CN118034022A - Method and system for optimizing control of water turbine - Google Patents
Method and system for optimizing control of water turbine Download PDFInfo
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Abstract
The invention discloses a method and a system for optimizing control of a water turbine, and belongs to the technical field of power systems. The method of the invention comprises the following steps: determining a rated hydraulic power model of the water turbine under a rated water head based on the hydraulic power model, and determining any hydraulic power model of the water turbine under any water head; determining a proportional variable model and an integral variable model for the power control PID of the water turbine, calculating to obtain a proportional variable parameter value based on the proportional variable model, and calculating to obtain an integral variable parameter value based on the integral variable model; and the proportional variable parameter value is used as a first optimal control parameter and acts on the proportional position of the power control PID of the water turbine to perform first optimal control of the water turbine, and the integral variable parameter value is used as a second optimal control parameter and acts on the integral position of the power control PID of the water turbine to perform second optimal control of the water turbine. The invention can optimally control the water turbine.
Description
Technical Field
The invention relates to the technical field of power systems, and in particular relates to a method and a system for optimizing control of a water turbine.
Background
The hydraulic turbine control system of the large mixed flow hydroelectric generating set is basically PID control, and the power control and regulation characteristics of the generating set are closely related to water heads, so that the power regulation characteristics of the generating set are inconsistent under a group of water heads with different power control parameters, and the difference between the regulation characteristics of the generating set at a high water head and the regulation characteristics of the generating set at a low water head is obvious.
Disclosure of Invention
In view of the above problems, the present invention provides a method for optimizing control of a water turbine, including:
determining a hydraulic power model of the water turbine in unit time, determining a rated hydraulic power model of the water turbine under a rated water head based on the hydraulic power model, and determining any hydraulic power model of the water turbine under any water head;
Determining a proportional variable model and an integral variable model for the power control PID of the water turbine based on the rated water conservancy power model and the arbitrary water conservancy power model, calculating to obtain a proportional variable parameter value based on the proportional variable model, and calculating to obtain an integral variable parameter value based on the integral variable model;
And the proportional variable parameter value is used as a first optimal control parameter and acts on the proportional position of the power control PID of the water turbine to perform first optimal control of the water turbine, and the integral variable parameter value is used as a second optimal control parameter and acts on the integral position of the power control PID of the water turbine to perform second optimal control of the water turbine.
Optionally, the hydraulic power model has the following formula:
N＝γQH
wherein:
Where N is hydraulic power, γ is the gravity of water, Q is the flow rate per unit time of the turbine, a 0 is the outlet angle of the guide vane, β 0 is the outlet angle of the turbine blade, b 0 is the height of the guide vane, η r is the efficiency of the turbine blade, η g is hydraulic efficiency, a 2 is the flow area at the outlet edge of the turbine blade, g is gravitational acceleration, H is the working head of the turbine, ω is the angular velocity at the outlet of the guide vane, and r is the radius at the outlet of the guide vane.
Optionally, the rated hydraulic power model is as follows:
N0＝γQ0H0
Wherein N 0 is the water conservancy power under the rated water head, Q 0 is the flow in unit time of the water turbine under the rated water head, H 0 is the rated working water head of the water turbine, and gamma is the weight of water.
Optionally, any hydraulic power model is as follows:
Nr＝γQrHr
Wherein N r is the hydraulic power under any water head, Q r is the flow rate of the water turbine under any water head in unit time, H r is any working water head of the water turbine, and gamma is the weight of water.
Alternatively, the scaling model is as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K P0 is the set proportion parameter under the rated water head, and a is the proportion parameter coefficient.
Alternatively, the integral variant model is as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K I0 is the integral parameter set under the rated water head, and a is the integral parameter coefficient.
In yet another aspect, the present invention also provides a system for optimal control of a water turbine, comprising:
The first calculation unit is used for determining a hydraulic power model of the water turbine in unit time, determining a rated hydraulic power model of the water turbine under a rated water head based on the hydraulic power model, and determining any hydraulic power model of the water turbine under any water head;
the second calculation unit is used for determining a proportional variable model and an integral variable model for the hydraulic turbine power control PID based on the rated hydraulic power model and the arbitrary hydraulic power model, calculating to obtain a proportional variable parameter value based on the proportional variable model, and calculating to obtain an integral variable parameter value based on the integral variable model;
And the control unit is used for acting the proportional variable parameter value as a first optimal control parameter on the proportional position of the power control PID of the water turbine so as to perform first optimal control on the water turbine, and acting the integral variable parameter value as a second optimal control parameter on the integral position of the power control PID of the water turbine so as to perform second optimal control on the water turbine.
Optionally, the hydraulic power model has the following formula:
N＝γQH
wherein:
Where N is hydraulic power, γ is the gravity of water, Q is the flow rate per unit time of the turbine, α 0 is the outlet angle of the guide vane, β 0 is the outlet angle of the runner blade, b 0 is the height of the guide vane, η r is the efficiency of the vane, η g is hydraulic efficiency, a 2 is the flow area at the outlet edge of the runner blade, g is gravitational acceleration, H is the working head of the turbine, ω is the angular velocity at the outlet of the runner blade, and r is the radius at the outlet of the runner blade.
Optionally, the rated hydraulic power model is as follows:
N0＝γQ0H0
Wherein N 0 is the water conservancy power under the rated water head, Q 0 is the flow in unit time of the water turbine under the rated water head, H 0 is the rated working water head of the water turbine, and gamma is the weight of water.
Optionally, any hydraulic power model is as follows:
Nr＝γQrHr
Wherein N r is the hydraulic power under any water head, Q r is the flow rate of the water turbine under any water head in unit time, H r is any working water head of the water turbine, and gamma is the weight of water.
Alternatively, the scaling model is as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K P0 is the set proportion parameter under the rated water head, and a is the proportion parameter coefficient.
Alternatively, the integral variant model is as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K I0 is the integral parameter set under the rated water head, and a is the integral parameter coefficient.
In yet another aspect, the present invention also provides a computing device comprising: one or more processors;
A processor for executing one or more programs;
The method as described above is implemented when the one or more programs are executed by the one or more processors.
In yet another aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed, implements a method as described above.
Compared with the prior art, the invention has the beneficial effects that:
The invention provides a method for optimally controlling a water turbine, which comprises the following steps: determining a hydraulic power model of the water turbine in unit time, determining a rated hydraulic power model of the water turbine under a rated water head based on the hydraulic power model, and determining any hydraulic power model of the water turbine under any water head; determining a proportional variable model and an integral variable model for the power control PID of the water turbine based on the rated water conservancy power model and the arbitrary water conservancy power model, calculating to obtain a proportional variable parameter value based on the proportional variable model, and calculating to obtain an integral variable parameter value based on the integral variable model; and the proportional variable parameter value is used as a first optimal control parameter and acts on the proportional position of the power control PID of the water turbine to perform first optimal control of the water turbine, and the integral variable parameter value is used as a second optimal control parameter and acts on the integral position of the power control PID of the water turbine to perform second optimal control of the water turbine. The invention can optimally control the water turbine.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
Fig. 2 is a block diagram of the system of the present invention.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the examples described herein, which are provided to fully and completely disclose the present invention and fully convey the scope of the invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, like elements/components are referred to by like reference numerals.
Unless otherwise indicated, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. In addition, it will be understood that terms defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
Example 1:
The invention provides a method for optimizing control of a water turbine, which is shown in fig. 1 and comprises the following steps:
Step 1, determining a hydraulic power model of a water turbine in unit time, determining a rated hydraulic power model of the water turbine under a rated water head based on the hydraulic power model, and determining any hydraulic power model of the water turbine under any water head;
Step 2, determining a proportional variable model and an integral variable model for the hydraulic turbine power control PID based on the rated hydraulic power model and the arbitrary hydraulic power model, calculating to obtain a proportional variable parameter value based on the proportional variable model, and calculating to obtain an integral variable parameter value based on the integral variable model;
And 3, taking the proportional variable parameter value as a first optimal control parameter, acting on the proportional position of the power control PID of the water turbine to perform first optimal control of the water turbine, and taking the integral variable parameter value as a second optimal control parameter, acting on the integral position of the power control PID of the water turbine to perform second optimal control of the water turbine.
The water conservancy power model has the following formula:
N＝γQH
wherein:
Where N is hydraulic power, γ is the gravity of water, Q is the flow rate per unit time of the turbine, a 0 is the outlet angle of the guide vane, β 0 is the outlet angle of the turbine blade, b 0 is the height of the guide vane, η r is the efficiency of the turbine blade, η g is hydraulic efficiency, a 2 is the flow area at the outlet edge of the turbine blade, g is gravitational acceleration, H is the working head of the turbine, ω is the angular velocity at the outlet of the guide vane, and r is the radius at the outlet of the guide vane.
Wherein, rated water conservancy power model is as follows:
N0＝γQ0H0
Wherein N 0 is the water conservancy power under the rated water head, Q 0 is the flow in unit time of the water turbine under the rated water head, H 0 is the rated working water head of the water turbine, and gamma is the weight of water.
Wherein, arbitrary water conservancy power model is as follows:
Nr＝γQrHr
Wherein N r is the hydraulic power under any water head, Q r is the flow rate of the water turbine under any water head in unit time, H r is any working water head of the water turbine, and gamma is the weight of water.
Wherein, the proportion becomes the model, as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K P0 is the set proportion parameter under the rated water head, and a is the proportion parameter coefficient.
Wherein, the integral variable model is as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K I0 is the integral parameter set under the rated water head, and a is the integral parameter coefficient.
The invention introduces the water head, opening degree and power function relation, compares the water head, opening degree and power function relation of the water turbine under any water head with the water head, opening degree and power function relation of the water turbine under rated water head, and acts on the water turbine power control parameter after multiplying the coefficient, so that the water turbine power mode control parameter automatically changes along with the water head change, and the consistency of the load regulation characteristic under the water turbine power mode under different water heads is achieved.
The invention is implemented as follows:
firstly, the calculation formula of the hydraulic power N in the unit time of the water turbine is as follows:
N＝γQH
wherein N is the hydraulic power of the water turbine, gamma is the gravity of the water, and Q is the flow;
According to the hydraulic power of the water turbine in unit time, a first flow regulating equation of the water turbine is determined as follows:
Wherein Q is the flow rate of the water turbine in unit time, alpha 0 is the outflow angle of the outlet of the guide vane, beta 2 is the outlet angle of the rotary blade, b 0 is the height of the guide vane, eta r is the efficiency of the guide vane, eta g is the hydraulic efficiency, A 2 is the flow area of the outlet edge of the rotary blade, g is the gravity acceleration, H is the working head of the water turbine, omega is the angular velocity of the outlet of the water guide blade, and r is the radius of the outlet of the water guide blade.
Secondly, the flow of the turbine is only related to the head (the vane efficiency and the hydraulic efficiency are assumed to be constant) with constant rotation speed, vane height, vane outlet angle and vane blade outlet angle of the turbine
Under the rated water head, calculating the hydraulic power N 0 of the water turbine in unit time by using a first flow regulation equation of the water turbine;
N0＝γQ0H0
Under any water head, the hydraulic power N r in the unit time of the water turbine is calculated by using a first flow regulation equation of the water turbine, and the calculation formula is as follows:
Nr＝γQrHr
finally, the ratio of the hydraulic power N r in the unit time of the water turbine under any water head to the hydraulic power N 0 in the unit time of the water turbine under the rated water head is multiplied by a coefficient to be respectively acted on the proportional and integral positions of the power control PID.
The ratio in the power control PID becomes:
The integral in the power control PID becomes:
Wherein K P0 is a proportional parameter set under a rated water head; k I0 is an integral parameter set under a rated water head; a is a proportional parameter coefficient; b is the integral parameter coefficient.
Example 2:
the invention also proposes a system 200 for optimal control of a hydraulic turbine, as shown in fig. 2, comprising:
A first calculation unit 201, configured to determine a hydraulic power model of a water turbine in a unit time, determine a rated hydraulic power model of the water turbine under a rated water head based on the hydraulic power model, and determine an arbitrary hydraulic power model of the water turbine under an arbitrary water head;
The second calculating unit 202 is configured to determine a proportional variable model and an integral variable model for the turbine power control PID based on the rated hydraulic power model and the arbitrary hydraulic power model, calculate a proportional variable parameter value based on the proportional variable model, and calculate an integral variable parameter value based on the integral variable model;
And the control unit 203 is configured to act on the proportional position of the turbine power control PID with the proportional variable parameter value as a first optimal control parameter to perform a first optimal control of the turbine, and act on the integral position of the turbine power control PID with the integral variable parameter value as a second optimal control parameter to perform a second optimal control of the turbine.
The water conservancy power model has the following formula:
N＝γQH
wherein:
Where N is hydraulic power, γ is the gravity of water, Q is the flow rate per unit time of the turbine, a 0 is the outlet angle of the guide vane, β 0 is the outlet angle of the turbine blade, b 0 is the height of the guide vane, η r is the efficiency of the turbine blade, η g is hydraulic efficiency, a 2 is the flow area at the outlet edge of the turbine blade, g is gravitational acceleration, H is the working head of the turbine, ω is the angular velocity at the outlet of the guide vane, and r is the radius at the outlet of the guide vane.
Wherein, rated water conservancy power model is as follows:
N0＝γQ0H0
Wherein N 0 is the water conservancy power under the rated water head, Q 0 is the flow in unit time of the water turbine under the rated water head, H 0 is the rated working water head of the water turbine, and gamma is the weight of water.
Wherein, arbitrary water conservancy power model is as follows:
Nr＝γQrHr
Wherein N r is the hydraulic power under any water head, Q r is the flow rate of the water turbine under any water head in unit time, H r is any working water head of the water turbine, and gamma is the weight of water.
Wherein, the proportion becomes the model, as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K P0 is the set proportion parameter under the rated water head, and a is the proportion parameter coefficient.
Wherein, the integral variable model is as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K I0 is the integral parameter set under the rated water head, and a is the integral parameter coefficient.
The invention can optimally control the water turbine.
Example 3:
Based on the same inventive concept, the invention also provides a computer device comprising a processor and a memory for storing a computer program comprising 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 SpecificIntegrated Circuit, ASIC), off-the-shelf Programmable gate array (Field-Programmable GATEARRAY, 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 within a computer storage medium to implement the corresponding method flow or corresponding functions to implement the steps of the method in the embodiments described above.
Example 4:
Based on the same inventive concept, the present invention also provides a storage medium, in particular, a computer readable storage medium (Memory), which is a Memory device in a computer device, for storing programs and data. It is understood that the computer readable storage medium herein may include both built-in storage media in a computer device and extended storage media supported by the computer 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 herein 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 steps of the methods in the above-described embodiments.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The scheme in the embodiment of the invention can be realized by adopting various computer languages, such as object-oriented programming language Java, an transliteration script language JavaScript and the like.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. 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.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (14)
1. A method for optimal control of a hydraulic turbine, the method comprising:
determining a hydraulic power model of the water turbine in unit time, determining a rated hydraulic power model of the water turbine under a rated water head based on the hydraulic power model, and determining any hydraulic power model of the water turbine under any water head;
Determining a proportional variable model and an integral variable model for the power control PID of the water turbine based on the rated water conservancy power model and the arbitrary water conservancy power model, calculating to obtain a proportional variable parameter value based on the proportional variable model, and calculating to obtain an integral variable parameter value based on the integral variable model;
And the proportional variable parameter value is used as a first optimal control parameter and acts on the proportional position of the power control PID of the water turbine to perform first optimal control of the water turbine, and the integral variable parameter value is used as a second optimal control parameter and acts on the integral position of the power control PID of the water turbine to perform second optimal control of the water turbine.
2. The method of claim 1, wherein the hydraulic power model is formulated as follows:
N＝γQH
wherein:
Where N is hydraulic power, γ is the gravity of water, Q is the flow rate per unit time of the turbine, a 0 is the outlet angle of the guide vane, β 0 is the outlet angle of the turbine blade, b 0 is the height of the guide vane, η r is the efficiency of the turbine blade, η g is hydraulic efficiency, a 2 is the flow area at the outlet edge of the turbine blade, g is gravitational acceleration, H is the working head of the turbine, ω is the angular velocity at the outlet of the guide vane, and r is the radius at the outlet of the guide vane.
3. The method of claim 1, wherein the nominal water power model is as follows:
N0＝γQ0H0
Wherein N 0 is the water conservancy power under the rated water head, Q 0 is the flow in unit time of the water turbine under the rated water head, H 0 is the rated working water head of the water turbine, and gamma is the weight of water.
4. The method according to claim 1, wherein the arbitrary hydraulic power model is as follows:
Nr＝γQrHr
Wherein N r is the hydraulic power under any water head, Q r is the flow rate of the water turbine under any water head in unit time, H r is any working water head of the water turbine, and gamma is the weight of water.
5. The method of claim 1, wherein the scaling model is as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K P0 is the set proportion parameter under the rated water head, and a is the proportion parameter coefficient.
6. The method of claim 1, wherein the integral variant model is as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K I0 is the integral parameter set under the rated water head, and a is the integral parameter coefficient.
7. A system for optimal control of a water turbine, the system comprising:
The first calculation unit is used for determining a hydraulic power model of the water turbine in unit time, determining a rated hydraulic power model of the water turbine under a rated water head based on the hydraulic power model, and determining any hydraulic power model of the water turbine under any water head;
the second calculation unit is used for determining a proportional variable model and an integral variable model for the hydraulic turbine power control PID based on the rated hydraulic power model and the arbitrary hydraulic power model, calculating to obtain a proportional variable parameter value based on the proportional variable model, and calculating to obtain an integral variable parameter value based on the integral variable model;
And the control unit is used for acting the proportional variable parameter value as a first optimal control parameter on the proportional position of the power control PID of the water turbine so as to perform first optimal control on the water turbine, and acting the integral variable parameter value as a second optimal control parameter on the integral position of the power control PID of the water turbine so as to perform second optimal control on the water turbine.
8. The system of claim 7, wherein the hydraulic power model is formulated as follows:
N＝γQH
wherein:
Where N is hydraulic power, γ is the gravity of water, Q is the flow rate per unit time of the turbine, a 0 is the outlet angle of the guide vane, β 0 is the outlet angle of the turbine blade, b 0 is the height of the guide vane, η r is the efficiency of the turbine blade, η g is hydraulic efficiency, a 2 is the flow area at the outlet edge of the turbine blade, g is gravitational acceleration, H is the working head of the turbine, ω is the angular velocity at the outlet of the guide vane, and r is the radius at the outlet of the guide vane.
9. The system of claim 7, wherein the nominal water power model is as follows:
N0＝γQ0H0
Wherein N 0 is the water conservancy power under the rated water head, Q 0 is the flow in unit time of the water turbine under the rated water head, H 0 is the rated working water head of the water turbine, and gamma is the weight of water.
10. The system of claim 7, wherein the arbitrary hydraulic power model is as follows:
Nr＝γQrHr
Wherein N r is the hydraulic power under any water head, Q r is the flow rate of the water turbine under any water head in unit time, H r is any working water head of the water turbine, and gamma is the weight of water.
11. The system of claim 7, wherein the scaling model is as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K P0 is the set proportion parameter under the rated water head, and a is the proportion parameter coefficient.
12. The system of claim 7, wherein the integral variant model is as follows:
Wherein, N 0 is the hydraulic power under the rated water head, N r is the hydraulic power under any water head, K I0 is the integral parameter set under the rated water head, and a is the integral parameter coefficient.
13. A computer device, comprising:
One or more processors;
A processor for executing one or more programs;
The method of any of claims 1-6 is implemented when the one or more programs are executed by the one or more processors.
14. A computer readable storage medium, characterized in that a computer program is stored thereon, which computer program, when executed, implements the method according to any of claims 1-6.
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| CN202410115549.9A CN118034022A (en) | 2024-01-26 | 2024-01-26 | Method and system for optimizing control of water turbine |
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| CN202410115549.9A CN118034022A (en) | 2024-01-26 | 2024-01-26 | Method and system for optimizing control of water turbine |
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