Real-time coordinated control method and device for multiple units of hydroelectric station hub generator-gate

Abstract

This invention relates to a real-time collaborative control method and device for multi-unit hydropower station hub units and gates, comprising: determining the outflow of water storage based on the ecological scheduling target of the target reservoir area; adjusting the opening of the gate group of the target reservoir based on the outflow; determining whether the output of the hydropower hub units meets the preset output stability conditions after the gate group opening adjustment; and controlling the guide vanes of the hydropower hub units when the output of the hydropower hub units does not meet the preset output stability conditions, so as to make the output of the hydropower hub units meet the preset output stability conditions. This solves the problem of the units being unable to maintain stable output power under long-term fluctuations in reservoir water level, establishes a unit-gate collaborative control method, and enables the units to make adaptive adjustments under reservoir gate opening adjustments and reservoir water level changes, ensuring stable output power, achieving automated control, and guaranteeing the power generation benefits of the reservoir.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of water conservancy and hydropower hub control, and particularly to a method and device for real-time collaborative control of multiple units of hydropower station hub units and gates. Background Technology

[0002] Multi-unit control of hydropower generating units and gates includes gate opening control, generating unit output control, ecological scheduling, and reservoir water level prediction. Among these, the gate control system plays a crucial role in water resource scheduling and flood control. Therefore, to fully utilize the gate's function, improving the advancement, safety, and reliability of the gate control system is key. Spillway gates are generally located on dams and can be opened to release water during floods. With the advancement of information technology, the performance of automatic gate control systems has been gradually improving. For example, PLC control systems based on fieldbus have advantages such as simple operation, compact structure, ease of programming, and high reliability. Their application in automatic gate control systems is developing towards networking and large-scale deployment. After achieving automated gate control, the next step is the linkage control between the gate and other reservoir facilities, as well as the automatic response to reservoir hydrological conditions. A reservoir is a whole; the operation of each unit is inherently interconnected. Adjustments in any unit will affect other units. For reservoir power generation, water level changes have a significant impact, and changes in gate opening are the most important factor affecting reservoir water level changes. Under normal reservoir conditions, water level fluctuations are minimal, making it easier to maintain stable turbine output. However, in special circumstances, prolonged water level fluctuations can lead to unstable turbine output if not effectively controlled. This instability can damage the turbines and affect power grid input. Maintaining stable output requires continuous adjustment of the turbine guide vanes, but manual adjustment is outdated and lacks precision and timeliness. Furthermore, while hydropower development brings benefits such as power generation and flood control, it inevitably impacts the ecological environment. Dam construction alters river flow patterns, posing challenges to downstream aquatic and terrestrial species. In recent years, ecological protection requirements for hydropower projects have become increasingly stringent, and ecological scheduling has been incorporated into reservoir scheduling research. Existing research methods primarily use ecological flow or ecological limit water levels as boundary conditions for reservoir power generation scheduling, failing to reflect the water use conflicts between ecological and power generation scheduling. Water level prediction at key stations of large reservoirs is a crucial issue in reservoir flood control, currently primarily calculated using hydrodynamic methods. Hydrodynamic methods, based on the rigorous Saint-Venant equations, require high accuracy in input boundary conditions. When the boundary conditions are clear, their computational accuracy is very high; otherwise, significant computational errors can easily occur. During reservoir ecological regulation, frequent gate control is necessary to create ecological surges to ensure the normal reproduction of fish in the reservoir area. Continuous water level changes affect generator output. While real-time monitoring equipment can achieve a certain degree of control over the generators, it cannot provide truly real-time control.

[0003] Existing generator control methods or gate linkage control methods do not consider gate opening control under ecological dispatch pulse flow, water level changes caused by power station outflow variations, and the impact of downstream water level changes on power generation head. Existing ecological dispatch mainly focuses on gate operation and the regulation effects of water flow and temperature over daily, 10-day, or even monthly dispatch periods. Real-time power generation optimization dispatch focuses more on improving power generation efficiency under changes in inflow or load. Currently, there is very little research on gate-power generation unit coordinated control during ecological dispatch periods, and no technology has yet been implemented for refined control of generator output during ecological dispatch. Summary of the Invention

[0004] In view of this, in order to solve the above-mentioned technical problems or some of the technical problems, the present invention provides a method and device for real-time collaborative control of multiple units of hydropower station hub units and gates.

[0005] In a first aspect, embodiments of the present invention provide a real-time collaborative control method for multiple units of a hydropower station's main generating units and gates, comprising:

[0006] The outflow rate for water storage is determined based on the ecological scheduling objectives of the target reservoir area;

[0007] The opening degree of the gate group of the target reservoir is adjusted based on the outflow rate;

[0008] Determine whether the output of the hydropower unit of the target reservoir meets the preset output stability conditions after the gate group adjusts its opening.

[0009] When the output of the hydropower hub unit does not meet the preset output stability conditions, the guide vanes of the hydropower hub unit are controlled to ensure that the output of the hydropower hub unit meets the preset output stability conditions.

[0010] In one possible implementation, the method further includes:

[0011] Obtain water conservancy and reservoir scheduling instructions for the target reservoir area;

[0012] Based on the water conservancy and reservoir scheduling instructions, ecological scheduling objectives are determined, including water level control objectives, flood storage objectives, flood control capacity reservation objectives, and outflow objectives.

[0013] The target value for water volume change in the target reservoir is determined based on the ecological scheduling objectives.

[0014] The discharge flow rate of the stored water is determined based on the target value of the water volume change.

[0015] In one possible implementation, the method further includes:

[0016] Pre-construct a gate group opening and closing combination model;

[0017] The outflow rate is input into the gate group opening and closing combination model to calculate the gate group operation combination;

[0018] The opening degree of the gate group of the target reservoir is adjusted based on the gate group operation combination.

[0019] In one possible implementation, the method further includes:

[0020] A multi-unit linkage control model of hydropower hub units and gates is pre-constructed;

[0021] Based on the current opening value of the gate group of the target reservoir, the guide vane opening value of the hydropower hub unit and the theoretical water level change value of the target reservoir are calculated through the linkage control model.

[0022] The guide vane opening is adjusted based on the guide vane opening value of the hydropower hub unit.

[0023] In one possible implementation, the method further includes:

[0024] Obtain the actual water level change value of the target reservoir after the guide vane opening of the hydropower hub unit is adjusted;

[0025] Determine whether the difference between the actual water level change value and the theoretical water level change value is within a preset threshold range;

[0026] If the difference is within a preset threshold range, then it is determined that the output of the hydropower hub unit meets the preset output stability condition.

[0027] If the difference is not within the preset threshold range, it is determined that the output of the hydropower hub unit does not meet the preset output stability condition.

[0028] In one possible implementation, the method further includes:

[0029] The guide vanes of the hydropower hub unit are dynamically controlled, and the water level change value during the dynamic control process is obtained until the difference between the water level change value during the dynamic control process and the theoretical water level change value is within a preset threshold range, at which point the dynamic control of the guide vanes of the hydropower hub unit is stopped.

[0030] Obtain the current status information of the guide vanes of the hydropower hub unit, and optimize the parameters of the linkage control model of the hydropower hub unit-gate multi-unit based on the status information.

[0031] In one possible implementation, the method further includes:

[0032] Obtain the current opening information of the gate group after adjusting the opening of the gate group of the target reservoir based on the gate group operation combination;

[0033] Determine whether the current opening information is the same as the gate group opening information calculated by the gate group opening and closing combination model;

[0034] If they are different, the parameters of the gate group opening and closing combination model are optimized based on the current opening information.

[0035] Secondly, embodiments of the present invention provide a real-time collaborative control device for multiple units of a hydropower station's main generating units and gates, comprising:

[0036] The determination module is used to determine the outflow rate of water storage based on the ecological scheduling objectives of the target reservoir area;

[0037] The regulating module is used to regulate the opening degree of the gate group of the target reservoir based on the outflow rate;

[0038] The judgment module is used to determine whether the output of the hydropower hub unit of the target reservoir meets the preset output stability conditions after the gate group adjusts the opening.

[0039] The control module is used to control the guide vanes of the hydropower hub unit when the output of the hydropower hub unit does not meet the preset output stability conditions, so as to make the output of the hydropower hub unit meet the preset output stability conditions.

[0040] Thirdly, embodiments of the present invention provide a computer device, including: a processor and a memory, wherein the processor is used to execute a real-time collaborative control program for multiple units of a hydropower station hub unit-gate stored in the memory, so as to realize the real-time collaborative control method for multiple units of a hydropower station hub unit-gate described in the first aspect above.

[0041] Fourthly, embodiments of the present invention provide a storage medium, comprising: the storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the real-time collaborative control method for multiple units of hydropower station hub units and gates as described in the first aspect above.

[0042] The real-time collaborative control scheme for multi-unit hydropower station hub units and gates provided in this embodiment of the invention determines the outflow of water storage based on the ecological scheduling target of the target reservoir area; adjusts the opening of the gate group of the target reservoir based on the outflow; determines whether the output of the hydropower hub units of the target reservoir meets the preset output stability conditions after the gate group opening adjustment; and controls the guide vanes of the hydropower hub units when the output of the hydropower hub units does not meet the preset output stability conditions. Compared to existing generator control methods or generator gate linkage control methods, which do not consider the problems of gate opening control under ecological scheduling pulse water flow and water level changes caused by power station discharge flow changes, as well as the impact of downstream water level changes on power generation head, this scheme can solve the problem of generators being unable to maintain stable output power under long-term reservoir water level fluctuations. It establishes a generator-gate collaborative control method, which enables generators to make adaptive adjustments when reservoir gate opening is adjusted and reservoir water level changes, ensuring stable output power and achieving automated control while ensuring the power generation benefits of the reservoir. Attached Figure Description

[0043] Figure 1 This is a flowchart illustrating a real-time collaborative control method for multiple units of a hydropower station's main generating units and gates, provided in an embodiment of the present invention.

[0044] Figure 2 A schematic diagram of the logical layout of a real-time collaborative control method for multiple units of a hydropower station hub unit and gate provided in an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of the logic control structure of a real-time collaborative control method for multiple units of a hydropower station hub unit and gate provided in an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of the structure of a real-time collaborative control device for multiple units of a hydropower station hub unit and gate, provided in an embodiment of the present invention.

[0047] Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] To facilitate understanding of the embodiments of the present invention, further explanations and descriptions will be provided below with reference to the accompanying drawings and specific embodiments. These embodiments do not constitute a limitation on the embodiments of the present invention.

[0050] Figure 1 This is a flowchart illustrating a real-time collaborative control method for multiple units of a hydropower station's main generating units and gates, provided by an embodiment of the present invention. Figure 1 As shown, the method specifically includes:

[0051] S11. Determine the outflow rate of water storage based on the ecological scheduling objectives of the target reservoir area.

[0052] This invention mainly includes two aspects: the logical layout and linkage control system of a multi-unit real-time collaborative control method for hydropower station hub units and gates. The logical layout mainly includes three parts: gate group opening regulation, unit guide vane control, and feedback regulation. Gate opening regulation is used during reservoir ecological scheduling to adjust the outflow of water to adapt to ecological scheduling. This adjustment is achieved by changing the gate opening. Depending on different ecological scheduling needs, there are different combinations of gate openings and the opening sequence of each gate. Changes in outflow will affect the upstream and downstream water levels. Therefore, during ecological scheduling, the water level difference between the upstream and downstream of the reservoir is constantly changing.

[0053] The guide vane control of the generator unit regulates the flow rate through the unit, thereby controlling its output. Since the unit's output is affected by the head difference between the upstream and downstream of the reservoir, the constantly changing head difference during ecological regulation inevitably impacts the unit's output, leading to instability or even damage. Therefore, to ensure the unit's safety during ecological regulation, power generation efficiency is often sacrificed. To avoid overall efficiency losses, the unit needs to maintain stable output even with constantly changing head. Therefore, guide vane control is used to alter the flow rate through the unit, thus balancing the impact of head changes.

[0054] Feedback regulation is a crucial safeguard for the multi-unit linkage control of the generator and gate systems. After gate opening adjustment, the generator undergoes adaptive adjustments. Once control is complete, the feedback regulation system monitors the control structure, primarily monitoring generator output, upstream and downstream water levels, and actual gate opening. If the control system output matches the actual value, control is complete; otherwise, feedback regulation is required. First, it's essential to ensure the gate opening matches the control requirements. During gate control, external factors can cause deviations between the actual and output opening values. For example, equipment aging can lead to discrepancies between actual and design values, and the control situation may change over time. In such cases, the gate control system parameters need adjustment to adapt to the current situation. Gate opening correction affects the flow rate, ultimately impacting generator output through the hydraulic transmission chain. Therefore, after gate opening adjustment, the multi-unit linkage control system adjusts the generator guide vanes to ensure stable generator output. Then, the unit output is monitored. If the actual load does not match the preset load, the parameters of the gate-generator linkage control system need to be adjusted to ensure that the unit output reaches the preset standard. Because the gate is actively controlled and the generator is passively controlled in the gate-generator linkage control process, only the gate opening is checked separately in the feedback regulation; the guide vane opening is not adjusted separately. By adjusting the control system parameters, while achieving the control objective, the generator can also automatically adjust according to changes in the gate based on the corrected algorithm. Monitoring the upstream and downstream water levels provides data support for correcting the parameters of the gate-generator linkage control system. The relationship between the gate opening and the upstream and downstream water levels can be expressed by a formula, but due to the influence of evapotranspiration and infiltration, there will inevitably be a certain error between the calculated and actual values. By comparing the calculated and actual values, it is determined whether the error is within an acceptable range. If it exceeds the error threshold, the formula parameters need to be corrected to ensure the continuity of the hydraulic transmission chain.

[0055] like Figure 2 As shown in the figure, the embodiments of the present invention propose a logical layout method and implementation path for a real-time collaborative control method for multiple units of hydropower station hub units and gates, which logically realizes the joint automatic and real-time monitoring of the units and gates.

[0056] The gate is the active variable, the generator unit is the passive variable, and the control algorithm is the core of the linkage decision-making process. The H-type control algorithm was invented. ∞ The robust control algorithm ensures that the control unit does not crash and can still make correct decisions despite fluctuations in upstream flow, downstream water level, and grid load. To achieve the real-time control objective of multi-unit linkage between the generator and gate systems, it is necessary to upgrade and transform the existing monitoring facilities and actuators, specifically including:

[0057] (1) A new operation control method is proposed, and a guide vane regulator connecting TSMC and UDE is constructed to support real-time error correction during the guide vane adjustment process, thereby greatly improving the accuracy of unit control.

[0058] (2) Install sensors (water level, flow rate, water temperature, etc.) at gates, upstream and downstream of reservoirs and generator units, propose new real-time monitoring modes and data mining methods, accurately measure (or derive and calculate) gate opening value, upstream and downstream water levels (or power generation head) and turbine guide vane opening, and provide data support for finding the pattern and mapping relationship of gate opening-flow rate-water level during the ecological scheduling period.

[0059] The control method is as follows:

[0060] 1. Pressure piping system modeling: The pressure piping model is a rigid rotating hammer system, where the water head is given by the flow rate.

[0061]

[0062] 2. Modeling of a rigid water hammer turbine: The linearized model of the turbine can be represented by torque and flow rate functions.

[0063]

[0064] 3. Servo mechanism modeling, mathematically described as:

[0065]

[0066] Because the turbines operate at relatively low speeds, hydroelectric power stations employ salient-pole synchronous generators. These typically require a large number of field poles to generate the rated frequency. The second-order model of the generator is represented by the following equations:

[0067]

[0068] In the formula, the second group of equations (4) and The two terms represent the electromagnetic power produced. (Term x) dt and x qt The total reactance along the d-axis and q-axis are described respectively:

[0069]

[0070] Combining all equations in (1)-(5), the resulting nonlinear HGRS model is:

[0071]

[0072] Where x = [x1x2x3x4]′ is the uncertainty vector. The time-varying HGRS state vector is given by: x = x138; x238; x338; x′4 = δ38; w38; m38; y′, and the control signal provided by the speed governor is u(t).

[0073] 4. Governor Design: The proposed governor is constructed by connecting the properties of TSMC and UDE. The closed-loop stability of the hydropower station under the governor condition is verified using Lyapunov's theorem.

[0074] The UDE method is an acronym for uncertainty and disturbance estimator, which can predict and mitigate the effects of unknown time-varying HGRS uncertainties and external disturbances. For estimation, the actual uncertainty is processed through a low-pass filter. Furthermore, the filter bandwidth should be chosen to be sufficiently wide so that a large range of ζ(t) of the lumped HGRS uncertainty can be estimated as follows:

[0075]

[0076] in For the estimated uncertainty, L f (t) represents the impulse response of the filter, and * represents the convolution operator. Its Laplace transform is:

[0077]

[0078] Where s is a Laplace operator. It is the transfer function of a filter. It is the time constant, which is the bandwidth ω of the filter. b The reciprocal of.

[0079] Integrating TSMC with the UDE method, the first step in building TSMC is to design the following terminal sliding surface:

[0080]

[0081] Where e(t) = w(t) - w0(t), w0(t) is the reference velocity. And λ∈(0.5,1)

[0082] Theorem: The following control signals:

[0083] u(t)=u1(t)+u2(t))(9)

[0084]

[0085]

[0086] The speed tracking error e(t) of the HGRS (Equation 7) converges to zero, despite the unknown lumped system uncertainty ζ(t). Here, and yes:

[0087]

[0088] Parameter selection: Various parameters of the proposed technique are selected to meet the desired velocity tracking performance. For example, λ is chosen from 0 to 1 so that the velocity error can track to zero in a minimal time once the sliding surface tends to zero. Then, β is chosen to make the sliding surface converge to zero. Finally, τ... f This represents the time constant of a filter, and choosing the bandwidth of this filter will allow for the estimation of unknown uncertainties.

[0089] Furthermore, the system obtains water conservancy and reservoir scheduling instructions for the target reservoir area, and determines ecological scheduling objectives based on these instructions. These ecological scheduling objectives include water level control objectives, flood storage objectives, flood control capacity reservation objectives, and outflow objectives. Based on these ecological scheduling objectives, the system determines target values ​​for water volume changes in the target reservoir, and then determines the outflow rate based on these target values.

[0090] S12. Adjust the opening degree of the gate group of the target reservoir based on the outflow.

[0091] In this embodiment of the invention, a gate opening and closing combination model is developed and established according to the operation rules of the water discharge facility. The model is solved by the water volume target to obtain a variety of gate operation combinations. The discharge flow is input into the gate group opening and closing combination model to calculate the gate operation combination scheme. The opening degree of the gate group of the target reservoir is adjusted based on the gate group operation combination scheme.

[0092] Optionally, the current opening information of the gate group after adjusting the opening of the gate group of the target reservoir based on the gate group operation combination is obtained, and it is determined whether the current opening information is the same as the gate group opening information calculated by the gate group opening and closing combination model. If they are not the same, the parameters of the gate group opening and closing combination model are optimized based on the current opening information.

[0093] Furthermore, such as Figure 3 The diagram shows a logical control structure of a multi-unit real-time collaborative control method for a hydropower station hub unit-gate system. A multi-unit linkage control algorithm for the unit-gate system is established, so that the unit can make adaptive adjustments once the gate's tiered water intake scheduling status changes.

[0094] To improve the sensitivity of unit response in the tiered water intake scheduling of gates, a linkage closed-loop control mode is adopted, which not only improves the working efficiency of multi-unit linkage between units and gates, but also enhances the overall stability of the ecological scheduling hydropower system.

[0095] The embodiments of the present invention require the prior determination of the pattern and mapping relationship between gate opening degree, flow rate and water level during the ecological scheduling period, thereby creating a linkage control model for gate opening degree and guide vane opening degree.

[0096] 1) When adjusting the gate opening, the guide vane opening value is calculated by the model and uploaded to the guide vane regulator. The turbine guide vanes are then adjusted by the control algorithm to complete one control operation.

[0097] 2) If the unit output fails to remain stable after one control, the difference between the actual value and the calculated value is checked and adaptive adjustments are made for feedback control.

[0098] The conversion model between gate opening and guide vane opening:

[0099] Power of the hydroelectric generator:

[0100] N = ΥQH / 1000(13)

[0101] Y represents the specific weight of water, 9.8 kN / m³. 3 Q is the volumetric flow rate in m³. 3 / s, where H is the head in meters.

[0102] When the gate opening changes, the water level difference between the upstream and downstream of the reservoir will change. To maintain stable unit output, the flow rate through the generator needs to be adjusted. The flow rate through the generator can be controlled by adjusting the opening of the guide vanes.

[0103] The water level in the reservoir is mainly affected by the inflow from upstream and the outflow from downstream. There are two ways to obtain the reservoir water level: one is through mathematical model calculation, and the other is through real-time monitoring equipment. The data model calculation method can overcome time constraints and can predict the reservoir water level within a certain time range. However, its calculation results have a certain deviation from the actual situation. Equipment monitoring can obtain more accurate real-time data, but its disadvantage is that the actual scheduling process requires a certain amount of time. If scheduling is based solely on real-time monitoring data, decision-making will inevitably have a certain lag.

[0104] The method for calculating reservoir water level models first requires obtaining the overall topography of the reservoir area. Based on the topographic map, the area enclosed by the design water level, contour lines, and dam axis is measured. The product of this area and the water level is the reservoir capacity. Changes in reservoir capacity correspond to changes in water level. Inflow and outflow affect reservoir capacity, thus causing changes in upstream and downstream water levels. Reservoir outflow includes two parts: gate discharge and hydroelectric power generation. Under stable generator output, gate opening is the primary influencing factor on reservoir outflow. Finally, a model can be established that correlates gate opening with reservoir water level, allowing for the calculation of water level changes based on gate opening.

[0105] Reservoir capacity calculation:

[0106] V = (A1 + A2 + ... + A n )h(14)

[0107] Where: A is the average area of ​​two adjacent contour lines, and h is the contour interval.

[0108] Changes in storage capacity per unit time:

[0109] V t+1 =V t +Q 入 tQ 出 t(15)

[0110] Among them, V t Let Q be the reservoir capacity at time t, where t is a unit of time. 入 For inbound traffic, Q 出 This refers to the outbound flow rate.

[0111] Upstream water level calculation:

[0112]

[0113] Among them, V k For only less than V t+1 The storage capacity, h k For V k The corresponding elevation, A k+1 It is the average area of ​​the (k+1)th area.

[0114] Outbound flow:

[0115]

[0116] Where μ is the flow coefficient, B is the net width of the gate opening, e is the gate opening degree, g is the acceleration due to gravity, and H0 is the upstream water depth H. c =εe, where ε is the contraction coefficient.

[0117] S13. Determine whether the output of the hydropower unit of the target reservoir meets the preset output stability conditions after the gate group adjusts its opening.

[0118] Based on the aforementioned pre-constructed multi-unit linkage control model of hydropower hub units and gates, the current opening value of the gate group of the target reservoir is used to calculate the guide vane opening value of the hydropower hub unit and the theoretical water level change value of the target reservoir. Based on the guide vane opening value, the guide vane opening of the hydropower hub unit is adjusted.

[0119] The unit output is monitored. If the unit output remains stable, the control is completed. Otherwise, the actual values ​​of the upstream and downstream water levels, gate opening, and guide vane rotation angle are checked against the control values. The learning algorithm corrects the error and adjusts the parameters for feedback control until the unit output remains stable.

[0120] For reservoir water level prediction, an improvement has been made based on the traditional water balance method. The impact of upstream reservoir peak shaving on downstream reservoirs has been quantified, and a "peak shaving correction" algorithm has been introduced. The accuracy of water level prediction for the next 24 hours has been greatly improved, from the industry's general prediction standard of decimeter level to centimeter level.

[0121] In previous flood seasons, the spillway gates of target reservoirs were mostly open, and reservoir water levels could generally be controlled in real time by opening and closing the gates. Therefore, the accuracy of water level prediction was not sensitive. Furthermore, unpredictable factors such as rainfall runoff and backwater effects during the flood season meant that a certain margin was usually allowed when controlling water levels. However, with the increased regulation capacity of cascade reservoirs, the opening time of target reservoir gates will be significantly reduced. Coupled with the stricter requirements for monitoring flood control levels, the dispatch center needs to constantly monitor changes in target reservoir water levels and continuously improve the accuracy of reservoir water level prediction.

[0122] When conducting water level prediction, the factors that may affect the prediction in the traditional reservoir water level calculation formula include the water level-storage capacity curve, the calculation of reservoir inflow and outflow. Therefore, the factors affecting the target reservoir water level prediction can be simplified to: the reservoir water level-storage capacity curve, the hydropower station unit NHQ curve, and the unit NHQ curve. These can be collectively referred to as the basic data for reservoir operation.

[0123] Analysis revealed that due to errors in basic data such as the NHQ curves of the generating units, the impact of peak shaving by hydropower stations, and the influence of non-steady current waves generated by peak shaving, the traditional target reservoir water level prediction has a large deviation, which may cause the target reservoir water level to exceed the boundary limit.

[0124] To reduce the impact of water level prediction bias, Guo's algorithm is introduced into the target reservoir water level prediction algorithm to correct the water level prediction bias during peak shaving. The specific rules are as follows:

[0125] 1. Select an appropriate ΔQ to correct the deviation caused by peak shaving at the hydropower station.

[0126] The value of the target reservoir water level prediction deviation is estimated by calculating the change in the outflow of the hydropower station. The water level of the target reservoir is calculated to be 1 cm for every change ΔQ (taken as 150~300 m3 / s). The smaller the outflow of the hydropower station, the smaller the selected ΔQ value, and vice versa.

[0127] 2. Introduce "interval" flow to reduce the impact of errors in basic data.

[0128] Without considering rainfall, the "interval" flow rate can be taken as -100 to -150 m3 / s, or refer to the "average inflow of the target reservoir - average outflow of the hydropower station" in the daily inflow and outflow calculation of the water dispatching system (in the case of no rainfall).

[0129] 3. Consider the impact of unsteady flow fluctuations.

[0130] Since the fluctuations of unsteady flow are quite complex and the resulting deviations are not easy to calculate, in order to simplify the reservoir water level prediction process, when the outflow from the hydropower station (shifted 2 hours) increases, the maximum predicted water level of the target reservoir is increased by 5 cm; when the outflow from the hydropower station (shifted 2 hours) decreases, the minimum predicted water level of the target reservoir is decreased by 5 cm.

[0131] S14. When the output of the hydropower hub unit does not meet the preset output stability conditions, the guide vanes of the hydropower hub unit are controlled so that the output of the hydropower hub unit meets the preset output stability conditions.

[0132] When the output of the hydropower station's generating units does not meet the preset output stability conditions, the guide vanes of the hydropower station's generating units are dynamically controlled, and the water level change value during the dynamic control process is acquired. The dynamic control of the guide vanes of the hydropower station's generating units is stopped when the difference between the water level change value during the dynamic control process and the theoretical water level change value is within the preset threshold range. The current state information of the guide vanes of the hydropower station's generating units is acquired, and the parameters of the linkage control model of the multi-unit hydropower station-gate are optimized based on the state information.

[0133] This invention constructs a guide vane regulator connecting the TSMC and UDE, proposes a new real-time monitoring mode and data mining method, and establishes a turbine governor algorithm based on the relationship between gate flow and water level changes. According to ecological scheduling objectives, the states of the gate unit and the generator unit are adjusted in real time, with the gate being the active adjustment unit and the generator unit being the passive adaptive adjustment unit. To improve the real-time performance of control, after changes in operating conditions, intelligent algorithms (i.e., learning algorithms), mechanistic models, or curve fitting methods are used to initially adjust the parameters of each unit. Then, feedback adjustments are made based on the deviation between the real-time monitoring state and the desired state, thereby achieving coordination between the generator control unit and the gate control unit.

[0134] The linkage control model for gate opening and guide vane opening considers uncertainties such as inflow into the reservoir, power plant unit load output, and vibrations and disturbances in the gate and unit hydraulic regulation, achieving stable process control under complex operating conditions. It realizes real-time automatic and precise control of ecological water level and flow, ensuring the safe and efficient implementation of fish habitat regulation measures, while guaranteeing stable power output under varying unit water levels, thus improving the reservoir's power generation efficiency.

[0135] The real-time collaborative control method for multiple units of hydropower station hub units and gates provided in this embodiment of the invention determines the outflow of water storage based on the ecological scheduling target of the target reservoir area; adjusts the opening of the gate group of the target reservoir based on the outflow; determines whether the output of the hydropower hub units of the target reservoir meets the preset output stability conditions after the gate group opening adjustment; and controls the guide vanes of the hydropower hub units when the output of the hydropower hub units does not meet the preset output stability conditions. Compared to existing generator control methods or generator gate linkage control methods, which do not consider the problems of gate opening control under ecological scheduling pulse water flow and water level changes caused by power station discharge flow changes, as well as the impact of downstream water level changes on power generation head, this method can solve the problem that the generator cannot maintain stable output power under long-term reservoir water level fluctuations. It establishes a generator-gate collaborative control method, which enables the generator to make adaptive adjustments under reservoir gate opening adjustments and reservoir water level changes, ensuring stable output power and achieving automated control while ensuring the power generation benefits of the reservoir.

[0136] Figure 4 A schematic diagram of a multi-unit real-time collaborative control device for a hydropower station's turbine-gate system, according to an embodiment of the present invention, is shown. Figure 4 As shown, the device includes:

[0137] The determination module 401 is used to determine the outflow rate of water storage based on the ecological scheduling target of the target reservoir area. For detailed explanations, please refer to the relevant descriptions in the above method embodiments; they will not be repeated here.

[0138] The regulating module 402 is used to regulate the opening degree of the gate group of the target reservoir based on the outflow. For detailed explanation, please refer to the relevant descriptions in the above method embodiments; they will not be repeated here.

[0139] The judgment module 403 is used to determine whether the output of the hydropower generating units of the target reservoir meets the preset output stability conditions after the gate group adjusts its opening. For detailed explanations, please refer to the relevant descriptions in the above method embodiments; they will not be repeated here.

[0140] The control module 404 is used to control the guide vanes of the hydropower generator unit when the output of the generator unit does not meet the preset output stability conditions, so as to make the output of the hydropower generator unit meet the preset output stability conditions. For detailed explanations, please refer to the relevant descriptions in the above method embodiments, which will not be repeated here.

[0141] The hydropower station hub unit-gate multi-unit real-time collaborative control device provided in this embodiment of the invention is used to execute the hydropower station hub unit-gate multi-unit real-time collaborative control method provided in the above embodiment. Its implementation method and principle are the same. For details, please refer to the relevant description of the above method embodiment, which will not be repeated here.

[0142] Figure 5 A computer device according to an embodiment of the present invention is shown, such as Figure 5 As shown, the computer device may include a processor 501 and a memory 502, wherein the processor 501 and the memory 502 may be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0143] Processor 501 can be a central processing unit (CPU). Processor 501 can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.

[0144] The memory 502, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods provided in the embodiments of the present invention. The processor 501 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions, and modules stored in the memory 502, thereby implementing the methods in the above-described method embodiments.

[0145] Memory 502 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor 501, etc. Furthermore, memory 502 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 502 may optionally include memory remotely located relative to processor 501, and these remote memories may be connected to processor 501 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0146] One or more modules are stored in memory 502 and, when executed by processor 501, perform the methods described in the above method embodiments.

[0147] The specific details of the aforementioned computer equipment can be understood by referring to the relevant descriptions and effects in the above method embodiments, and will not be repeated here.

[0148] Those skilled in the art will understand that implementing all or part of the processes in the above embodiments can be accomplished by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0149] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for real-time collaborative control of multiple units of a hydropower station's key generating units and gates, characterized in that, include: The outflow rate for water storage is determined based on the ecological scheduling objectives of the target reservoir area, wherein the ecological scheduling objectives include water level control objectives, flood storage objectives, flood control capacity reservation objectives, and outflow objectives. The opening degree of the gate group of the target reservoir is adjusted based on the outflow rate; Determine whether the output of the hydropower unit of the target reservoir meets the preset output stability conditions after the gate group adjusts its opening. When the output of the hydropower hub unit does not meet the preset output stability conditions, the guide vanes of the hydropower hub unit are controlled to make the output of the hydropower hub unit meet the preset output stability conditions. The determination of whether the output of the hydropower generating units of the target reservoir meets the preset output stability conditions after the gate group adjusts its opening includes: A multi-unit linkage control model of hydropower hub units and gates is pre-constructed; Based on the current opening value of the gate group of the target reservoir, the guide vane opening value of the hydropower hub unit and the theoretical water level change value of the target reservoir are calculated through the linkage control model. The guide vane opening is adjusted based on the guide vane opening value of the hydropower hub unit. When the output of the hydropower generating unit does not meet the preset output stability conditions, the guide vanes of the hydropower generating unit are controlled to ensure that the output of the hydropower generating unit meets the preset output stability conditions, including: The guide vanes of the hydropower hub unit are dynamically controlled, and the water level change value during the dynamic control process is obtained until the difference between the water level change value during the dynamic control process and the theoretical water level change value is within a preset threshold range, at which point the dynamic control of the guide vanes of the hydropower hub unit is stopped. Obtain the current status information of the guide vanes of the hydropower hub unit, and optimize the parameters of the linkage control model of the hydropower hub unit-gate multi-unit based on the status information.

2. The method according to claim 1, characterized in that, The determination of the outflow rate for water storage based on the ecological scheduling target of the target reservoir area includes: Obtain water conservancy and reservoir scheduling instructions for the target reservoir area; The ecological scheduling objectives are determined based on the aforementioned water conservancy and reservoir scheduling instructions; The target value for water volume change in the target reservoir is determined based on the ecological scheduling objectives. The discharge flow rate of the stored water is determined based on the target value of the water volume change.

3. The method according to claim 2, characterized in that, The regulation of the gate opening of the target reservoir based on the outflow includes: Pre-construct a gate group opening and closing combination model; The outflow rate is input into the gate group opening and closing combination model to calculate the gate group operation combination; The opening degree of the gate group of the target reservoir is adjusted based on the gate group operation combination.

4. The method according to claim 1, characterized in that, The method further includes: Obtain the actual water level change value of the target reservoir after the guide vane opening of the hydropower hub unit is adjusted; Determine whether the difference between the actual water level change value and the theoretical water level change value is within a preset threshold range; If the difference is within a preset threshold range, then it is determined that the output of the hydropower hub unit meets the preset output stability condition. If the difference is not within the preset threshold range, it is determined that the output of the hydropower hub unit does not meet the preset output stability condition.

5. The method according to claim 3, characterized in that, The method further includes: Obtain the current opening information of the gate group after adjusting the opening of the gate group of the target reservoir based on the gate group operation combination; Determine whether the current opening information is the same as the gate group opening information calculated by the gate group opening and closing combination model; If they are different, the parameters of the gate group opening and closing combination model are optimized based on the current opening information.

6. A real-time collaborative control device for multiple units of a hydropower station's key generating units and gates, characterized in that, include: The determination module is used to determine the outflow of water storage based on the ecological scheduling objectives of the target reservoir area, wherein the ecological scheduling objectives include water level control objectives, flood storage objectives, flood control capacity reservation objectives, and outflow objectives. The regulating module is used to regulate the opening degree of the gate group of the target reservoir based on the outflow rate; The judgment module is used to determine whether the output of the hydropower hub unit of the target reservoir meets the preset output stability conditions after the gate group adjusts the opening. The control module is used to control the guide vanes of the hydropower hub unit when the output of the hydropower hub unit does not meet the preset output stability conditions, so as to make the output of the hydropower hub unit meet the preset output stability conditions. The judgment module includes: The building unit is used to pre-build a multi-unit linkage control model of water conservancy and hydropower hub units and gates; The calculation unit is used to calculate the guide vane opening value of the hydropower hub unit and the theoretical water level change value of the target reservoir based on the current opening value of the gate group of the target reservoir through the linkage control model. The adjustment unit is used to adjust the guide vane opening of the hydropower hub unit based on the guide vane opening value. The control module includes: The control unit is used to dynamically control the guide vanes of the hydropower hub unit and acquire the water level change value during the dynamic control process until the difference between the water level change value during the dynamic control process and the theoretical water level change value is within a preset threshold range, at which point the dynamic control of the guide vanes of the hydropower hub unit is stopped. The optimization unit is used to obtain the current status information of the guide vanes of the hydropower hub unit and optimize the parameters of the linkage control model of the hydropower hub unit-gate multi-unit based on the status information.

7. A computer device, characterized in that, include: A processor and a memory, wherein the processor is configured to execute a real-time collaborative control program for multiple units of a hydropower station hub generator and gate stored in the memory, in order to implement the real-time collaborative control method for multiple units of a hydropower station hub generator and gate as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium stores one or more programs, which can be executed by one or more processors to implement the real-time collaborative control method for multi-unit hydropower station hub units and gates as described in any one of claims 1 to 5.

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