EP1088388A1

EP1088388A1 - Model-based method for designing an oscillation-damping device and installation with an oscillation-damping device of this type

Info

Publication number: EP1088388A1
Application number: EP99939352A
Authority: EP
Inventors: Rüdiger KUTZNER; Rüdiger REICHOW; Kai Schulz
Original assignee: Siemens AG
Current assignee: Siemens AG
Priority date: 1998-06-17
Filing date: 1999-06-16
Publication date: 2001-04-04
Also published as: WO1999066634A1; DE19927524A1; US20020103629A1

Abstract

Oscillation damping devices for turbogenerators in gas and/or steam power stations are used to reduce the power oscillations which occur. A device of this type can be designed based on a model. According to the invention, a physical linear model is used and a differentiating effect is taken into account when designing the device in order to improve its damping characteristics. This ensures that the output signal of the oscillation damping device is zero in a steady state.

Description

description

Model-based design process for a pendulum steaming device and system with such a pendulum steaming device

The invention relates to a model-based design method for an oscillating steam device and to a system using the oscillating steam device created in this way. With such a pendulum steaming device for turbogenerators in gas and / or steam power plants, the power vibrations that occur are to be reduced, a modulation of the excitation usually being derived from a significant signal.

The use of pendulum steaming devices in practice is explained, for example, in Siemens Energy Technology 3, 1981, Issue 2, pages 50 to 53. Further information on this can be found in e & i, 107th volume, issue 1, pages 524 to 531.

In practice, pendulum steaming devices, so-called PDGs, are usually only adapted and optimized on a system. It has also already been proposed to design a PDG using models.

From EP 0713 287 AI is a pendulum damping device for

Generators known, in each of which a so-called observer is assigned to a stabilization circuit specifically for acceleration. A differentiating effect is thus achieved with regard to the angle. The structure becomes comparatively complicated for a large number of observers.

Starting from the latter prior art, it is the object of the invention to improve the model-based design process, so that a standard-optimal pendulum damping device is created which meets the needs of practice. The task is solved procedurally by the measures of claim 1. A corresponding pendulum steaming device is characterized by claim 5. Further developments are specified in the respective subclaims.

With the invention it is achieved that the essential criterion for pendulum damping devices of the differentiating effect is already taken into account in the model-based design. Observers for special sizes are then no longer necessary with the pendulum steam device. This results in considerable improvements in practice.

Further details and advantages of the invention result from the description of exemplary embodiments with reference to the

Drawing in connection with the claims. They each show as a block diagram

Figure 1 shows the control of a turbo set, Figure 2 illustrates a conventional

Pendulum damping device, also called PDG, FIG. 3 a linear model for the design of a pendulum damping device, FIG. 4 the so-called standard problem for a PDG, FIG. 5 the result of the procedure according to the invention, FIG. 6 the reduction of the solution from FIG. 5 for a system

3rd or 4th order. FIG. 7 shows the conception of a multisize PDG ^Λ s and FIG. 8 shows an arrangement of a gas turbo set regulated with two PDGs

The invention is described with reference to the following explanations for a specific example. In addition to the specific power PDG, the speed can also be taken into account in a corresponding manner, or the turbine controller can also be influenced. The regulation of turbo sets in the electrical power supply includes, in addition to the speed / power control and the voltage control, usually also a pendulum damping device (PDG) for reducing active power fluctuations. Whereas in the past the task was mostly limited to damping the oscillations of large steam turbo sets compared to the quasi-rigid network, today even smaller turbo sets are provided with a PDG, to which considerably increased demands are made: the network operator requires proof of the steaming effect in an extended frequency range .

In addition to the classic damping of the turbosate frequency at approx. 1 Hz, a positive contribution to reducing low-frequency oscillations must also be made. The background to this is the inter-area modes, which are increasing due to the expansion of the network or the opening of the supply networks. These include oscillations between individual network nodes. Their frequencies are significantly below 1 Hz, often in one area, depending on the distance of the nodes from 0.6Hz to 0.8Hz.

The pendulum behavior of the turbo set is determined by numerous system-specific parameters and by its connection to the network. FIG. 1 provides an overview of the components of the system. A turbo set for a gas and / or steam power plant consists of a turbine 1 and an electrical generator 2, which feeds into an electrical network 3. There is a speed / power regulator 4 with an actuator 5 for a valve 6 for supplying the turbine and a voltage regulator 7 with an actuator 8 for the field voltage at the magnet wheel 9 of the generator 2. A pendulum damping device 10 is assigned to the voltage regulator 7.

The regulation of the turboset takes place in detail by the turbine controller, which consists of a speed and a power controller, via the control valves of the turbine and by the voltage controller via the excitation and the generator. The active power p _{a of} the generator can be derived from the terminal voltage u _a and the terminal current ι _{a are} formed. The speed n of the turbo set is usually provided by an incremental encoder.

Because of the limited dynamics of the valves and the turbine, the turbomotive controller is unsuitable for the function of oscillation damping in the frequency range described. Although the active power can only be influenced dynamically by the excitation, since only the turbine supplies the stationary part, the couplings can, however, be used for an additional control loop for pendulum damping.

It is therefore important to apply transient moments to the vibration damping to the excitation via the voltage regulator. However, the frequency range of the PDG output signal must be limited to low frequencies in order to avoid undesired coupling for voltage regulation.

In Figure 2, the notation of a known pendulum vaporization device with the units 21 to 23 is shown in a simplified manner. The parameters T _L that can be set specifically for the special use of the PDG as a function of the variable s are essential, which is indicated by the arrows in FIG. 2.

Based on the preceding explanations, a block diagram for the model-based design of a PDG can be developed. The dynamic properties of the turbine control can largely be neglected here, so that the model for the design of the pendulum steaming device consists of the excitation system and the generator operated on the network. Speed fluctuations result from the starting time constant from the constant turbine torque and the reaction torque of the synchronous generator.

The behavior of the generator depends non-linearly on the selected operating point and the network connection. The occurring However, power fluctuations take place in the small signal range, so that linearization is permissible. The design only has to guarantee sufficient robustness for the operating range of the generator.

Figure 3 shows the composition of the linearized model. Units 31 to 33 contain the voltage regulator, the field voltage regulator and the generator, which feeds its power into the network, which has already been described with reference to FIG. 1. The parameters of the individual components are known to the manufacturer or operator, so that this model can be set up without complex measurements. In the case under consideration, the static excitation system is approximated by a small replacement time constant. Since the data vary from plant to plant, the PDG is optimally matched to the respective turbo set.

The transmission behavior in the relevant frequency range from approx. 0.4 Hz to 2.5 Hz is simulated with sufficient accuracy by this linear model for small amplitudes. The following system containing the complete voltage control loop can now be set up.

The transfer function F _pu describes the behavior of the active power when the setpoint value of the terminal voltage changes. The regulatory objectives mentioned at the beginning can be determined based on the amount of this transfer function

F _BU = - Pa - discuss in the frequency domain. The h _oo norm of this uasoll

Transfer function corresponds to the maximum gain of this transfer function, and the course of the maximum singular values is identical to the amount course. The damping can thus be set directly via the Ho _o standard or the maximum singular values.

The use of the H _∞ standard also in the design of a PDG should therefore be carried out to help meet the requirements to be able to describe this standard. Control requirements - the draft of the PDG is formally considered a controller draft - and restrictions regarding the manipulated variable activity are formulated via frequency-dependent weighting functions Wij. This is commonly referred to as the formulation of the so-called standard problem. The controlled system F _pu explained in FIG. 4 for the PDG can be found here again. The output of the PDG ΔH ^ ,, modulates the setpoint of the terminal voltage, ie the input of the function F _pu .

The PDG should only react to the alternating components of the power, whereas a stationary adjustment of the terminal voltage depending on the power output is not desirable.

The concept of the so-called standard problem in FIG. 3 takes this aspect into account by means of a delayed differentiator (Tι__ _f ii _ec ^) between the generator power and the input of the PDG already during the design phase. If the DTι_ element is added to the PDG after the design has been made, it is ensured that the step response of the PDG ^λ s considered as * controller "assumes the value 0 in a stationary manner.

In the strict sense, a PDG is not a regulator in the usual sense. Formally, however, this standard problem corresponds to a controller design problem, so that this term is also used here.

The treatment of the design problem for a pendulum damping device is illustrated in FIG. 4. In Figure 4, w denotes the inputs and v the outputs of the design task that interact with the entire block. In addition to a unit 41 with the route model F _pu , the block P also contains units 42 to 44 with weighting functions Wι, W∑, W ₃ and a unit 45 with a differentiator.

After breaking P down into four individual transfer functions one recognizes the function T _vw , whose norm should be minimized by the ^w controller "K, the PDG. v = T _v w

T _vw = Pll ⁺ Pl2K (I-P22K) - * P21> I Tvw | ^o o min k

It contains

4)

W ₂ F _UU W ₂ F _UP W ₃ the transfer functions to be weighted

F p, u FP "Pτ = - l should & P _a

If necessary, the PDG can be extended by an input - the speed of the turbo set. The standard problem and the model of the generator must be adapted accordingly. For this purpose, reference is made to FIG. 7

The amount of the transfer function F _pu is decisive for the assessment of the damping achieved. F allows statements about the manipulated variable and thus also about the robustness. With the second input Ap _a is measured value noise

Recorded performance that has a decisive influence on the quality of the regulation.

The properties of the PDG can be controlled with the weighting functions. Wl influences the damping factor and W2 the dynamic use of the * manipulated variable "additional voltage setpoint

Au asoll Via W3 the sensitivity to signal noise

Δp _a specified.

Is the * controller "designed so that Iw, F, .. | <1 is satisfied, the manipulated variable can be limited directly via W ₂ , since small values for the amount of F _uu obviously follow for large values of W ₂ .

A comparison of the transformed relationship

I 21. Ip with the Hp norm of an additive model error Δ _A

G = G ₀ + A _A , (9)

1 where Δ Λ \ ~: ιo; .. is, it can be seen that the weighting function W ₂ also makes a sufficient statement about the robustness. The route is stable for everyone with Δ _A also stable. This follows sufficiently from the ^w Small Gain Theorem. "The solution to this standard problem is known from the literature according to the prior art.

FIG. 5 shows the solution to the higher order design task corresponding to unit 50 together with the differentiating element 51 belonging to the PDG and the function of the transmission element 52. There is a standard-optimized pendulum attenuator. After reducing the order of the solution according to unit 50, a general 3rd or 4th order transfer function according to FIG. 6 is obtained. The block 60 specified there specifically evaluates 3rd order functions.

The order of the PDG determined in this way is derived from the order of the standard problem and thus from the underlying model. It is unnecessarily high for practical use and is therefore reduced to a third to fourth order with a process of balanced model reduction without loss of performance. Together with the upstream DT _] _ element, this results in a fourth or fifth order PDG, which is integrated directly into the function of a digital voltage regulator.

In Figure 7, the model of Figure 4 is supplemented such that a multi-size PDG 70 is designed. For this purpose, further weighting elements are used, for example to weight the speed and use it as an input for the PDG. In particular, 71, 72 units for transfer functions F _pu and F _nu , 73 to 77 weighting elements and 78.78 differentiators.

The corresponding arrangement allows two influencing variables to be taken into account. This is particularly effective with the described method according to the invention.

In Figure 8 it is shown that several Pendeldä treatment devices can be used with turbogenerator. The control and regulating circuit largely corresponds to the arrangement of the turboset from FIG. 1. In addition to the PDG 10, which acts on the excitation of the generator 2, there may be a further PDG 20 for controlling the valve position of the turbine 1, which acts on the Control of the valve position of the turbine 1 acts.

The latter PDG 20 also serves to dampen the power fluctuations. In this way, particularly low-frequency power oscillations, preferably in the range <0.5 Hz, can advantageously be damped. This creates a particularly effective system.

With the design method described, an advantageously usable pendulum damping device is created. Since the task of pendulum damping has recently gained new importance, almost every new power plant unit is equipped with a pendulum damping device (PDG) regardless of its performance. The network operator can place higher demands on the new pendulum damping device. In addition to an expanded damping range, this also includes proof of the effect via simulation studies. This requires the parameters of the generator, the voltage control, the excitation system and the grid conditions. This information can already be used when designing the PDG.

The prior art assumed a fixed structure of the PDG, the parameters of which are optimized on site for the respective turbo set. With the design method described, such a model-based PDG is now created, the parameters of which no longer have to be optimized on the system by hand, since a computer-aided adaptation to the system situation has already taken place in the design. This reduces the time-consuming and costly commissioning phase. The customer demand for a simulative prediction of the behavior in the closed control loop can easily be met. Additional analysis tools are not required.

For the conception of the new H _oo- optimal pendulum damping device with a broad damping band, a physical route model was first developed. After linearization at the operating point, the standard problem for the controller design was formulated. The use of the H _∞ norm offers, since with this criterion, a direct specification of the damping is possible. The desired behavior can also be specified dynamically using the weighting functions. The design also takes into account sufficient robustness against load changes of the generator and other uncertainty factors, such as unavoidable model errors or network changes; Noisy measurement variables are also tolerated.

The structure described above ensures that the voltage is not influenced stationary. After a Order reduction, the PDG can be implemented in the function package of a digital voltage regulator.

Claims

claims

1. Model-based design process for a pendulum damping device (PDG) for turbogenerators in gas and / or steam power plants, characterized in that a physical route model is used and that a differentiating effect is already taken into account in the design to improve the damping behavior of the pendulum steaming device in the route model, whereby it is ensured that the output signal of the pendulum damping device (PDG) is stationary zero.

2. Design method according to claim 1, d a d u r c h g e k e n n z e i c h n e t that the differentiating effect is taken into account for the performance.

3. Design method according to claim 1, d a d u r c h g e k e n n z e i c h n e t that the differentiating effect for the speed is taken into account.

4. Design method according to claim 1, d a d u r c h g e k e n n z e i c h n e t that the differentiating effect is taken into account equally for the power and the speed.

5. Design method according to claim 1, d a d u r c h g e k e n n z e i c h n t that a damping function (Wl) allows the damping measure to be specified both over all frequencies and with dynamic transfer functions for specific frequency ranges directly.

6. System with at least one pendulum damping device for turbogenerators in gas and / or steam power plants, with which the occurring power vibrations are reduced, for which purpose a modulation of the excitation of the generator is derived from a significant signal. characterized by the conception according to the design method according to claim 1 or one of claims 2 to 5.

7. System according to claim 6, d a d u r c h g e k e n n - z e i c h n e t that the pendulum damping device (10) acts on the excitation of the generator.

8. System according to claim 6, d a d u r c h g e k e n n z e i c h n e t that the pendulum damping device (20) acts on the valve position in the turbine controller.

9. Plant according to claim 6, characterized in that two pendulum damping devices (10, 20) are present, of which one pendulum damping device (10) on the excitation of the generator (1) and the other pendulum damping device t (20) in the control of the turbine ( 2) acts on the valve position.