Hydraulic turbine unit regulating system with adaptive control characteristic of feedforward function

Abstract

The application discloses a hydraulic turbine unit regulating system with a feedforward function and an adaptive control characteristic, which comprises a feedforward regulating module, a power PID regulating module, an executing mechanism, a hydraulic turbine and a generator; the feedforward regulating module is used for rate limiting processing of unit primary frequency modulation / power, and sends the instruction after the rate limiting processing to the executing mechanism; wherein the unit primary frequency modulation is the difference between a given frequency and a frequency feedback signal provided by the generator, and the unit primary power is the difference between a given power and a power feedback signal provided by the generator; the power PID regulating module is used for PID regulating of the unit primary frequency modulation / power, adds the instruction after the PID regulating to the instruction after the rate limiting processing, and sends the added instruction to the executing mechanism; and the executing mechanism is used for controlling the hydraulic turbine to perform corresponding work according to the received instruction.

Description

Technical Field

[0001] This invention relates to the field of power system technology, and more specifically, to a turbine generator regulating system with adaptive control characteristics and feedforward function. Background Technology

[0002] Most large-scale hydropower units in China are mixed-flow type, and their control characteristics are closely related to the head and control parameters. Currently, most turbine control systems are PID control, which results in a significant difference between the simulation model parameters of the power system under high head and low head conditions. The model parameters used for power system calculation cannot effectively reflect the current control characteristics of the unit in real time, affecting the accuracy of power grid stability calculation.

[0003] Therefore, how to solve the problem that the power response characteristics of hydropower units are inaccurate due to changes in the head of the generator is an urgent issue that needs to be addressed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a turbine generator regulating system with adaptive control characteristics and feedforward function, which can effectively avoid the impact of turbine head changes on the turbine power response characteristics.

[0005] According to the present invention, a turbine generator regulating system with adaptive control characteristics and feedforward function is provided, comprising: a feedforward regulating module, a power PID regulating module, an actuator, a turbine, and a generator;

[0006] The feedforward regulation module is used to perform rate limiting processing on the primary frequency regulation / power of the generator set, and send the rate limiting instruction to the actuator. The primary frequency regulation of the generator set is the difference between the given frequency and the frequency feedback signal provided by the generator, and the primary power of the generator set is the difference between the given power and the power feedback signal provided by the generator.

[0007] The power PID regulation module is used to perform PID regulation on the primary frequency / power of the unit, add the PID-regulated instruction to the rate-limited instruction, and send the added instruction to the actuator.

[0008] The actuator is used to control the water turbine to perform corresponding tasks according to the received instructions.

[0009] Optionally, the turbine unit regulation system has a frequency regulation mode and a power regulation mode.

[0010] Optionally, in the frequency adjustment mode:

[0011] The feedforward adjustment module is used to perform rate limiting processing on the difference between the given frequency and the frequency feedback signal provided by the generator, and send the rate-limited frequency command to the actuator.

[0012] The power PID adjustment module is used to perform PID adjustment on the sum of the given frequency and the given power, add the PID-adjusted command to the frequency command after rate limiting processing, and send the added frequency command to the actuator.

[0013] Optionally, the difference between the given frequency and the frequency feedback signal provided by the generator enters the feedforward adjustment module and the power PID adjustment module only after passing through the frequency dead zone, droop coefficient and limiting circuit.

[0014] Optionally, the sum of the given frequency and the given power is passed through the power dead zone before entering the PID control module.

[0015] Optionally, in the power regulation mode:

[0016] The feedforward adjustment module is used to perform rate limiting processing on the difference between the given power and the power feedback signal provided by the generator, and send the power command after rate limiting processing to the actuator;

[0017] The power PID adjustment module is used to perform PID adjustment on the given power, add the PID-adjusted power command to the power command after rate limiting processing, and send the added power command to the actuator.

[0018] Optionally, the given frequency enters the PID control module only after passing through the power dead zone.

[0019] Optionally, the feedforward adjustment module is equipped with a three-dimensional curve library of working head, opening degree, and power.

[0020] Therefore, the difference between the turbine control system proposed in this invention and the original turbine control system lies in the introduction of a feedforward regulation function. This reduces the differences in the primary frequency / power regulation characteristics of the unit caused by head variations, thus minimizing the large variations in simulation model parameters. After introducing the feedforward regulation function, the turbine control system proposed in this invention ensures that the primary frequency / power regulation characteristics of the unit remain consistent, thereby maintaining consistent simulation model parameters under different head conditions. This effectively solves the technical problem of inaccurate power response characteristics of hydropower units due to changes in head. Attached Figure Description

[0021] Exemplary embodiments of the present invention can be more fully understood by referring to the following figures:

[0022] Figure 1 This is a schematic diagram of the structure of a turbine generator regulating system with adaptive control characteristics and feedforward function, provided by an exemplary embodiment of the present invention. Detailed Implementation

[0023] Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein.

[0024] It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention.

[0025] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of the present invention are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0026] It should also be understood that in the embodiments of the present invention, "multiple" can refer to two or more, and "at least one" can refer to one, two or more.

[0027] It should also be understood that any component, data or structure mentioned in the embodiments of the present invention can generally be understood as one or more unless explicitly defined or given contrary instructions in the context.

[0028] Furthermore, the term "and / or" in this invention is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this invention generally indicates that the preceding and following related objects have an "or" relationship.

[0029] It should also be understood that the description of the various embodiments in this invention emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0030] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0031] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0032] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0034] Figure 1 This is a schematic diagram of the structure of a turbine generator regulating system with adaptive control characteristics and feedforward function, provided in an exemplary embodiment of the present invention. Figure 1 As shown, the turbine-generator unit regulation system with adaptive control characteristics and feedforward function includes: a feedforward regulation module, a power PID regulation module, an actuator, a turbine, and a generator. The feedforward regulation module is used to perform rate limiting processing on the primary frequency / power of the unit and send the rate limiting command to the actuator. The primary frequency of the unit is the difference between the given frequency and the frequency feedback signal provided by the generator, and the primary power of the unit is the difference between the given power and the power feedback signal provided by the generator. The power PID regulation module is used to perform PID regulation on the primary frequency / power of the unit, add the command after PID regulation processing to the command after rate limiting processing, and send the added command to the actuator. The actuator is used to control the turbine to perform corresponding operations according to the received command.

[0035] Optionally, the turbine unit regulation system has a frequency regulation mode and a power regulation mode.

[0036] In this embodiment of the invention, the turbine unit regulation system has two main functions: frequency regulation mode and power regulation mode.

[0037] Optionally, in the frequency regulation mode: the feedforward regulation module is used to perform rate limiting processing on the difference between the given frequency and the frequency feedback signal provided by the generator, and send the rate-limited frequency command to the actuator; the power PID regulation module is used to perform PID regulation on the sum of the given frequency and the given power, add the PID-regulated command to the rate-limited frequency command, and send the added frequency command to the actuator.

[0038] Optionally, the difference between the given frequency and the frequency feedback signal provided by the generator enters the feedforward adjustment module and the power PID adjustment module only after passing through the frequency dead zone, droop coefficient and limiting circuit.

[0039] Optionally, the sum of the given frequency and the given power is passed through the power dead zone before entering the PID control module.

[0040] Optionally, in the power regulation mode: the feedforward regulation module is used to perform rate limiting processing on the difference between the given power and the power feedback signal provided by the generator, and send the power command after rate limiting processing to the actuator; the power PID regulation module is used to perform PID regulation on the given power, add the power command after PID regulation to the power command after rate limiting processing, and send the power command after addition to the actuator.

[0041] Optionally, the given frequency enters the PID control module only after passing through the power dead zone.

[0042] Optionally, the feedforward adjustment module is equipped with a three-dimensional curve library of working head, opening degree, and power.

[0043] In embodiments of the present invention, such as Figure 1 As shown, in power regulation mode, the turbine unit regulation system divides the difference between the given power command and the power feedback signal into two commands. One command is given to the unit's three-dimensional curve library of working head, opening degree, and power, and directly acts on the actuator command after being limited by the rate. The other command is given at the input of the power PID regulation module, and the command after PID regulation is added to the previous command after being limited by the rate, and then acts on the actuator command.

[0044] In frequency regulation mode, the turbine unit regulation system divides the difference between the given frequency and the frequency feedback signal into two commands after passing through the frequency dead zone, droop coefficient, and amplitude limiting links. One command is given to the unit's three-dimensional curve library of working head, opening degree, and power, and directly acts on the actuator command after being limited by the rate. The other command is superimposed with the power given and acts on the power PID regulation module input. The command at the PID regulation point is then summed with the previous command after being limited by the rate and acted on the actuator command.

[0045] In this embodiment of the invention, the functions of the three-dimensional curves of head, opening degree, and power are as follows:

[0046] N=f(Hα0β2)

[0047] In the formula: N is the hydraulic power of the turbine unit, α0 is the outflow angle at the guide vane outlet (guide vane opening), β2 is the runner blade outlet angle (blade opening), and H is the turbine working head.

[0048] First, the theoretical three-dimensional curve function of the turbine, derived from the design calculations of the hydroelectric generator set, is as follows:

[0049] N0=f(Hα0β2)

[0050] Secondly, based on the long-term operation records of the unit, the corresponding numerical sets of the unit power, guide vane opening, and head were collected to form the actual three-dimensional curve function of the turbine, as follows:

[0051] N1=f(Hα0β2)

[0052] Finally, the difference between N0=f(Hα0β2) and N1=f(Hα0β2) was verified through actual field tests. Based on the three-dimensional curves of unit head, opening degree and power obtained from the actual tests, the feedforward regulation function library in the model was checked and continuously modified until the characteristics of feedforward regulation met the design requirements.

[0053] Therefore, the difference between the turbine control system proposed in this invention and the original turbine control system lies in the introduction of three-dimensional curves of head, opening degree, and power as a feedforward regulation function. This reduces the differences in the primary frequency / power regulation characteristics of the unit caused by changes in head, thus minimizing the large variations in simulation model parameters. After introducing the feedforward regulation function, the turbine control system proposed in this invention ensures that the primary frequency / power regulation characteristics of the unit remain consistent, thereby maintaining consistent simulation model parameters under different head conditions. This effectively solves the technical problem of inaccurate power response characteristics of hydropower units due to changes in head.

[0054] The basic principles of the present invention have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in the present invention are merely examples and not limitations, and should not be considered as essential features of each embodiment of the present invention. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the present invention to the necessity of employing the aforementioned specific details.

[0055] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0056] The block diagrams of devices, systems, devices, and systems involved in this invention are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, systems, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0057] The methods and systems of the present invention may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of the present invention are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, the present invention may also be implemented as a program recorded on a recording medium, the program comprising machine-readable instructions for implementing the methods according to the present invention. Thus, the present invention also covers recording media storing programs for performing the methods according to the present invention.

[0058] It should also be noted that in the systems, apparatus, and methods of the present invention, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered equivalents of the present invention. The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the invention. Therefore, the invention is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0059] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the invention to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A turbine generator set regulating system with adaptive control characteristics and feedforward function, characterized in that, include: Feedforward control module, power PID control module, actuator, turbine and generator; The feedforward adjustment module is equipped with a three-dimensional curve library of working head, opening degree, and power; the feedforward adjustment module is used to perform rate limiting processing on the primary frequency regulation / power of the unit, and send the rate limiting instruction to the actuator, wherein the primary frequency regulation of the unit is the difference between the given frequency and the frequency feedback signal provided by the generator, and the primary power of the unit is the difference between the given power and the power feedback signal provided by the generator. The power PID regulation module is used to perform PID regulation on the primary frequency / power of the unit, add the PID-regulated instruction to the rate-limited instruction, and send the added instruction to the actuator. The actuator is used to control the water turbine to perform corresponding tasks according to the received instructions.

2. The turbine generator regulating system according to claim 1, characterized in that, The turbine generator set regulation system has a frequency regulation mode and a power regulation mode.

3. The turbine generator regulating system according to claim 2, characterized in that, In the frequency adjustment mode: The feedforward adjustment module is used to perform rate limiting processing on the difference between the given frequency and the frequency feedback signal provided by the generator, and send the rate-limited frequency command to the actuator. The power PID adjustment module is used to perform PID adjustment on the sum of the given frequency and the given power, add the PID-adjusted command to the frequency command after rate limiting processing, and send the added frequency command to the actuator.

4. The turbine generator regulating system according to claim 3, characterized in that, The difference between the given frequency and the frequency feedback signal provided by the generator enters the feedforward adjustment module and the power PID adjustment module only after passing through the frequency dead zone, droop coefficient, and limiting circuit.

5. The turbine generator regulating system according to claim 3, characterized in that, The sum of the given frequency and the given power is passed through the power dead zone before entering the PID control module.

6. The turbine generator regulating system according to claim 2, characterized in that, In the power regulation mode: The feedforward adjustment module is used to perform rate limiting processing on the difference between the given power and the power feedback signal provided by the generator, and send the power command after rate limiting processing to the actuator; The power PID adjustment module is used to perform PID adjustment on the given power, add the PID-adjusted power command to the power command after rate limiting processing, and send the added power command to the actuator.

7. The turbine generator regulating system according to claim 6, characterized in that, The given frequency enters the PID control module only after passing through the power dead zone.

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