CN117872734A - Design method and system of voltage stabilizer pressure active disturbance rejection control system for nuclear power starting - Google Patents
Design method and system of voltage stabilizer pressure active disturbance rejection control system for nuclear power starting Download PDFInfo
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Abstract
The invention discloses a design method and a system of a pressure active disturbance rejection control system of a voltage stabilizer for nuclear power starting, which are used for establishing a system model of a nuclear power plant starting process based on a starting operation flow of the nuclear power plant, wherein the system model comprises a controlled object voltage stabilizer model, an actuator spraying device model and an electric heater model of a pressure control system, and is used for acquiring priori knowledge of the design of the control system, and the established model is used for subsequent parameter setting experiments and control performance verification; then, a linear active disturbance rejection controller of the pressure control system of the pressure regulator is designed according to the pressure control principle of the pressure regulator and the active disturbance rejection principle, and the pressure control system of the pressure regulator is built; finally, a parameter setting experiment is designed according to the heating and boosting starting working condition of the nuclear power plant, the controller parameter setting is carried out according to the experimental content, the controller parameter is determined according to the experimental result, simulation verification is carried out, and automatic control of pressure in the heating and boosting process is realized.
Description
Technical Field
The invention belongs to the technical field of nuclear reactor control, and particularly relates to a design method and a system of a voltage stabilizer pressure active disturbance rejection control system for nuclear power starting.
Background
Pressurized water reactor is one of the most widely used nuclear power plant types in the world at present, and a voltage stabilizer is an important device for controlling the pressure of a pressurized water reactor nuclear power Plant (PWR) and plays an important role in the safe operation of the nuclear power plant. The temperature rise and pressure rise of a loop are important operation phases in the starting process of a nuclear power plant, and in addition to the temperature and pressure change of the loop, other coupled system states are also affected by linkage, for example, the water level of a voltage stabilizer fluctuates due to the pressure and temperature rise, the downward leakage flow of a chemical and volume control system (RCV) increases, and the like, and a plurality of unknown disturbances exist in the system at the phase. The conventional PID controller used in the conventional pressure control system of the voltage stabilizer has the problems of large overshoot, poor dynamic performance, unsatisfactory control effect and the like in the complex temperature and pressure rising working conditions started by the nuclear power plant due to the limitation of the theory, so that the conventional PID controller is only applied to the power operation working conditions, and the pressure of the voltage stabilizer is still manually regulated and controlled by an operator in the temperature and pressure rising stage. In order to solve the problems, the method improves the automation level of the nuclear power plant in the starting process, and designs a controller which has good control performance, strong anti-interference capability and is suitable for all working conditions in the starting process of the nuclear power plant is important to reduce the burden of operators, improve the economic benefit and the production efficiency of the nuclear power plant and improve the automation level of the nuclear power plant.
Disclosure of Invention
The invention aims to solve the technical problems that aiming at the defects in the prior art, the invention provides a design method and a system for a pressure auto-disturbance rejection control system of a voltage stabilizer for nuclear power starting, which are used for solving the technical problems that the pressure control of the voltage stabilizer still depends on manual adjustment of an operator in the starting process of a nuclear power plant, and the pressure automatic control of the voltage stabilizer cannot be realized by a traditional PID controller.
The invention adopts the following technical scheme:
the design method of the voltage stabilizer pressure active disturbance rejection control system for nuclear power starting comprises the following steps:
s1, establishing a system model of a nuclear power plant starting process according to a starting operation flow of a pressurized water reactor nuclear power plant and specific design contents of auxiliary systems;
s2, designing a linear active disturbance rejection controller of a pressure control system of the pressure regulator according to the pressure control principle of the pressure regulator and the active disturbance rejection principle, and establishing the pressure control system of the pressure regulator according to the designed linear active disturbance rejection controller;
s3, designing a controller parameter setting experiment according to the heating and boosting operation working conditions of the nuclear power plant based on the system model of the starting process of the nuclear power plant obtained in the step S1 and the pressure control system of the pressure stabilizer obtained in the step S2, carrying out the parameter setting experiment under different starting working conditions of the nuclear power plant, determining the controller parameters according to the parameter setting experiment results, and realizing automatic pressure control in the heating and boosting process.
Preferably, the system models of the nuclear power plant start-up process include a controlled object regulator model, an actuator spray device model, and an electric heater model of the pressure control system.
Preferably, the linear active disturbance rejection controller comprises a linear state observer and a linear state error feedback control law, wherein the linear state observer estimates unknown disturbance in the pressure control system of the pressure stabilizer according to the pressure actual measurement value and the pressure deviation compensation value of the pressure stabilizer; and the linear state error feedback control law eliminates disturbance according to the pressure set value and the observation value of the linear state observer, and realizes feedback control.
Preferably, the second derivative of the second order linear system y after disturbance cancellation is accomplished by a linear auto-disturbance rejection controllerThe concrete representation is as follows:
where f is the total disturbance of the system, u 0 As the output value after the set value passes through the PD link of the linear active disturbance rejection controller, z 3 Is the observed value of the linear state observer on the total disturbance f of the system.
Preferably, the active disturbance rejection principle uses a state observer estimation based on a state space model to observe the total disturbance f of the system, the purpose of the linear state observer is to obtain an observed value of f, and the state of the controlled object is estimated by using the input u and the output y of the controlled object, and z 1 And z 2 Is a linear state observerTracking the actual output y and the first derivative thereof, and obtaining z under the condition of proper parameter adjustment 3 =f, state feedback control is implemented using the proportional-differential controller principle to cancel the total disturbance.
Preferably, the linear active disturbance rejection controller comprises 3 adjustable parameters, the input of the linear active disturbance rejection controller is a pressure actual measurement value and a pressure set value of the voltage stabilizer, the linear active disturbance rejection controller calculates an output pressure deviation compensation value, and the pressure compensation value output by the linear active disturbance rejection controller respectively controls the power of the heater and the opening of the spraying valve through two control characteristic units, so as to control the pressure of the voltage stabilizer.
Preferably, step S3 is specifically:
s301, determining a pressure operation range based on a pressurized water reactor nuclear power plant temperature rise and pressure rise operation flow, and selecting 3-5 pressure platforms according to the pressure operation range to carry out a parameter setting flow;
s302, determining a mathematical magnitude relation between input and output of a linear active disturbance rejection controller based on the pressurized water reactor nuclear power plant starting process system model obtained in the step S1 and the voltage stabilizer pressure control system obtained in the step S2 according to the pressure platform determined in the step S301, and gradually increasing omega according to an empirical value of 2-10 times 0 Until the output of the linear active disturbance rejection controller is oscillated;
s303, maintaining non-oscillating omega 0 The critical value is unchanged, and omega is gradually increased c Omega is reduced after the output oscillation of the linear active disturbance rejection controller 0 Then continue to increase ω c Repeatedly adjusting until the output of the linear active disturbance rejection controller meets the requirement;
s304, finally, adjusting b according to the response speed of the linear active disturbance rejection controller 0 Until the control performance meets the requirement;
s305, replacing the pressure platform obtained in the step S301, testing the control performance of the linear active disturbance rejection controller, and performing parameter fine adjustment until the control performance meets the requirement;
s306, repeating the step S305 until a group of linear active disturbance rejection controller parameters meeting the control requirement on each pressure platform are selected.
Preferably, in step S302, ω is first taken c 2 =1, hold ω c Is unchanged.
In a second aspect, an embodiment of the present invention provides a design system for a voltage regulator pressure active disturbance rejection control system for nuclear power start, including:
the starting control object module is used for establishing a system model of the starting process of the nuclear power plant according to the starting operation flow of the pressurized water reactor nuclear power plant and the specific design content of each auxiliary system;
the control module is used for designing a linear active disturbance rejection controller of the pressure control system of the pressure regulator according to the pressure control principle of the pressure regulator and the active disturbance rejection principle, and establishing the pressure control system of the pressure regulator according to the designed linear active disturbance rejection controller;
And the output module is used for designing a controller parameter setting experiment according to the heating and boosting operation working conditions of the nuclear power plant based on a system model of the starting process of the nuclear power plant obtained by the starting control object module and the pressure control system of the pressure stabilizer obtained by the control module, carrying out the parameter setting experiment under different starting working conditions of the nuclear power plant, determining the controller parameter according to the parameter setting experiment result, and realizing the automatic pressure control in the heating and boosting process.
Preferably, the output module is specifically:
determining a pressure operation range based on a pressurized water reactor nuclear power plant temperature rise and pressure rise operation flow, and selecting 3-5 pressure platforms according to the pressure operation range to carry out a parameter setting flow;
according to the determined pressure platform, based on a pressurized water reactor nuclear power plant reactor starting process system model and a voltage stabilizer pressure control system, determining mathematical magnitude relation of input and output of a linear active disturbance rejection controller, and firstly taking omega c 2 =1, hold ω c Constant, gradually increasing omega according to an empirical value of 2-10 times 0 Until the output of the linear active disturbance rejection controller is oscillated;
omega for maintaining non-oscillation 0 The critical value is unchanged, and omega is gradually increased c Omega is reduced after the output oscillation of the linear active disturbance rejection controller 0 Then continue to increase ω c Repeatedly adjusting until the output of the linear active disturbance rejection controller meets the requirement;
Finally, b is adjusted according to the response speed of the linear active disturbance rejection controller 0 Until the control performance meets the requirement;
changing a pressure platform, testing the control performance of the linear active disturbance rejection controller, and performing parameter fine adjustment until the control performance meets the requirement;
repeating the steps until a group of linear active disturbance rejection controller parameters which can meet the control requirement on each pressure platform are selected.
Compared with the prior art, the invention has at least the following beneficial effects:
the invention relates to a design method of a pressure-regulator pressure active disturbance rejection control system for nuclear power starting, which comprises the steps of firstly establishing a system model of a nuclear power plant starting process based on a starting operation flow of the nuclear power plant, wherein the system model comprises a controlled object pressure regulator model, an actuator spraying device model and an electric heater model of a pressure control system, and is used for acquiring priori knowledge of control system design, and the established model is used for subsequent parameter setting experiments and control performance verification; then, a linear active disturbance rejection controller of the pressure control system of the pressure regulator is designed according to the pressure control principle of the pressure regulator and the active disturbance rejection principle, and the pressure control system of the pressure regulator is built; finally, a parameter setting experiment is designed according to the heating and boosting starting working condition of the nuclear power plant, the controller parameter setting is carried out according to the experimental content, the controller parameter is determined according to the experimental result, simulation verification is carried out, and automatic control of pressure in the heating and boosting process is realized.
Further, based on the starting operation flow of the pressurized water reactor nuclear power plant, specific design contents of a plurality of auxiliary systems involved in the process are researched, a system model of the nuclear power plant is built, and the model is built based on the requirement of completing the starting operation flow of the nuclear power plant. Meanwhile, according to the pressure control principle of the pressure stabilizer, the established system model must comprise a controlled object pressure stabilizer model, an actuator spraying device model and an electric heater model of the pressure control system. The purpose of establishing the control object model is to study the pressure control characteristic of the starting process of the nuclear power plant before the pressure control system is designed, and to acquire priori knowledge before the control system is designed; and the established model is also used for carrying out controller parameter setting experiments and starting process controller contrast performance verification subsequently.
Further, the control essence of the linear active disturbance rejection algorithm is to estimate and compensate disturbance, and the core is an extended state observer with strong disturbance observation and estimation capability, so that the pressure control system of the voltage stabilizer is designed based on the linear active disturbance rejection algorithm.
Further, a state observer based on a state space model is adopted to observe the state of the system by inputting u and y of the system, so as to obtain an observed value z of y of the output 1 First derivative observations z of y 2 And the observed value z of the total disturbance f of the system 3 The state feedback control is then implemented using the proportional-derivative controller principle to eliminate the total disturbance.
Further, according to the prior knowledge learned in the process of establishing a control object model, based on the principle of a pressure control system of the pressure stabilizer under power operation, a linear active disturbance rejection controller is adopted to replace a PID controller in the pressure control object model, the pressure actual measurement value and the pressure set value of the pressure stabilizer are input, the linear active disturbance rejection controller calculates an output pressure deviation compensation value, the pressure compensation value output by the linear active disturbance rejection controller respectively controls the power of a heater and the opening of a spraying valve through two control characteristic units, and then the pressure of the pressure stabilizer is controlled.
Further, after the design of the voltage stabilizer pressure control system based on active disturbance rejection is completed, parameter setting experiments under different working conditions in the starting process of the nuclear power plant are required to be designed and carried out, the purpose of the voltage stabilizer pressure control system is to ensure that the designed controller can complete pressure control in the whole starting temperature rise and pressure rise process of the nuclear power plant, control effects and control costs are comprehensively considered in the parameter setting experiments, a group of parameters with the best adaptability are selected on the premise of ensuring that an actuator does not frequently act and overshoot is reduced as much as possible, and the purpose of the voltage stabilizer pressure control system is to ensure that the same set of controller parameters can complete pressure control under all working conditions, so that the selected controller parameters are more fit with the selection requirements in engineering practice.
It will be appreciated that the advantages of the second aspect may be found in the relevant description of the first aspect, and will not be described in detail herein.
In conclusion, the pressure control system designed in the invention has good control performance and immunity in complex temperature rise and pressure rise working conditions, can realize automatic control of pressure in the starting process, and reduces the burden of operators; meanwhile, the starting time is shortened, and the production efficiency of the nuclear power station is improved; the method enables the temperature-pressure (P-T) curve of the operation to be closer to the middle of the allowable range, and improves the safety of the starting process of the nuclear power plant.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 is a process flow diagram of a pressurized water reactor nuclear power plant model;
FIG. 3 is a block diagram of a linear active disturbance rejection controller;
FIG. 4 is a diagram of a regulator pressure active disturbance rejection control system.
FIG. 5 is a flow chart of a parameter tuning experiment;
FIG. 6 is a temperature-pressure limit range diagram;
FIG. 7 is a graph showing a pressure response during a temperature and pressure increasing process, wherein (a) is a linear increase in pressure set point from 2.9MPa to 4MPa, (b) is a linear increase in pressure set point from 4MPa to 8.5MPa, (c) is a linear increase in pressure set point from 8.5MPa to 14.5MPa, and (d) is a linear increase in pressure set point from 14.5MPa to 15.5MPa;
Fig. 8 is a schematic diagram of a computer device according to an embodiment of the invention.
Fig. 9 is a block diagram of a chip according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it will be understood that the terms "comprises" and "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In the present invention, the character "/" generally indicates that the front and rear related objects are an or relationship.
It should be understood that although the terms first, second, third, etc. may be used to describe the preset ranges, etc. in the embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are only used to distinguish one preset range from another. For example, a first preset range may also be referred to as a second preset range, and similarly, a second preset range may also be referred to as a first preset range without departing from the scope of embodiments of the present invention.
Depending on the context, the word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection". Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
Various structural schematic diagrams according to the disclosed embodiments of the present invention are shown in the accompanying drawings. The figures are not drawn to scale, wherein certain details are exaggerated for clarity of presentation and may have been omitted. The shapes of the various regions, layers and their relative sizes, positional relationships shown in the drawings are merely exemplary, may in practice deviate due to manufacturing tolerances or technical limitations, and one skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions as actually required.
The invention provides a design method of a pressure active disturbance rejection control system of a voltage stabilizer for nuclear power starting, which comprises the steps of establishing a system model in a starting process of a nuclear power plant, acquiring priori knowledge of the design of the control system and being used for subsequent parameter setting experiments; the method comprises three parts of contents of a voltage stabilizer pressure control system design and a parameter setting experiment design based on a linear active disturbance rejection algorithm; the pressure active disturbance rejection control system of the voltage stabilizer designed by the design method can realize automatic control of the pressure in the starting process, and compared with manual control and PID control, the control system has good control performance and anti-disturbance performance in the complex working condition of temperature rise and pressure rise, and reduces the burden of operators; the starting time is shortened, and the production efficiency of the nuclear power station is improved; the temperature-pressure (P-T) curve for starting the temperature rise and pressure rise process is closer to the middle of the allowable range, so that the safety of the starting process of the nuclear power plant is improved.
Referring to fig. 1, the design method of the pressure active disturbance rejection control system of the voltage regulator for nuclear power starting of the invention comprises the following steps:
s1, establishing a system model of a nuclear power plant starting process according to a starting operation flow of a pressurized water reactor nuclear power plant and specific design contents of auxiliary systems, and using the system model for subsequent parameter setting experiments and control performance verification;
the system model of the nuclear power plant starting process comprises a controlled object voltage stabilizer model, an actuator spraying device model and an electric heater model of a pressure control system, and is used for acquiring priori knowledge of the design of the control system.
Referring to fig. 2, a starting operation process of a pressurized water reactor nuclear power plant requires a plurality of auxiliary systems to coordinate with each other, so as to realize safe starting and stable operation of the nuclear reactor, and before specific design is performed, a system model of the nuclear power plant needs to be built based on specific design contents of the auxiliary systems related in the starting operation process, the model is built based on the operation of the starting operation process of the nuclear power plant, and meanwhile, according to a pressure control principle of the pressure stabilizer, the built system model must comprise a controlled object pressure stabilizer model, an actuator spray device model and an electric heater model of a pressure control system.
S2, designing a linear active disturbance rejection controller of a pressure control system of the pressure regulator according to the pressure control principle of the pressure regulator and the active disturbance rejection principle, wherein the linear active disturbance rejection controller comprises an extended state observer and a feedback control law; establishing a voltage stabilizer pressure control system according to the designed linear active disturbance rejection controller;
the control essence of the active disturbance rejection principle is the estimation and compensation of disturbance, and the core of the active disturbance rejection principle is an extended state observer with strong disturbance observation and estimation capability, and a Linear Active Disturbance Rejection Controller (LADRC) consists of a linear state observer (LESO) and a linear state error feedback control Law (LSEF).
Taking a second order linear system with unknown dynamic disturbances and external disturbances as an example, the system is expressed by the following formula:
where u is the system input, y is the system output, g is the uncertainty in the model, w is the unknown disturbance, and f is the total disturbance of the system.
Referring to fig. 3, the active disturbance rejection principle uses state observer estimation based on a state space model to realize observation of f, wherein the purpose of the LESO is to obtain an observed value of f, and the state of a controlled object is estimated by using an input u and an output y of the controlled object, and z 1 And z 2 Is the tracking of LESO to the actual output y and the first derivative thereof, and z is obtained under the condition of proper parameter adjustment 3 ＝f。
After obtaining the disturbance estimation value, u 0 The relationship between and u is expressed as:
substituting formula (2) into formula (1) to obtain:
thus, the LSEF implements state feedback control based on LESO observations using the proportional-derivative (PD) controller principle to eliminate the total disturbance.
Referring to fig. 4, in combination with the above-mentioned linear active disturbance rejection principle and the pressure control principle of the voltage regulator, a pressure control system of the voltage regulator is established according to a designed linear active disturbance rejection controller, wherein the designed linear active disturbance rejection controller comprises 3 adjustable parameters, ω respectively c ，ω 0 ，b 0 。
In the invention, the measured pressure value and the pressure set value of the voltage stabilizer are input to the linear active disturbance rejection controller, the controller calculates an output pressure deviation compensation value, and the LESO part of the linear active disturbance rejection controller estimates the unknown disturbance in the pressure control system of the voltage stabilizer according to the measured pressure value and the pressure deviation compensation value of the voltage stabilizer.
And the LESF part of the linear active disturbance rejection controller eliminates disturbance according to the pressure set value and the LESO observation value, and realizes feedback control.
The pressure compensation value output by the linear active disturbance rejection controller respectively controls the power of the heater and the opening of the spraying valve through two control characteristic units, so as to control the pressure of the voltage stabilizer.
S3, combining the step S1 and the step S2, designing a controller parameter setting experiment according to the heating and boosting operation working conditions of the nuclear power plant, carrying out the parameter setting experiment under different starting working conditions of the nuclear power plant, determining a group of controller parameters according to experimental results, and carrying out simulation verification, thereby realizing automatic control of pressure in the heating and boosting process.
Because the controller designed in the invention is required to complete the pressure control of the whole process of temperature rise and pressure rise, the selection of the controller parameters is required to meet the control requirements under different working conditions, so the invention designs a parameter setting experiment which comprehensively considers the control effect and the control cost, and selects a group of parameters with the best adaptability under the premise of ensuring the infrequent action of an actuator and reducing overshoot as much as possible.
Referring to fig. 5, the parameter setting experiment mainly includes the following six experimental steps:
s301, determining a pressure operation range based on a pressurized water reactor nuclear power plant temperature rise and pressure rise operation flow, and selecting 3-5 pressure platforms according to the pressure operation range to carry out a parameter setting flow;
s302, determining a mathematical magnitude relation between input and output of a controller based on a pressure platform determined in the step S301, a pressurized water reactor nuclear power plant starting process system model established in the step S1 and a voltage stabilizer pressure active disturbance rejection control system designed in the step S2, and firstly obtaining omega in the invention c 2 =1, hold ω c Constant, gradually increasing omega according to an empirical value of 2-10 times 0 Until the output of the controller is oscillated;
s303, maintaining non-oscillating omega 0 The critical value is unchanged, and omega is gradually increased c The omega is reduced after the controller outputs oscillation 0 Then continue to increase ω c Repeatedly adjusting until the output of the controller reachesRequirements;
s304, finally, adjusting b according to the response speed of the actuator 0 Until the control performance meets the requirement;
s305, replacing the pressure platform, testing the control performance of the controller, and performing parameter fine adjustment until the control performance meets the requirement;
s306, repeating the step S305 until a group of controller parameters meeting the control requirement on each pressure platform is selected.
In still another embodiment of the present invention, a design system of a voltage regulator pressure active disturbance rejection control system for nuclear power start is provided, where the system can be used to implement the design method of the voltage regulator pressure active disturbance rejection control system for nuclear power start, and specifically, the design system of the voltage regulator pressure active disturbance rejection control system for nuclear power start includes a start control object module, a control module, and an output module.
The system model of the nuclear power plant starting process is established according to the starting operation flow of the pressurized water reactor nuclear power plant and the specific design content of each auxiliary system;
The control module is used for designing a linear active disturbance rejection controller of the pressure control system of the pressure regulator according to the pressure control principle of the pressure regulator and the active disturbance rejection principle, and establishing the pressure control system of the pressure regulator according to the designed linear active disturbance rejection controller;
and the output module is used for designing a controller parameter setting experiment according to the heating and boosting operation working conditions of the nuclear power plant based on a system model of the starting process of the nuclear power plant obtained by the starting control object module and the pressure control system of the pressure stabilizer obtained by the control module, carrying out the parameter setting experiment under different starting working conditions of the nuclear power plant, determining the controller parameter according to the parameter setting experiment result, and realizing the automatic pressure control in the heating and boosting process.
The output module is specifically:
determining a pressure operation range based on a pressurized water reactor nuclear power plant temperature rise and pressure rise operation flow, and selecting 3-5 pressure platforms according to the pressure operation range to carry out a parameter setting flow;
according to the determined pressure platform, starting a reactor of a pressurized water reactor based nuclear power plantDetermining mathematical magnitude relation between input and output of linear active disturbance rejection controller by process system model and pressure control system of voltage stabilizer, and firstly taking omega c 2 =1, hold ω c Constant, gradually increasing omega according to an empirical value of 2-10 times 0 Until the output of the linear active disturbance rejection controller is oscillated;
omega for maintaining non-oscillation 0 The critical value is unchanged, and omega is gradually increased c Omega is reduced after the output oscillation of the linear active disturbance rejection controller 0 Then continue to increase ω c Repeatedly adjusting until the output of the linear active disturbance rejection controller meets the requirement;
finally, b is adjusted according to the response speed of the linear active disturbance rejection controller 0 Until the control performance meets the requirement;
changing a pressure platform, testing the control performance of the linear active disturbance rejection controller, and performing parameter fine adjustment until the control performance meets the requirement;
repeating the steps until a group of linear active disturbance rejection controller parameters which can meet the control requirement on each pressure platform are selected.
In yet another embodiment of the present invention, a terminal device is provided, the terminal device including a processor and a memory, the memory for storing a computer program, the computer program including program instructions, the processor for executing the program instructions stored by the computer storage medium. The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc., which are the computational core and control core of the terminal adapted to implement one or more instructions, in particular to load and execute one or more instructions to implement the corresponding method flow or corresponding functions; the processor provided by the embodiment of the invention can be used for the operation of a design method of a voltage stabilizer pressure active disturbance rejection control system for nuclear power starting, and comprises the following steps:
According to the starting operation flow of the pressurized water reactor nuclear power plant and the specific design content of each auxiliary system, a system model of the starting process of the nuclear power plant is established; designing a linear active disturbance rejection controller of a pressure control system of the pressure regulator according to the pressure control principle and the active disturbance rejection principle of the pressure regulator, and establishing the pressure control system of the pressure regulator according to the designed linear active disturbance rejection controller; and designing a controller parameter setting experiment according to the heating and boosting operation working conditions of the nuclear power plant based on a system model and a voltage stabilizer pressure control system of the starting process of the nuclear power plant, carrying out parameter setting experiments under different starting working conditions of the nuclear power plant, determining the controller parameters according to the parameter setting experiment results, and realizing automatic pressure control in the heating and boosting process.
Referring to fig. 8, the terminal device is a computer device, and the computer device 60 of this embodiment includes: a processor 61, a memory 62, and a computer program 63 stored in the memory 62 and executable on the processor 61, the computer program 63 when executed by the processor 61 implements the reservoir inversion wellbore fluid composition calculation method of the embodiment, and is not described in detail herein to avoid repetition. Alternatively, the computer program 63, when executed by the processor 61, performs the functions of the models/units in the design system of the regulator pressure active disturbance rejection control system for nuclear power start-up according to the embodiment, and is not described herein in detail for avoiding repetition.
The computer device 60 may be a desktop computer, a notebook computer, a palm top computer, a cloud server, or the like. Computer device 60 may include, but is not limited to, a processor 61, a memory 62. It will be appreciated by those skilled in the art that fig. 8 is merely an example of computer device 60 and is not intended to be limiting of computer device 60, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., a computer device may also include an input-output device, a network access device, a bus, etc.
The processor 61 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 62 may be an internal storage unit of the computer device 60, such as a hard disk or memory of the computer device 60. The memory 62 may also be an external storage device of the computer device 60, such as a plug-in hard disk provided on the computer device 60, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like.
Further, the memory 62 may also include both internal storage units and external storage devices of the computer device 60. The memory 62 is used to store computer programs and other programs and data required by the computer device. The memory 62 may also be used to temporarily store data that has been output or is to be output.
Referring to fig. 9, the terminal device is a chip, and the chip 600 of this embodiment includes a processor 622, which may be one or more in number, and a memory 632 for storing a computer program executable by the processor 622. The computer program stored in memory 632 may include one or more modules each corresponding to a set of instructions. In addition, the processor 622 may be configured to execute the computer program to perform the above-described method of designing a nuclear power start-up regulator pressure active disturbance rejection control system.
In addition, chip 600 may further include a power supply component 626 and a communication component 650, where power supply component 626 may be configured to perform power management of chip 600, and communication component 650 may be configured to enable communication of chip 600, e.g., wired or wireless communication. In addition, the chip 600 may also include an input/output (I/O) interface 658. Chip 600 may operate based on an operating system stored in memory 632.
In a further embodiment of the present invention, the present invention also provides a storage medium, in particular, a computer readable storage medium (Memory), which is a Memory device in a terminal device, for storing programs and data. It will be appreciated that the computer readable storage medium herein may include both a built-in storage medium in the terminal device and an extended storage medium supported by the terminal device. The computer-readable storage medium provides a storage space storing an operating system of the terminal. Also stored in the memory space are one or more instructions, which may be one or more computer programs (including program code), adapted to be loaded and executed by the processor. The computer readable storage medium may be a high-speed RAM Memory or a Non-Volatile Memory (Non-Volatile Memory), such as at least one magnetic disk Memory.
One or more instructions stored in a computer-readable storage medium may be loaded and executed by a processor to implement the corresponding steps of the method for designing a nuclear power start-up regulator pressure active immunity control system in the above embodiments; one or more instructions in a computer-readable storage medium are loaded by a processor and perform the steps of:
According to the starting operation flow of the pressurized water reactor nuclear power plant and the specific design content of each auxiliary system, a system model of the starting process of the nuclear power plant is established; designing a linear active disturbance rejection controller of a pressure control system of the pressure regulator according to the pressure control principle and the active disturbance rejection principle of the pressure regulator, and establishing the pressure control system of the pressure regulator according to the designed linear active disturbance rejection controller; and designing a controller parameter setting experiment according to the heating and boosting operation working conditions of the nuclear power plant based on a system model and a voltage stabilizer pressure control system of the starting process of the nuclear power plant, carrying out parameter setting experiments under different starting working conditions of the nuclear power plant, determining the controller parameters according to the parameter setting experiment results, and realizing automatic pressure control in the heating and boosting process.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present 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 those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the process of heating up and boosting up a pressurized water reactor nuclear power plant, other systems of the nuclear power plant can change besides the temperature and pressure change of a loop, for example, due to pressure rising and water level fluctuation of a voltage stabilizer, the leakage flow of RCV is increased, and the like, a plurality of unknown disturbances exist in the system, so that the pressure control is affected, and the system comprises four pressure and temperature rising stages. The pressure set point in the first stage was continuously linearly increased from 2.9MPa to 4MPa while raising the primary loop temperature from 177 ℃ to 180 ℃ by the turbine bypass system (TSA); the pressure set point in the second stage is continuously and linearly increased from 4MPa to 8.5MPa, and the temperature of a first loop is increased from 180 ℃ to 213 ℃ through TSA; continuously and linearly increasing the set point of the third-stage pressure from 8.5MPa to 14.5MPa, and simultaneously raising the temperature of the first circuit from 213 ℃ to 275 ℃ through TSA; the stage four pressure set point was continuously linearly increased from 14.5MPa to 15.5MPa while the primary loop temperature was increased from 275 c to 284 c by TSA.
In order to prevent the primary side coolant from boiling during the entire temperature and pressure raising process, and also in view of equipment safety, the temperature raising rate does not exceed 28 ℃/h, and the primary circuit temperature and pressure during the temperature and pressure raising process must be limited within the operating range shown in fig. 6.
To demonstrate that the PID controller is not suitable for temperature and pressure rise conditions, the procedure of stage one was chosen for comparative experiments. Fig. 7 (a) shows the comparison of the control performance of the two controllers in the first stage, and the ladc controller completes the boosting process in the first stage (as shown by the dashed box) within 1500 seconds, but the PID controller shows the characteristics of large overshoot and long settling time in this process, and is not suitable for the heating and boosting process in the starting process. Thus, the boosting operation from the 2 nd stage to the 4 th stage is completed using only the ladc controller.
Fig. 7 (b), (c) and (d) show the control performance of the ladc controller from the second stage to the fourth stage. In the heating and boosting process, the LADRC controller has good tracking performance under each process, the adjusting time is shorter, and no overshoot occurs. The P-T curve in fig. 6 shows the temperature-pressure relationship of the ladc controller during the temperature-pressure boost, where the curve is in the allowable range of temperature-pressure during the operation of the nuclear power plant, and the P-T curve under the control of the ladc controller is always close to the middle of the allowable operating range, so that the operation curve is avoided from exceeding the allowable boundary as much as possible, and the temperature-pressure boost process is safer.
Based on the experimental results, in the presence of temperature disturbances and other unknown disturbances, the pressure under the LADRC controller is not overshot during the boost process and has a short settling time, and the P-T curve under its control is always near the middle of the allowable operating range. Thus, the designed LADRC controller can complete the boosting process in the starting process faster and safer within the allowable range of the temperature-pressure of the starting process of the nuclear power plant.
In summary, according to the design method and the system for the pressure active disturbance rejection control system of the voltage stabilizer for nuclear power starting, the designed pressure control system has good control performance and disturbance rejection in complex temperature rise and pressure rise working conditions, and compared with a traditional pressure rise mode, the method can realize automatic control of pressure in the starting process, and reduces the burden of operators; meanwhile, the starting time is shortened, and the production efficiency of the nuclear power station is improved; the method enables the temperature-pressure (P-T) curve of the operation to be closer to the middle of the allowable range, and improves the safety of the starting process of the nuclear power plant.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal and method may be implemented in other manners. For example, the apparatus/terminal embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a usb disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a Random-Access Memory (RAM), an electrical carrier wave signal, a telecommunications signal, a software distribution medium, etc., it should be noted that the content of the computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in jurisdictions, such as in some jurisdictions, according to the legislation and patent practice, the computer readable medium does not include electrical carrier wave signals and telecommunications signals.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above is only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by this, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. The design method of the pressure active disturbance rejection control system of the voltage stabilizer for nuclear power starting is characterized by comprising the following steps of:
s1, establishing a system model of a nuclear power plant starting process according to a starting operation flow of a pressurized water reactor nuclear power plant and specific design contents of auxiliary systems;
s2, designing a linear active disturbance rejection controller of a pressure control system of the pressure regulator according to the pressure control principle of the pressure regulator and the active disturbance rejection principle, and establishing the pressure control system of the pressure regulator according to the designed linear active disturbance rejection controller;
S3, designing a controller parameter setting experiment according to the heating and boosting operation working conditions of the nuclear power plant based on the system model of the starting process of the nuclear power plant obtained in the step S1 and the pressure control system of the pressure stabilizer obtained in the step S2, carrying out the parameter setting experiment under different starting working conditions of the nuclear power plant, determining the controller parameters according to the parameter setting experiment results, and realizing automatic pressure control in the heating and boosting process.
2. The method for designing a nuclear power start-up regulator pressure active disturbance rejection control system according to claim 1, wherein the system model of the nuclear power plant start-up process includes a controlled object regulator model, an actuator spray device model and an electric heater model of the pressure control system.
3. The method for designing a voltage regulator pressure active disturbance rejection control system for nuclear power start-up according to claim 1, wherein the linear active disturbance rejection controller comprises a linear state observer and a linear state error feedback control law, the linear state observer estimating an unknown disturbance in the voltage regulator pressure control system according to a measured pressure value and a pressure deviation compensation value of the voltage regulator; and the linear state error feedback control law eliminates disturbance according to the pressure set value and the observation value of the linear state observer, and realizes feedback control.
4. The method for designing a voltage regulator pressure auto-disturbance rejection control system for nuclear power start-up according to claim 3, wherein the second derivative of the second order linear system y after disturbance elimination is completed by a linear auto-disturbance rejection controllerThe concrete representation is as follows:
where f is the total disturbance of the system, u 0 As the output value after the set value passes through the PD link of the linear active disturbance rejection controller, z 3 Is the observed value of the linear state observer on the total disturbance f of the system.
5. The method for designing a voltage regulator pressure active disturbance rejection control system for nuclear power start-up according to claim 4, wherein the active disturbance rejection principle uses a state observer based on a state space model to estimate the total disturbance f of the system, the purpose of the linear state observer is to obtain an observed value of f, the state of the controlled object is estimated using the input u and the output y of the controlled object, and z 1 And z 2 Is the tracking of the linear state observer to the actual output y and the first derivative thereof, and obtains z under the condition of proper parameter adjustment 3 =f, state feedback control is implemented using the proportional-differential controller principle to cancel the total disturbance.
6. The method for designing a pressure active disturbance rejection control system of a voltage stabilizer for nuclear power starting according to claim 3, wherein the linear active disturbance rejection controller comprises 3 adjustable parameters, the input of the linear active disturbance rejection controller is a pressure actual measurement value and a pressure set value of the voltage stabilizer, the linear active disturbance rejection controller calculates an output pressure deviation compensation value, and the pressure compensation value output by the linear active disturbance rejection controller controls the power of a heater and the opening of a spraying valve respectively through two control characteristic units, so as to control the pressure of the voltage stabilizer.
7. The method for designing a nuclear power starting voltage stabilizer pressure active disturbance rejection control system according to claim 1, wherein step S3 specifically comprises:
s301, determining a pressure operation range based on a pressurized water reactor nuclear power plant temperature rise and pressure rise operation flow, and selecting 3-5 pressure platforms according to the pressure operation range to carry out a parameter setting flow;
s302, determining a mathematical magnitude relation between input and output of a linear active disturbance rejection controller based on the pressurized water reactor nuclear power plant starting process system model obtained in the step S1 and the voltage stabilizer pressure control system obtained in the step S2 according to the pressure platform determined in the step S301, and gradually increasing omega according to an empirical value of 2-10 times 0 Until the output of the linear active disturbance rejection controller is oscillated;
s303, maintaining non-oscillating omega 0 The critical value is unchanged, and omega is gradually increased c Omega is reduced after the output oscillation of the linear active disturbance rejection controller 0 Then continue to increase ω c Repeatedly adjusting until the output of the linear active disturbance rejection controller meets the requirement;
s304, finally, adjusting b according to the response speed of the linear active disturbance rejection controller 0 Until the control performance meets the requirement;
s305, replacing the pressure platform obtained in the step S301, testing the control performance of the linear active disturbance rejection controller, and performing parameter fine adjustment until the control performance meets the requirement;
S306, repeating the step S305 until a group of linear active disturbance rejection controller parameters meeting the control requirement on each pressure platform are selected.
8. The method for designing a voltage regulator pressure active disturbance rejection control system for nuclear power start-up according to claim 7, wherein in step S302, ω is first taken c 2 =1, hold ω c Is unchanged.
9. The utility model provides a steady voltage ware pressure auto disturbance rejection control system design system for nuclear power is started, its characterized in that includes:
the starting control object module is used for establishing a system model of the starting process of the nuclear power plant according to the starting operation flow of the pressurized water reactor nuclear power plant and the specific design content of each auxiliary system;
the control module is used for designing a linear active disturbance rejection controller of the pressure control system of the pressure regulator according to the pressure control principle of the pressure regulator and the active disturbance rejection principle, and establishing the pressure control system of the pressure regulator according to the designed linear active disturbance rejection controller;
and the output module is used for designing a controller parameter setting experiment according to the heating and boosting operation working conditions of the nuclear power plant based on a system model of the starting process of the nuclear power plant obtained by the starting control object module and the pressure control system of the pressure stabilizer obtained by the control module, carrying out the parameter setting experiment under different starting working conditions of the nuclear power plant, determining the controller parameter according to the parameter setting experiment result, and realizing the automatic pressure control in the heating and boosting process.
10. The nuclear power starting voltage regulator pressure active disturbance rejection control system design system of claim 9, wherein the output module is specifically:
determining a pressure operation range based on a pressurized water reactor nuclear power plant temperature rise and pressure rise operation flow, and selecting 3-5 pressure platforms according to the pressure operation range to carry out a parameter setting flow;
according to the determined pressure platform, based on a pressurized water reactor nuclear power plant reactor starting process system model and a voltage stabilizer pressure control system, determining mathematical magnitude relation of input and output of a linear active disturbance rejection controller, and firstly taking omega c 2 =1, hold ω c Constant, gradually increasing omega according to an empirical value of 2-10 times 0 Until the output of the linear active disturbance rejection controller is oscillated;
omega for maintaining non-oscillation 0 The critical value is unchanged, and omega is gradually increased c Omega is reduced after the output oscillation of the linear active disturbance rejection controller 0 Then continue to increase ω c Repeatedly adjusting until the output of the linear active disturbance rejection controller meets the requirement;
finally, b is adjusted according to the response speed of the linear active disturbance rejection controller 0 Until the control performance meets the requirement;
changing a pressure platform, testing the control performance of the linear active disturbance rejection controller, and performing parameter fine adjustment until the control performance meets the requirement;
Repeating the steps until a group of linear active disturbance rejection controller parameters which can meet the control requirement on each pressure platform are selected.
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