CN117968056A - Gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control - Google Patents
Gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control Download PDFInfo
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Abstract
The invention discloses a gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control, which adopts a cascade control structure of the improved active disturbance rejection control, wherein an outer ring controller is an improved active disturbance rejection controller, an inner ring is a PID controller, and a parameter setting flow which is easy to implement and strong in engineering property is provided for the improved active disturbance rejection controller. The method can overcome the problem of control quality degradation caused by the large inertia characteristic of the drum water level system, has quicker tracking performance and anti-interference capability, and can still ensure ideal control quality when the drum water level system has uncertainty. The gas-steam combined cycle unit drum water level control method based on the improved active disturbance rejection control provided by the invention reserves a three-impulse control structure, has the characteristic of easy realization of engineering, can be applied in practice, and has strong application potential.
Description
Technical Field
The invention relates to the technical field of drum water level control, in particular to a gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control.
Background
The gas-steam combined cycle unit is a heat energy device with high energy utilization, and has the advantages of high energy efficiency and the like. The water level of the waste heat boiler drum is maintained near a reasonable set value, and the waste heat boiler drum is an important support and guarantee for safe and economic operation of the gas-steam combined cycle unit. The current common drum water level control adopts a cascade three-impulse control structure, wherein most of feedback controllers in the cascade three-impulse control structure are PID controllers, and the drum water level is often severely disturbed due to the participation of a gas-steam combined cycle unit in wide load operation, so that the effect of the conventional PID control method is unsatisfactory.
In order to improve the control quality of the drum water level of the gas-steam combined cycle unit, the patent CN202110231345.8 optimizes the control performance by designing the flow characteristic of an executing mechanism. The CN202220167224.1 patent starts from the drum structure and optimizes the drum structure to reduce the difficulty of controlling the drum water level. Patent CN202111277151.8 proposes a cascade PI-based control structure to achieve a control quality improvement of drum water level. Although the PID/PI controller has the advantages of simple structure, excellent performance, simple implementation, clear parameter meaning and the like, the feedback mechanism of the PID/PI controller has the problems of insufficient anti-interference capability and the like in the process of processing large inertia. In order to improve the problems, the patent CN202210805784.X adopts an outer ring conventional active disturbance rejection control (Active disturbance rejection control, ADRC) and an inner ring adopts a PID control structure, so that the disturbance rejection capability of the drum water level is improved. However, conventional ADRCs may face some challenges in tracking performance due to large inertia of the drum level, which results in poor synchronization of the two inputs of the extended state observer, thereby degrading the control quality of the drum level closed loop system. Cascade control structures based on fractional order PID have also been attempted to be applied in the drum water level of gas-steam combined cycle units. In addition, the application of the control strategy based on the neural network in the drum water level of the gas-steam combined cycle unit is also studied to a certain extent. However, due to the large calculation amount required by the advanced control strategy, engineering implementation has certain challenges, and the large-scale engineering application is still difficult at present under the calculation capability of the current gas-steam combined cycle unit drum water level control platform.
Disclosure of Invention
In order to solve the problems and the defects in the prior art, the invention provides a gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control.
The invention is realized by the following technical scheme:
the method comprises the steps of obtaining a transfer function from a water supply valve opening to a water supply flow, a transfer function from the water supply flow to the water level of a steam drum, a transfer function from the steam flow to the water level of the steam drum and coefficients in a steam drum water level system of the gas-steam combined cycle unit based on improved active disturbance rejection control;
The water level system of the steam drum of the gas-steam combined cycle unit adopts a cascade control structure and comprises an outer ring controller and an inner ring controller;
The control quantity of the cascade control structure is the opening degree of a water supply valve, the controlled object of the outer ring is a transfer function from the water supply flow to the drum water level, the controlled quantity of the outer ring is the drum water level, the set value of the outer ring controller is the set value of the drum water level, and the output of the outer ring controller is used as the set value of the inner ring controller; the controlled object of the inner ring is a transfer function from the opening of the water supply valve to the water supply flow, the controlled quantity of the inner ring is the water supply flow, and the output of the inner ring controller is the control quantity of the cascade structure;
The inner ring controller adopts PID to control, and the calculation expression is as follows:
Wherein u in1 (t) is expressed as the output of a PID controller, k p、ki and k d are all parameters to be set of the PID controller, and respectively represent a proportional adjustment coefficient, an integral adjustment coefficient and a differential adjustment coefficient of the PID controller, and the values of the parameters can be optimized by referring to various setting methods such as internal setting or by means of an evolutionary algorithm; r in (t) and y in (t) are the output of the outer loop controller and the feedwater flow, respectively; in addition, in order to protect the water valve, u in1 (t) needs to go through a limiter, i.e.
Wherein u max and u min are the upper limit and the lower limit which can be reached by the water valve respectively; u in (t) is the amplitude limiter output, namely the opening degree of the water supply valve.
The outer loop controller adopts the improved active disturbance rejection control, and the output u out (t) expression of the improved active disturbance rejection control is as follows:
Wherein r out (t) represents a drum water level set value, and y out (t) represents a drum water level strategy value; k 1、k2 and b 0 are parameters to be set in the improved active disturbance rejection control, k 1、k2 represents expected drum water level dynamic characteristics, b 0 represents estimation of system gain, and the values of the parameters can be optimized by referring to various setting methods such as internal mold setting or by means of an evolutionary algorithm; the computational expressions for z 2 (t) and z 3 (t) are as follows:
z 1(t)、z2 (t) and z 3 (t) are outputs of an extended state observer in the improved active disturbance rejection control, and respectively represent a system output estimated value, a system output differential value estimated value and an estimated value of total disturbance of the system; beta 1、β2 and beta 3 are parameters to be set of the extended state observer in the improved active disturbance rejection control, and represent the bandwidth of the extended state observer; u pp (t) represents the input of the extended state observer in the improved active disturbance rejection control.
The coefficients include a feed water flow measurement coefficient, a drum water level measurement coefficient, and a steam flow measurement coefficient.
The expression calculated for the input u pp (t) of the extended state observer in the improved active disturbance rejection control is as follows:
Where T is a parameter to be set that improves active disturbance rejection control, and represents a time delay constant that affects the dynamics of the steam flow to drum level transfer function.
Setting parameters are treated in sequence: t, b 0,k1, k 2,β1、β2 and beta 3 are set until the expected control effect is achieved, and the setting of the parameters of the outer loop controller by adopting the improved active disturbance rejection control is completed.
Wherein, b 0 calculates according to the transfer function from the steam flow to the drum water level, except the first-order inertia transfer function composed of T in the transfer function, and generally recommends: b 0 epsilon 0.5b, ++ infinity a) of the above-mentioned components, where b is the steady state gain excluding the portion of the steam flow to drum level transfer function that is outside of the first order inertial transfer function consisting of T.
K 1 and k 2 are calculated as follows:
Wherein omega c is the expected drum water level dynamic characteristic, and reasonably selecting omega c,ωc to be larger according to the expected response speed to the drum water level closed-loop system indicates that the expected response speed of the drum water level closed-loop system is faster, and vice versa;
beta 1、β2 and beta 3 are calculated as follows:
Wherein ω o is the bandwidth of the extended state observer in the improved active disturbance rejection controller; omega o is selected in accordance with omega o∈[1,10]ωc adjustments.
The present invention also provides an electronic device including: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the gas-steam combined cycle unit drum water level control method for improving the active disturbance rejection control when executing the computer program.
The invention also provides a computer readable storage medium storing a computer program for causing a computer to execute the method for controlling the drum water level of the gas-steam combined cycle unit for improving the active disturbance rejection control.
Compared with the prior art, the invention has the beneficial effects that:
The invention provides a gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control, which aims at the large hysteresis characteristic of a drum water level system, designs a cascade control structure based on the improved active disturbance rejection control, wherein an outer ring controller is an improved active disturbance rejection controller, and an inner ring is a PID controller.
The invention also provides a parameter setting process which is easy to implement and strong in engineering property aiming at the improved active disturbance rejection controller.
The method can overcome the problem of control quality degradation caused by the large inertia characteristic of the drum water level system, has faster tracking performance and anti-interference capability, can still ensure ideal control quality when the drum water level system has uncertainty, and the provided gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control reserves a three-impulse control structure, has the characteristic of easy realization of engineering, can be applied in practice, and has strong application potential.
Drawings
Fig. 1: a control structure of a drum water level system of a gas-steam combined cycle unit.
Fig. 2: the control structure of the active disturbance rejection controller is improved.
Fig. 3: parameter setting flow for improving active disturbance rejection control in a gas-steam combined cycle unit drum water level control method based on the improved active disturbance rejection control.
Fig. 4: the drum water level fluctuation condition and the water supply valve fluctuation condition under the nominal working condition.
Fig. 5: the drum water level fluctuation condition and the water supply valve fluctuation condition under 80% working conditions.
Fig. 6: the fluctuation condition of the drum water level and the fluctuation condition of the water supply valve under the working condition of 120 percent.
Detailed Description
The above-described matters of the present invention will be further described in detail by way of examples, but it should not be construed that the scope of the above-described subject matter of the present invention is limited to the following examples, and all techniques realized based on the above-described matters of the present invention are within the scope of the present invention.
In an embodiment, the invention provides a gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control, which comprises the following steps:
In a first aspect, a control structure of a drum water level system of a gas-steam combined cycle unit is determined, as shown in fig. 1, and dynamic parameters thereof are obtained, which is specifically described as follows:
The transfer function from the opening u in (t) of the water supply valve to the water supply flow y in (t) is obtained by a mechanism modeling or system identification method Obtain the transfer function/>, of the water supply flow y in (t) to the drum water level y out (t)Obtain the transfer function/>, of the steam flow D (t) to the drum water level
Then, based on the settings of the water level sensor and the flow sensor, obtaining a coefficient alpha w =0.0174 of feed water flow measurement, a coefficient alpha H =1 of drum water level measurement and a coefficient alpha D =0.0174 of steam flow measurement;
The structure of a drum water level system of the gas-steam combined cycle unit is determined, a cascade control structure is adopted, the control quantity of the cascade control structure is a water supply valve opening u in (t), the controlled object of an outer ring is a water supply flow to drum water level transfer function G w(s), the controlled quantity of the outer ring is a drum water level y out (t), the set value of the outer ring controller is a set value r out (t) of the drum water level, the outer ring controller adopts an improved active disturbance rejection controller, the output of the improved active disturbance rejection controller is used as a set value u out(t)＝rin (t) of an inner ring controller, the water supply flow is the controlled quantity y in (t) of the inner ring, the controlled object of the inner ring is a water supply valve opening to water supply flow transfer function G v(s), and the output of the inner ring controller is the control quantity of the cascade structure, namely the water supply valve opening u in (t).
In a second aspect, an inner ring controller and an outer ring controller in a control structure of a drum water level system of a gas-steam combined cycle unit are designed:
the inner loop controller adopts PID to control, and the calculation expression is as follows:
In the formula, u in1 (t) is expressed as the output of a PID controller, k p、ki and k d are all parameters to be set of the PID controller, and respectively represent a proportional adjustment coefficient, an integral adjustment coefficient and a differential adjustment coefficient of the PID controller, and the numerical values can be optimized by referring to various setting methods such as internal setting, manual adjustment methods or evolution algorithms. In the embodiment, a manual regulation method is adopted to obtain that k p＝0.8、ki =0.01, k d＝0.rin (t) and y in (t) are respectively the output and the water supply flow of the outer ring controller; in addition, in order to protect the water valve, u in1 (t) needs to go through a limiter, i.e.
Wherein u max and u min are the upper limit and the lower limit that the water valve can reach, respectively, in this embodiment, there are u max =5 and u min＝-5;uin (t) limiter outputs, that is, the opening of the water valve;
The outer loop controller adopts improved active disturbance rejection control, the structure of the outer loop controller is shown in figure 2, and the design method is as follows:
Where u out (t) is denoted as the output of the improved active disturbance rejection control and it is the set point of the inner loop controller: u out(t)＝rin(t),k1、k2 and b 0 are partial parameters to be set for improving the active disturbance rejection control, and r out (t) and y out (t) are respectively a set value of the drum water level and a drum water level strategy value; z 2 (t) and z 3 (t) are the following calculated expressions for improving the output of the extended state observer in active disturbance rejection control, z 2 (t) and z 3 (t):
Wherein z 1 (t) is another output of the extended state observer, specifically, z 1(t)、z2 (t) and z 3 (t) represent the system output estimate, the system output differential estimate, and the estimate of the system total disturbance, respectively; beta 1、β2 and beta 3 are parameters to be set of the extended state observer in the improved active disturbance rejection control, and represent the bandwidth of the extended state observer; u pp (t) is the input of the extended state observer in the improved active disturbance rejection control, and u pp (t) is calculated through an inertia link, and the expression of the calculation is as follows:
Where T is a parameter to be set that improves active disturbance rejection control, and represents a time delay constant that affects the dynamics of the steam flow to drum level transfer function.
In a third aspect, the tuning outer loop improves the to-be-tuned parameters of the active disturbance rejection control: k 1、k2、b0、β1、β2、β3 and T; the setting step is performed as shown in fig. 3, and is performed as follows:
the first step: transfer function from steam flow to drum level based on previous results Selecting a time delay constant affecting the dynamic characteristics of the transfer function as T for improving the active disturbance rejection control, wherein t=30 is selected in the embodiment, and the time delay constant is consistent with the inertia parameter in the drum water level transfer function G w(s);
And a second step of: next, determining b 0, calculating, according to the transfer function from the steam flow to the drum water level obtained above, except the first-order inertia transfer function composed of T in the transfer function, and recommending in general: b 0 ε [0.5b, + -infinity), where b is the steady-state gain of the transfer function except for the portion of the transfer function that consists of T, the first order inertial transfer function;
and a third step of: k 1 and k 2 are calculated as follows:
Wherein omega c is the expected drum water level dynamic characteristic, and reasonably selecting omega c,ωc to be larger according to the expected response speed to the drum water level closed-loop system indicates that the expected response speed of the drum water level closed-loop system is faster, and vice versa;
Fourth step: beta 1、β2 and beta 3 are calculated as follows:
Wherein ω o is the bandwidth of the extended state observer in the improved active disturbance rejection controller, based on the selected ω c, selecting ω o in accordance with ω o∈[1,10]ωc adjustment;
Fifth step: if the drum water level closed-loop system has a satisfactory control effect at the moment, finishing the setting, otherwise, repeating the second step to the fourth step until the satisfactory control effect is obtained; in this embodiment, b 0＝0.02、ωc =0.22 and ω o =1.5 are obtained according to the second to fourth steps in the setting step.
As a comparison method, the outer loop controller selects a PID controller whose parameters are k p＝2,ki =0.02 and k d =30 as "comparison method 1"; meanwhile, the outer loop controller selects a conventional active disturbance rejection controller, and the parameters of the conventional active disturbance rejection controller are b 0＝0.1,ωo =7 and ω c =0.05, which are used as a comparison method 2. The simulation settings were as follows: r out (t) is stepped from 0 to 1 at 10 seconds, and the water valve opening u in (t), the feedwater flow y in (t) and the steam flow D (t) have step disturbances with the amplitude of 1 at 400 seconds, 1200 seconds and 1600 seconds respectively, so that the result is shown in figure 4 under the nominal working condition; because the dynamic parameters of the drum water level of the gas-steam combined cycle unit can generate certain uncertainty along with the reasons of working condition change, modeling simplification and the like, in order to measure the control performance of the control strategy when the uncertainty exists in the system, when all coefficients in G v(s)、Gw(s) and G d(s) are changed to 80% of the original values, the result shown in the figure 5 under the working condition of 80% can be obtained; when all the coefficients in G v(s)、Gw(s) and G d(s) were changed to 120% of the original values, the results shown in FIG. 6 were obtained under 120% of the working conditions. In the figure, the thick dotted line is the set value of the water level, the thick dash-dot line is the comparison method 1, the thin dotted line is the comparison method 2, and the thick solid line is the method of the invention.
As can be seen from fig. 4, the method of the present invention has the fastest tracking performance and smaller overshoot, the overshoot is the largest although the tracking speed is faster in comparison method 1, the tracking speed is the slowest and the overshoot is the smallest in comparison method 2. In the aspect of anti-interference, the method has the strongest anti-interference capability, and the method is compared for 2 times, and the method 1 is the weakest.
As can be seen from fig. 5 and fig. 6, although the dynamic parameters of the drum water level of the gas-steam combined cycle unit may generate certain uncertainty along with the reasons of working condition change, modeling simplification and the like, certain fluctuation exists in coefficients of G v(s)、Gw(s) and G d(s) of the drum water level. Under the fluctuation working condition, the method still has the fastest tracking performance and smaller overshoot, the comparison method 1 still has the faster tracking speed but the largest overshoot, and the comparison method 2 still has the slowest tracking speed and the smallest overshoot. In the aspect of anti-interference, the method of the invention has the strongest anti-interference capability, the comparison method is carried out for 2 times, and the comparison method 1 is weakest. The method has strong uncertainty capability of the coping system.
In another embodiment, the present invention provides an electronic device, including: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the gas-steam combined cycle unit drum water level control method based on the improved active disturbance rejection control.
In another embodiment, the invention provides a computer readable storage medium storing a computer program for causing a computer to execute the gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control as described above.
The present invention is not limited to the preferred embodiments, and any simple modification, equivalent replacement, and improvement made to the above embodiments by those skilled in the art without departing from the technical scope of the present invention, will fall within the scope of the present invention.
Claims (9)
1. A gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control is characterized in that: acquiring a transfer function from a water supply valve opening to a water supply flow, a transfer function from the water supply flow to a drum water level, a transfer function from a steam flow to the drum water level and coefficients in a drum water level system of the gas-steam combined cycle unit;
The water level system of the steam drum of the gas-steam combined cycle unit adopts a cascade control structure and comprises an outer ring controller and an inner ring controller;
The control quantity of the cascade control structure is the opening degree of a water supply valve, the controlled object of the outer ring is a transfer function from the water supply flow to the drum water level, the controlled quantity of the outer ring is the drum water level, the set value of the outer ring controller is the set value of the drum water level, and the output of the outer ring controller is used as the set value of the inner ring controller; the controlled object of the inner ring is a transfer function from the opening of the water supply valve to the water supply flow, the controlled quantity of the inner ring is the water supply flow, and the output of the inner ring controller is the control quantity of the cascade structure;
The inner ring controller adopts PID to control; the outer loop controller adopts the improved active disturbance rejection control, and the output u out (t) expression of the improved active disturbance rejection control is as follows:
Wherein r out (t) represents a drum water level set value, and y out (t) represents a drum water level strategy value; k 1、k2 and b 0 are parameters to be set in improving the active disturbance rejection control, k 1、k2 represents the expected drum water level dynamic characteristics, and b 0 represents the estimation of the system gain; the computational expressions for z 2 (t) and z 3 (t) are as follows:
z 1(t)、z2 (t) and z 3 (t) are outputs of an extended state observer in the improved active disturbance rejection control, and respectively represent a system output estimated value, a system output differential value estimated value and an estimated value of total disturbance of the system; beta 1、β2 and beta 3 are parameters to be set of the extended state observer in the improved active disturbance rejection control, and represent the bandwidth of the extended state observer; u pp (t) represents the input of the extended state observer in the improved active disturbance rejection control.
2. The improved active disturbance rejection control-based gas-steam combined cycle unit drum water level control method as in claim 1, wherein: the coefficients include a feed water flow measurement coefficient, a drum water level measurement coefficient, and a steam flow measurement coefficient.
3. The improved active disturbance rejection control-based gas-steam combined cycle unit drum water level control method as in claim 1, wherein: the expression calculated for the input u pp (t) of the extended state observer in the improved active disturbance rejection control is as follows:
Wherein T is a parameter to be set for improving the active disturbance rejection control, and represents a time delay constant affecting the dynamic characteristic of a transfer function from steam flow to drum water level;
Setting parameters are treated in sequence: t, b 0,k1, k 2,β1、β2 and beta 3 are set until the expected control effect is achieved, and the setting of the parameters of the outer loop controller by adopting the improved active disturbance rejection control is completed.
4. The gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control according to claim 3, wherein: b 0 epsilon 0.5b, ++ infinity a) of the above-mentioned components, where b is the steady state gain excluding the portion of the steam flow to drum level transfer function that is outside of the first order inertial transfer function consisting of T.
5. A gas-steam combined cycle unit drum water level control method based on improved active disturbance rejection control according to claim 1 or 3, wherein: k 1 and k 2 are calculated as follows:
Where ω c is the expected drum level dynamics.
6. The improved active disturbance rejection control-based gas-steam combined cycle unit drum water level control method as in claim 5, wherein: beta 1、β2 and beta 3 are calculated as follows:
Wherein ω o is the bandwidth of the extended state observer in the improved active disturbance rejection controller; omega o is selected in accordance with omega o∈[1,10]ωc adjustments.
7. The improved active disturbance rejection control-based gas-steam combined cycle unit drum water level control method as in claim 1, wherein: the inner loop controller adopts PID to control the calculation expression as follows:
Wherein u in1 (t) is expressed as the output of the PID controller, and k p、ki and k d are parameters to be set of the PID controller and respectively represent the proportional adjustment coefficient, the integral adjustment coefficient and the differential adjustment coefficient of the PID controller; r in (t) represents the output of the outer loop controller, and y in (t) represents the feedwater flow; u in1 (t) passes through a limiter at output, and the expression is as follows:
Wherein u max and u min represent the upper and lower limits achievable by the feedwater valve, respectively; u in (t) represents the limiter output, which is the opening of the water supply valve.
8. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the gas-steam combined cycle unit drum level control method for improved active disturbance rejection control according to any one of claims 1 to 7 when executing the computer program.
9. A computer-readable storage medium storing a computer program for causing a computer to execute the gas-steam combined cycle unit drum water level control method for improving active disturbance rejection control according to any one of claims 1 to 7.
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