Hydraulic turbine primary frequency modulation control method and system based on adaptive control characteristics

Abstract

The application discloses a water turbine primary frequency modulation control method based on adaptive control characteristics, and comprises the following steps: establishing a water turbine governor model; writing a historical operation curve or a preset theoretical curve of a unit into a three-dimensional curve function library comprising water head, opening degree and power of the water turbine; when receiving a frequency modulation instruction, determining a primary frequency modulation power variation instruction based on the water turbine governor model, and dividing the primary frequency modulation power variation instruction into a first instruction and a second instruction; obtaining a guide vane opening degree variation ΔGV1 according to the current three-dimensional curve function based on the first instruction; superimposing the second instruction to a power PID inlet to obtain an actuator variation component ΔGV2; determining a total actuator variation ΔGV of the primary frequency modulation according to the ΔGV1 and the ΔGV2; determining optimal values of the water head, the opening degree and the power according to a ratio of the guide vane opening degree variation ΔGV1 and the total actuator variation ΔGV, and adjusting the three-dimensional curve function to realize the primary frequency modulation control.

Description

Technical Field

[0001] This invention relates to the field of power system control technology, and more specifically, to a method and system for primary frequency regulation control of a hydro turbine based on adaptive control characteristics. Background Technology

[0002] In new power systems dominated by new energy sources, conventional power sources will gradually evolve from being the main source of electricity to an important component, and ultimately transform into system regulating power sources, ensuring the safety, controllability, flexibility, and efficiency of the new power system. The primary frequency regulation capability of conventional power sources has a crucial impact on the frequency stability of the system.

[0003] Existing large-scale hydropower units are mostly mixed-flow type, and their primary frequency regulation control characteristics are closely related to the water head. Currently, most turbine control systems are PID control, which results in the unit meeting the primary frequency regulation standards at high heads but failing to do so at low heads. Adopting variable parameter operation would further increase the workload of power grid stability calculations. Summary of the Invention

[0004] This invention proposes a primary frequency regulation control method and system for hydro turbines based on adaptive control characteristics, in order to solve the problem that the primary frequency regulation capability of current hydro-generator units is inaccurate due to changes in the head of the turbine.

[0005] To address the aforementioned problems, according to one aspect of the present invention, a primary frequency control method for a hydro turbine based on adaptive control characteristics is provided, the method comprising:

[0006] Establish a model of a hydro turbine governor with primary frequency regulation under power mode;

[0007] Write the unit's historical operating curves or preset theoretical curves into a three-dimensional curve function library that includes turbine head, opening degree, and power;

[0008] When a frequency regulation command is received, based on the turbine governor model, the primary frequency regulation power change command is determined according to the difference between the grid-connected unit frequency and the rated frequency, and the primary frequency regulation power change command is divided into a first command and a second command.

[0009] Based on the first instruction, the change in guide vane opening ΔGV1 corresponding to the change in frequency modulation power under the current head and guide vane opening is obtained according to the current three-dimensional curve function.

[0010] The second instruction is superimposed onto the power PID input to obtain the actuator change component ΔGV2;

[0011] Based on the sum of the guide vane opening change ΔGV1 and the actuator change component ΔGV2, the total actuator change ΔGV for primary frequency modulation is determined, and the total actuator change ΔGV is applied to the actuator.

[0012] Based on the ratio of the change in guide vane opening ΔGV1 to the total change in actuator ΔGV, the optimal values ​​of head, opening, and power are determined. The three-dimensional curve function is then adjusted based on these optimal values ​​to achieve primary frequency modulation control.

[0013] Preferably, the turbine governor model includes: a frequency dead zone control loop, a differential loop, a limiting loop, a power PID controller, a power dead zone control loop, an actuator, a turbine body, a generator body, a turbine three-dimensional curve function control and output opening limiting loop, and power and frequency measurement loops.

[0014] The generator frequency measurement circuit is connected to the given frequency difference and frequency dead zone control circuit. The frequency dead zone control circuit is connected to the drooping circuit. The drooping circuit is connected to the limiting circuit. The limiting circuit is also connected to the turbine three-dimensional curve function control and power PID control. The turbine three-dimensional curve function is connected to the output opening limiting circuit. The output opening limiting circuit and power PID control are also connected to the actuator circuit. The actuator circuit is connected to the turbine body circuit. The turbine body circuit is connected to the generator body circuit.

[0015] Preferably, determining the optimal head, optimal opening, and optimal power values ​​based on the ratio of the guide vane opening change ΔGV1 to the total change in actuator ΔGV includes:

[0016] When the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold, the current three-dimensional curve data set of head, opening, and power is determined to be the optimal head, optimal opening, and optimal power values ​​that satisfy the primary frequency regulation adaptive control of the turbine.

[0017] Preferably, the method further includes:

[0018] If the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is less than or equal to the preset threshold, then return to step 7 to recalculate until the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold. Then, determine the current three-dimensional curve data set of head, opening, and power as the optimal head, optimal opening, and optimal power values ​​that satisfy the primary frequency regulation adaptive control of the turbine.

[0019] Preferably, the preset threshold is 0.85.

[0020] According to another aspect of the present invention, a primary frequency regulation control system for a hydro turbine based on adaptive control characteristics is provided, the system comprising:

[0021] The model building unit is used to build a model of a hydro turbine governor with primary frequency regulation in power mode.

[0022] The three-dimensional function import unit is used to write the unit's historical operating curves or preset theoretical curves into a three-dimensional curve function library that includes turbine head, opening degree, and power.

[0023] The instruction determination unit is used to determine the primary frequency regulation power change instruction based on the turbine governor model and the difference between the grid-connected unit frequency and the rated frequency when a frequency regulation instruction is received, and to divide the primary frequency regulation power change instruction into a first instruction and a second instruction.

[0024] The guide vane opening change determination unit is used to determine the guide vane opening change ΔGV1 corresponding to the change in frequency modulation power under the current head and guide vane opening based on the first instruction and the current three-dimensional curve function.

[0025] An actuator variation component determination unit is used to superimpose the second instruction onto the power PID input to obtain the actuator variation component ΔGV2.

[0026] The actuator change total amount determination unit is used to determine the actuator change total ΔGV for primary frequency regulation based on the sum of the guide vane opening change amount ΔGV1 and the actuator change component ΔGV2, and to apply the actuator change total ΔGV to the actuator;

[0027] The frequency modulation control determination unit is used to determine the optimal head, optimal opening, and optimal power values ​​based on the ratio of the guide vane opening change ΔGV1 to the total change in actuator ΔGV, and to adjust the three-dimensional curve function based on the optimal head, optimal opening, and optimal power values ​​to achieve primary frequency modulation control.

[0028] Preferably, the turbine governor model includes: a frequency dead zone control loop, a differential loop, a limiting loop, a power PID controller, a power dead zone control loop, an actuator, a turbine body, a generator body, a turbine three-dimensional curve function control and output opening limiting loop, and power and frequency measurement loops.

[0029] The generator frequency measurement circuit is connected to the given frequency difference and frequency dead zone control circuit. The frequency dead zone control circuit is connected to the drooping circuit. The drooping circuit is connected to the limiting circuit. The limiting circuit is also connected to the turbine three-dimensional curve function control and power PID control. The turbine three-dimensional curve function is connected to the output opening limiting circuit. The output opening limiting circuit and power PID control are also connected to the actuator circuit. The actuator circuit is connected to the turbine body circuit. The turbine body circuit is connected to the generator body circuit.

[0030] Preferably, the frequency control unit determines the optimal head, optimal opening, and optimal power values ​​based on the ratio of the guide vane opening change ΔGV1 to the total change in actuator power ΔGV, including:

[0031] When the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold, the current three-dimensional curve data set of head, opening, and power is determined to be the optimal head, optimal opening, and optimal power values ​​that satisfy the primary frequency regulation adaptive control of the turbine.

[0032] Preferably, the system further includes:

[0033] If the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is less than or equal to the preset threshold, the process returns to the frequency regulation control determination unit for recalculation until the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold. Then, the current three-dimensional curve data set of head, opening, and power is determined to be the optimal head, optimal opening, and optimal power values ​​that satisfy the primary frequency regulation adaptive control of the turbine.

[0034] Preferably, the preset threshold is 0.85.

[0035] This invention provides a method and system for primary frequency regulation control of a hydro turbine based on adaptive control characteristics. It introduces a feedforward function into the primary frequency regulation function of the hydro turbine, effectively avoiding the impact of changes in the turbine head on the primary frequency regulation response capability. The calculated three-dimensional curves of the turbine head, opening degree, and power are directly superimposed on the actuator, which not only adapts to the influence of the turbine head on the primary frequency regulation but also increases the stability of the unit. This invention can meet the primary frequency regulation performance requirements under different heads while reducing the computational load on the dispatch center. Attached Figure Description

[0036] Exemplary embodiments of the present invention can be more fully understood by referring to the following figures:

[0037] Figure 1 A schematic diagram of the primary frequency regulation transfer function model for the power mode of an existing hydro turbine control system;

[0038] Figure 2 This is a flowchart of a primary frequency control method 200 for a water turbine based on adaptive control characteristics according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the primary frequency regulation transfer function model of the power mode of the turbine control system according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of a primary frequency control system 400 for a water turbine based on adaptive control characteristics according to an embodiment of the present invention. Detailed Implementation

[0041] Exemplary embodiments of the invention will now be described with reference to the accompanying drawings. However, the invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided to fully and completely disclose the invention and to fully convey its scope to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the drawings is not intended to limit the invention. In the drawings, the same units / elements are referred to by the same reference numerals.

[0042] Unless otherwise stated, the terms used herein (including technical terms) have their common meaning as understood by one of ordinary skill in the art. Furthermore, it is understood that terms defined in commonly used dictionaries should be understood to have a meaning consistent with the context of their relevant field, and not to be interpreted as having an idealized or overly formal meaning.

[0043] Figure 2 This is a flowchart of a primary frequency regulation control method 200 for a hydro turbine based on adaptive control characteristics according to an embodiment of the present invention. Figure 2 As shown, the turbine primary frequency regulation control method based on adaptive control characteristics provided by this invention introduces a feedforward function into the turbine primary frequency regulation function, effectively avoiding the impact of unit head changes on the unit's primary frequency regulation response capability. The calculated three-dimensional curves of turbine head, opening degree, and power are directly superimposed on the actuator, adapting to the influence of turbine head on the unit's primary frequency regulation and increasing the unit's stability. This method can meet the primary frequency regulation performance requirements under different heads while reducing the computational load on the dispatch center. The turbine primary frequency regulation control method 200 based on adaptive control characteristics provided by this invention begins at step 201, where a turbine governor model for primary frequency regulation under power mode is established.

[0044] Preferably, the turbine governor model includes: a frequency dead zone control loop, a differential loop, a limiting loop, a power PID controller, a power dead zone control loop, an actuator, a turbine body, a generator body, a turbine three-dimensional curve function control and output opening limiting loop, and power and frequency measurement loops.

[0045] The generator frequency measurement circuit is connected to the given frequency difference and frequency dead zone control circuit. The frequency dead zone control circuit is connected to the drooping circuit. The drooping circuit is connected to the limiting circuit. The limiting circuit is also connected to the turbine three-dimensional curve function control and power PID control. The turbine three-dimensional curve function is connected to the output opening limiting circuit. The output opening limiting circuit and power PID control are also connected to the actuator circuit. The actuator circuit is connected to the turbine body circuit. The turbine body circuit is connected to the generator body circuit.

[0046] Step 202: Write the historical operating curves or preset theoretical curves of the unit into a three-dimensional curve function library that includes turbine head, opening degree, and power.

[0047] like Figure 3 As shown, the turbine governor model for primary frequency regulation established in the embodiment of the present invention adds primary frequency regulation feedforward compared to the existing turbine governor model for primary frequency regulation in the power mode. The model of the present invention can calculate the change in guide vane opening ΔGV1 corresponding to the change in primary frequency regulation power under the current head and guide vane opening based on the function curve Y=f(hp) of the turbine head (h), opening degree (Y), and power (p). It is then added to the change in actuator ΔGV2 of the first primary frequency regulation command output by the power PID to obtain the total change in actuator ΔGV of primary frequency regulation, which together acts on the actuator.

[0048] In step 203, when a frequency regulation command is received, based on the turbine governor model, the primary frequency regulation power change command is determined according to the difference between the grid-connected unit frequency and the rated frequency, and the primary frequency regulation power change command is divided into a first command and a second command.

[0049] In step 204, based on the first instruction, the change in guide vane opening ΔGV1 corresponding to the change in frequency modulation power under the current head and guide vane opening is obtained according to the current three-dimensional curve function.

[0050] In step 205, the second instruction is superimposed on the power PID input to obtain the actuator change component ΔGV2.

[0051] In step 206, the total change ΔGV of the actuator for primary frequency modulation is determined based on the sum of the change in guide vane opening ΔGV1 and the change component of the actuator ΔGV2, and the total change ΔGV of the actuator is applied to the actuator.

[0052] In step 207, the optimal head, optimal opening, and optimal power values ​​are determined based on the ratio of the guide vane opening change ΔGV1 to the total change in actuator ΔGV. The three-dimensional curve function is then adjusted based on these optimal head, opening, and power values ​​to achieve primary frequency modulation control.

[0053] Preferably, the method further includes:

[0054] Preferably, determining the optimal head, optimal opening, and optimal power values ​​based on the ratio of the guide vane opening change ΔGV1 to the total change in actuator ΔGV includes:

[0055] When the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold, the current three-dimensional curve data set of head, opening, and power is determined to be the optimal head, optimal opening, and optimal power values ​​that satisfy the primary frequency regulation adaptive control of the turbine.

[0056] Preferably, the method further includes:

[0057] If the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is less than or equal to the preset threshold, then return to step 7 to recalculate until the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold. Then, determine the current three-dimensional curve data set of head, opening, and power as the optimal head, optimal opening, and optimal power values ​​that satisfy the primary frequency regulation adaptive control of the turbine.

[0058] Preferably, the preset threshold is 0.85.

[0059] In the embodiments of the present invention, after the difference between the grid-connected unit frequency and the rated frequency crosses the dead zone, it is converted into a primary frequency regulation power change command through a power droop coefficient and a limiting circuit. This command is then divided into two paths: a first command and a second command. Based on the first command of the first path, the guide vane opening change ΔGV1 corresponding to the primary frequency regulation power change under the current head and guide vane opening is calculated according to the Y = f(hp) function curve, which represents the relationship between the turbine's head (h), opening (Y), and power (p). The second command of the second path is consistent with the primary frequency regulation function in the original turbine control system's power mode, both being superimposed at the power PID input. The second primary frequency regulation command passes through the actuator portion change ΔGV2 output by the power PID. The actuator portion change ΔGV2 and the guide vane opening change ΔGV1 are added together to obtain the total actuator change ΔGV of the primary frequency regulation, which acts on the actuator. When the ratio of the adjustment amount ΔGV1 of the primary frequency regulation feedforward to the total change amount ΔGV of the primary frequency regulation actuator is less than 0.85, the optimal values ​​of head, opening, and power are determined based on the points on the curve P=f(hy) corresponding to the head, opening, and power of the turbine under the current working head. The original head, opening, and power of the turbine under the current head are replaced with the optimal values ​​of head, opening, and power to achieve primary frequency regulation control.

[0060] This invention introduces a feedforward function based on adaptive control characteristics into the logic of primary frequency regulation of a water turbine. Its adaptive control characteristics are to calculate the three-dimensional curves of the unit's head, opening degree, and power and then directly superimpose them onto the actuator. This not only adapts to the influence of the water turbine head on the unit's primary frequency regulation but also increases the stability of the unit.

[0061] This invention can solve the problem that the primary frequency regulation capability of current hydropower units is inaccurate due to changes in the unit's head, and can effectively avoid the impact of changes in the unit's head on the unit's primary frequency regulation response capability.

[0062] This invention is based on the theoretical three-dimensional curves of the turbine's head, opening degree, and power, and combines them with the historical database of the unit's actual operation to establish a mutual verification of the three-dimensional curves of head, opening degree, and power. This can not only significantly improve the accuracy of the adaptive characteristic feedforward, but also increase the stability of the unit's operation.

[0063] The technical solution provided by this invention has the following advantages: it can effectively solve the problem of the frequency regulation response capability of a water turbine being affected by changes in water head, and at the same time, it can increase the stability of the unit operation.

[0064] Figure 4 This is a schematic diagram of the structure of a primary frequency control system 400 for a water turbine based on adaptive control characteristics according to an embodiment of the present invention. Figure 4As shown, the turbine primary frequency regulation control system 400 based on adaptive control characteristics provided in this embodiment of the invention includes: a model establishment unit 401, a three-dimensional function import unit 402, an instruction determination unit 403, a guide vane opening change determination unit 404, an actuator change component determination unit 405, an actuator change total amount determination unit 406, and a frequency regulation control determination unit 407.

[0065] Preferably, the model building unit 401 is used to build a turbine governor model for primary frequency regulation under power mode.

[0066] Preferably, the turbine governor model includes: a frequency dead zone control loop, a differential loop, a limiting loop, a power PID controller, a power dead zone control loop, an actuator, a turbine body, a generator body, a turbine three-dimensional curve function control and output opening limiting loop, and power and frequency measurement loops.

[0067] The generator frequency measurement circuit is connected to the given frequency difference and frequency dead zone control circuit. The frequency dead zone control circuit is connected to the drooping circuit. The drooping circuit is connected to the limiting circuit. The limiting circuit is also connected to the turbine three-dimensional curve function control and power PID control. The turbine three-dimensional curve function is connected to the output opening limiting circuit. The output opening limiting circuit and power PID control are also connected to the actuator circuit. The actuator circuit is connected to the turbine body circuit. The turbine body circuit is connected to the generator body circuit.

[0068] Preferably, the three-dimensional function import unit 402 is used to write the historical operating curves or preset theoretical curves of the unit into a three-dimensional curve function library including turbine head, opening degree, and power.

[0069] Preferably, the instruction determination unit 403 is used to determine the primary frequency regulation power change instruction based on the turbine governor model and the difference between the grid-connected unit frequency and the rated frequency when a frequency regulation instruction is received, and to divide the primary frequency regulation power change instruction into a first instruction and a second instruction.

[0070] Preferably, the guide vane opening change determination unit 404 is used to determine the guide vane opening change ΔGV1 corresponding to the change in frequency modulation power under the current head and guide vane opening based on the first instruction and the current three-dimensional curve function.

[0071] Preferably, the actuator change component determination unit 405 is used to superimpose the second instruction onto the power PID input to obtain the actuator change component ΔGV2.

[0072] Preferably, the actuator change total determination unit 406 is used to determine the actuator change total ΔGV for a single frequency modulation based on the sum of the guide vane opening change ΔGV1 and the actuator change component ΔGV2, and to apply the actuator change total ΔGV to the actuator.

[0073] Preferably, the frequency modulation control determination unit 407 is used to determine the optimal head value, the optimal opening value, and the optimal power value based on the ratio of the guide vane opening change ΔGV1 to the total change of the actuator ΔGV, and to adjust the three-dimensional curve function based on the optimal head value, the optimal opening value, and the optimal power value to achieve primary frequency modulation control.

[0074] Preferably, the frequency control unit 407 determines the optimal head value, optimal opening value, and optimal power value based on the ratio of the guide vane opening change ΔGV1 to the total change in actuator ΔGV, including:

[0075] When the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold, the current three-dimensional curve data set of head, opening, and power is determined to be the optimal head, optimal opening, and optimal power values ​​that satisfy the primary frequency regulation adaptive control of the turbine.

[0076] Preferably, the system further includes:

[0077] If the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is less than or equal to the preset threshold, the process returns to the frequency regulation control determination unit for recalculation until the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold. Then, the current three-dimensional curve data set of head, opening, and power is determined to be the optimal head, optimal opening, and optimal power values ​​that satisfy the primary frequency regulation adaptive control of the turbine.

[0078] Preferably, the preset threshold is 0.85.

[0079] The turbine primary frequency regulation control system 400 based on adaptive control characteristics in an embodiment of the present invention corresponds to the turbine primary frequency regulation control method 200 based on adaptive control characteristics in another embodiment of the present invention, and will not be described again here.

[0080] The invention has been described with reference to a few embodiments. However, as will be known to those skilled in the art, and as defined in the appended claims, other embodiments besides those disclosed above fall equivalently within the scope of the invention.

[0081] Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the art, unless otherwise expressly defined herein. All references to “a / the / the [device, component, etc.]” ​​are openly interpreted as at least one instance of said device, component, etc., unless otherwise expressly stated. The steps of any method disclosed herein need not be performed in the exact order disclosed unless explicitly stated otherwise.

[0082] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can 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, etc.) containing computer-usable program code.

[0083] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can 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, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0084] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A primary frequency regulation control method for a hydro turbine based on adaptive control characteristics, characterized in that, The method includes: Step 1: Establish a model of the turbine governor for primary frequency regulation under power mode; Step 2: Write the historical operating curves or preset theoretical curves of the unit into a three-dimensional curve function library that includes turbine head, opening degree, and power. Step 3: When the frequency regulation command is received, based on the turbine governor model, determine the primary frequency regulation power change command according to the difference between the grid-connected unit frequency and the rated frequency, and divide the primary frequency regulation power change command into a first command and a second command. Step 4: Based on the first instruction, calculate the change in guide vane opening ΔGV1 corresponding to the change in frequency modulation power under the current head and guide vane opening according to the current three-dimensional curve function; Step 5: Superimpose the second instruction onto the power PID input to obtain the actuator change component ΔGV2; Step 6: Based on the sum of the guide vane opening change ΔGV1 and the actuator change component ΔGV2, determine the total actuator change ΔGV for primary frequency modulation, and apply the total actuator change ΔGV to the actuator. Step 7: Determine the optimal head, optimal opening, and optimal power values ​​based on the ratio of the guide vane opening change ΔGV1 to the total change in actuator ΔGV. Adjust the three-dimensional curve function based on the optimal head, optimal opening, and optimal power values ​​to achieve primary frequency modulation control. The determination of the optimal head, optimal opening, and optimal power values ​​based on the ratio of the guide vane opening change ΔGV1 to the total change in actuator power ΔGV includes: When the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold, the current three-dimensional curve data set of head, opening and power is determined to be the optimal head, optimal opening and optimal power values ​​that meet the requirements of the turbine primary frequency regulation adaptive control. If the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is less than or equal to the preset threshold, then return to step 7 to recalculate until the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold. Then, determine the current three-dimensional curve data set of head, opening, and power as the optimal head, optimal opening, and optimal power values ​​that satisfy the primary frequency regulation adaptive control of the turbine.

2. The method according to claim 1, characterized in that, The turbine governor model includes: frequency dead zone control, differential control, limiting control, power PID control, power dead zone control, actuator, turbine body, generator body, turbine three-dimensional curve function control and output opening limiting, as well as power and frequency measurement. The generator frequency measurement circuit is connected to the given frequency difference and frequency dead zone control circuit. The frequency dead zone control circuit is connected to the drooping circuit. The drooping circuit is connected to the limiting circuit. The limiting circuit is also connected to the turbine three-dimensional curve function control and power PID control. The turbine three-dimensional curve function is connected to the output opening limiting circuit. The output opening limiting circuit and power PID control are also connected to the actuator circuit. The actuator circuit is connected to the turbine body circuit. The turbine body circuit is connected to the generator body circuit.

3. The method according to claim 1, characterized in that, The preset threshold is 0.

85.

4. A primary frequency control system for a hydro turbine based on adaptive control characteristics, characterized in that, The system includes: The model building unit is used to build a model of a hydro turbine governor with primary frequency regulation in power mode. The three-dimensional function import unit is used to write the unit's historical operating curves or preset theoretical curves into a three-dimensional curve function library that includes turbine head, opening degree, and power. The instruction determination unit is used to determine the primary frequency regulation power change instruction based on the turbine governor model and the difference between the grid-connected unit frequency and the rated frequency when a frequency regulation instruction is received, and to divide the primary frequency regulation power change instruction into a first instruction and a second instruction. The guide vane opening change determination unit is used to determine the guide vane opening change ΔGV1 corresponding to the change in frequency modulation power under the current head and guide vane opening based on the first instruction and the current three-dimensional curve function. An actuator variation component determination unit is used to superimpose the second instruction onto the power PID input to obtain the actuator variation component ΔGV2. The actuator change total amount determination unit is used to determine the actuator change total ΔGV for primary frequency regulation based on the sum of the guide vane opening change amount ΔGV1 and the actuator change component ΔGV2, and to apply the actuator change total ΔGV to the actuator; The frequency modulation control determination unit is used to determine the optimal head value, optimal opening value, and optimal power value based on the ratio of the guide vane opening change ΔGV1 to the total change of the actuator ΔGV, and to adjust the three-dimensional curve function based on the optimal head value, optimal opening value, and optimal power value to achieve primary frequency modulation control. The frequency control unit determines the optimal head, optimal opening, and optimal power values ​​based on the ratio of the guide vane opening change ΔGV1 to the total change in actuator power ΔGV, including: When the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold, the current three-dimensional curve data set of head, opening and power is determined to be the optimal head, optimal opening and optimal power values ​​that meet the requirements of the turbine primary frequency regulation adaptive control. If the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is less than or equal to the preset threshold, the process returns to the frequency regulation control determination unit for recalculation until the ratio of the current guide vane opening change ΔGV1 to the total change command ΔGV of the actuator is greater than the preset threshold. Then, the current three-dimensional curve data set of head, opening, and power is determined to be the optimal head, optimal opening, and optimal power values ​​that satisfy the primary frequency regulation adaptive control of the turbine.

5. The system according to claim 4, characterized in that, The turbine governor model includes: frequency dead zone control, differential control, limiting control, power PID control, power dead zone control, actuator, turbine body, generator body, turbine three-dimensional curve function control and output opening limiting, as well as power and frequency measurement. The generator frequency measurement circuit is connected to the given frequency difference and frequency dead zone control circuit. The frequency dead zone control circuit is connected to the drooping circuit. The drooping circuit is connected to the limiting circuit. The limiting circuit is also connected to the turbine three-dimensional curve function control and power PID control. The turbine three-dimensional curve function is connected to the output opening limiting circuit. The output opening limiting circuit and power PID control are also connected to the actuator circuit. The actuator circuit is connected to the turbine body circuit. The turbine body circuit is connected to the generator body circuit.

6. The system according to claim 4, characterized in that, The preset threshold is 0.85.

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