer fractional order PI λ D μ The controller adds the core power equation part as follows:
，
fractional order PI λ D μ The controller is a generalized version of a conventional integer-order PID controller, which contains one integral order λ and a differential order μ, which can be any real number. Fractional order PI λ D μ The controller has a transfer function of the form:
，
reactor core power fraction PI λ D μ In the control process, the control block diagram is shown in figure 2
Wherein the method comprises the steps ofIs a system input. />Is an error signal +.>For control signal +.>Is output by the system.Is fractional order PI λ D μ Controller transfer function->Is the transfer function of the reactor power model.
For the reactor power negative feedback control system shown in the above figure, the closed loop transfer function can be expressed as follows:
，
，
step_3: fractional order PI λ D μ Controller control algorithm:
according to fractional order PI λ D μ The control system is composed of a block diagram of discrete time steps QUOTE />Fractional order PI of description λ D μ The position algorithm of the controller can be divided into the following steps:
(1) Filtering input signals
，
Wherein the method comprises the steps ofIs the number of discrete time steps of the input signal +.>The expression in that case.
(2) Calculating errors
，
Wherein the method comprises the steps ofIs the error that is present in the error, and (2)>Is the system output->Is the discrete time step number>。
(3) Determination of control signals
，
Wherein the method comprises the steps ofFor a time step (i.e. sampling period) binomial factor +.>And->The coefficient recurrence equation is based on the fractional order differential term and integral term:
，
，
and (5) calculating to obtain the product. For numerical algorithms of fractional calculus, the requirements are stored inIs a function of the history information over time. In order to improve the numerical simulation efficiency, a short memory rule is adopted. For->When (I)>The method comprises the steps of carrying out a first treatment on the surface of the When (when)When (I)>。
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (4)
1. Fractional order PI of reactor core power λ D μ The control method of the controller is characterized by comprising the following steps:
step one, modeling reactor core power through a point reactor model to obtain a reactor core power transfer function；
Step two, constructing fractional order PI λ D μ The controller obtains fractional order PI λ D μ Transfer function of controller；
Step three, inputting the system input signalAnd error signal->Input fractional order PI λ D μ A controller transfer function outputting a control signal +.>Control signal +.>Input reactor core power transfer function, output system output signal +.>Output signal via system->Reactor core power is controlled.
2. A reactor core power fraction PI as claimed in claim 1 λ D μ The control method of the controller is characterized in that the reactor core power is modeled through a point reactor model to obtain a reactor core power transfer functionComprising:
modeling reactor core power using a point stack model:
wherein the method comprises the steps ofFor time (I)>For time-dependent neutron density and reactivity, < +.>For an effective delayed neutron fission fraction +.>For middle filial generation time, & lt & gt>For the number of neutrons per second produced by the source outside the reactor,/->Is->Group delayed neutron precursor core concentration, +.>Is->Group delayed neutron fission fraction,/->Is->Group delayed neutron precursor decay constant, +.>For the rate of fission,for fission cross section +.>For direct fission power, +.>Direct fission energy for each fission;
therein, whereinCan be expressed as:
wherein the method comprises the steps ofFor stabilizing the time parameter, +.>As a change over time, after stabilization；
Can obtain stable time
Wherein the method comprises the steps ofThe neutron number generated by the neutron source per second outside the reactor at the stable moment;
substitution of single set of delayed neutrons for multiple setsThe equation can be obtained:
laplace transformation is carried out to obtain:
obtaining a transfer function：
。
3. A reactor core power fraction PI according to claim 2 λ D μ The control method of the controller is characterized in that the construction fractional order PI λ D μ The controller is used for controlling the operation of the controller,obtaining fractional order PI λ D μ Transfer function of controllerComprising:
introducing an R-L fractional order operator, which is as follows:
the R-L fractional order operator is introduced into a PID controller to obtain fractional order PI λ D μ Transfer function of the controller:
wherein the method comprises the steps ofIs a proportional coefficient->Is an integral time constant, +.>Is differential time constant, +.>And->Is fractional order PI λ D μ The integral and differential order of the controller.
4. A reactor core power fraction PI according to claim 3 λ D μ The control method of the controller is characterized in that the system input signal is inputAnd errorDifference signal->Input fractional order PI λ D μ A controller transfer function outputting a control signal +.>Control signal +.>Input reactor core power transfer function, output system output signal +.>Output signal via system->Controlling reactor core power:
s1, filtering input signals
Wherein the method comprises the steps ofIs the number of discrete time steps of the input signal +.>An expression of time;
s2, calculating error
Wherein the method comprises the steps ofIs the error that is present in the error, and (2)>Is the system output->Is the discrete time step number>；
S3, determining control signals
Wherein the method comprises the steps ofFor control signal +.>For the time step, binomial factor +.>And->The coefficient recurrence equation is based on the fractional order differential term and integral term:
。
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| CN109543222A (en) * | 2018-10-19 | 2019-03-29 | 广西电网有限责任公司电力科学研究院 | Compacted clay liners fast cut back emulation mode under a kind of different capacity level |
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| CN109543222A (en) * | 2018-10-19 | 2019-03-29 | 广西电网有限责任公司电力科学研究院 | Compacted clay liners fast cut back emulation mode under a kind of different capacity level |
Non-Patent Citations (4)
| Title |
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| 李彬;何小旭;: "核反应堆功率控制系统设计与仿真", 自动化技术与应用, no. 10, 25 October 2008 (2008-10-25), pages 15 - 18 * |
| 梁涛年: "分数阶PID控制器及参数不确定分数阶系统稳定域分析", 《中国博士学位论文全文数据库 信息科技辑》, no. 05, 15 May 2012 (2012-05-15), pages 140 - 4 * |
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