A control method and system for dynamic characteristics of guide vanes of a hydraulic turbine governor

Abstract

The present disclosure provides a control method and system for dynamic characteristics of guide vanes of a hydro-turbine governor, the method comprising obtaining a control deviation value based on a real-time obtained control parameter target value and a control parameter actual value, the control parameter actual value being consistent with the control parameter target value in parameter type, the parameter type being power or guide vane opening; performing guide vane opening and closing state judgment based on the control parameter target value and the control deviation value to output a judgment result, the judgment result including a first signal indicating an increasing opening and closing trend and a second signal indicating no increasing opening and closing trend; if the judgment result is the first signal, obtaining a guide vane opening in real time, and based on the guide vane opening, using a correction algorithm to correct a dynamic characteristic adjustment parameter to output a dynamic characteristic adjustment parameter correction value, and taking the dynamic characteristic adjustment parameter correction value as a target parameter; if the judgment result is the second signal, taking the dynamic characteristic adjustment parameter as the target parameter; and controlling opening and closing of the guide vanes of the generator governor based on the target parameter.

Description

TECHNICAL FIELD

[0001] The present disclosure belongs to the technical field of automatic control of hydropower plants, and particularly relates to a control method and system for dynamic characteristics of guide vanes of a hydraulic turbine governor. BACKGROUND

[0002] For a hydropower station, in order to ensure safe and reliable operation of a hydraulic generator set under all operating conditions, regulation guarantee calculation must be performed during the design stage of the hydropower station. The regulation guarantee calculation selects a reasonable guide vane closing law for the hydraulic generator set, thereby avoiding sudden disconnection of the unit and power grid under extreme operating conditions, and preventing occurrence of malignant accidents such as bursting of a pressure steel pipe or loss of control of rotational speed due to a sharp change in pressure and rotational speed.

[0003] The regulation guarantee calculation focuses on and comprehensively considers safety conditions in a large fluctuation transition process, including: how to reduce the maximum rotational speed rise rate of the unit and meet contract requirements; how to increase the safety margin of the maximum value of the centerline pressure at the inlet of the spiral case of the unit; how to reduce the vacuum degree at the inlet of the draft tube; and how to reduce the lifting amount of the unit.

[0004] Under the premise of first ensuring safe closing of the guide vanes of the unit, the closing speed of the guide vanes of a considerable number of hydraulic turbine units can reach 1 times or even faster than the opening speed. This causes the opening and closing process of the guide vane system of the hydraulic turbine to exhibit strong nonlinear characteristics.

[0005] Due to such different dynamic characteristics, there is a large difference in the dynamic characteristics of rotational speed and power regulation of the hydraulic generator set. Most conventional hydraulic turbine governor systems adopt a PID (Proportion Integration Differentiation) control mode. Due to the linear time-invariant characteristics of the PID regulator, it is difficult to achieve good regulation effect when facing such strong nonlinear characteristics of the guide vane system. In a small fluctuation process of the unit, the rotational speed or power regulation index is easily reduced, and in a large fluctuation transition process, the unit may even be subjected to reverse field extinction or rotational speed instability, thereby affecting safe and stable operation of the unit. SUMMARY

[0006] The present disclosure aims to at least partially solve one of the technical problems in the related art. To this end, the present disclosure provides a control method and system for dynamic characteristics of guide vanes of a hydraulic turbine governor, and the main purpose is to solve the problem of poor rotational speed and power regulation quality caused by dynamic characteristics of opening and closing of the guide vanes.

[0007] According to a first aspect of the present disclosure, a control method for dynamic characteristics of guide vanes of a hydro-turbine governor is provided. The hydro-turbine system includes a generator governor, a PID regulator, a control parameter generation device, and a control parameter acquisition device. The control parameter acquisition device is configured to acquire an actual value of a control parameter of the generator governor. The control parameter generation device is configured to output a target value of the control parameter. The PID regulator is configured to output a dynamic characteristic adjustment parameter based on the target value of the control parameter and the actual value of the control parameter. The control method includes:

[0008] acquiring the target value of the control parameter and the actual value of the control parameter in real time, obtaining a control deviation value based on the target value of the control parameter and the actual value of the control parameter, the actual value of the control parameter being consistent with a parameter type of the target value of the control parameter, the parameter type of the target value of the control parameter being power or guide vane opening degree;

[0009] judging an opening and closing state of the guide vanes based on the target value of the control parameter and the control deviation value to output a judgment result, the judgment result including a first signal indicating an increasing trend of the opening and closing and a second signal indicating no increasing trend of the opening and closing;

[0010] if the judgment result is the first signal, acquiring a guide vane opening degree in real time, correcting the dynamic characteristic adjustment parameter based on the guide vane opening degree by using a correction algorithm to output a dynamic characteristic adjustment parameter correction value, and taking the dynamic characteristic adjustment parameter correction value as a target parameter; if the judgment result is the second signal, taking the dynamic characteristic adjustment parameter as the target parameter;

[0011] controlling the opening and closing of the guide vanes of the generator governor based on the target parameter.

[0012] In an embodiment of the present disclosure, the judging the opening and closing state of the guide vanes based on the target value of the control parameter and the control deviation value to output the judgment result includes monitoring whether the target value of the control parameter is updated, and if yes, judging the opening and closing state of the guide vanes based on a difference between a new target value of the control parameter and a target value of the control parameter before the update.

[0013] In an embodiment of the present disclosure, the judging the opening and closing state of the guide vanes based on the target value of the control parameter and the control deviation value to output the judgment result further includes, if there is no update, obtaining a deviation n-th derivative based on the control deviation value, n being a non-zero natural number, and judging the opening and closing state of the guide vanes based on the control deviation value and the deviation n-th derivative.

[0014] In an embodiment of the present disclosure, the correction algorithm is a variable-order inertia correction algorithm.

[0015] In one embodiment of the present disclosure, the correcting the dynamic characteristic adjustment parameter based on the guide vane opening degree by using the correction algorithm to output a dynamic characteristic adjustment parameter correction value comprises: calculating a guide vane opening rate and a guide vane closing rate based on the guide vane opening degree; obtaining an error coefficient based on the guide vane opening rate and the guide vane closing rate; if the error coefficient is less than or equal to a set error threshold, correcting the dynamic characteristic adjustment parameter by using the correction algorithm; and if the error coefficient is greater than the set error threshold, optimizing a correction parameter of the correction algorithm, and then correcting the dynamic characteristic adjustment parameter by using the corrected correction algorithm.

[0016] According to the second aspect of the present disclosure, a control system for dynamic characteristics of guide vanes of a hydro-turbine governor is also provided. The hydro-turbine system comprises a generator governor, a PID regulator, a control parameter generation device and a control parameter acquisition device. The control parameter acquisition device is configured to acquire an actual value of a control parameter of the generator governor. The control parameter generation device is configured to output a target value of the control parameter. The PID regulator is configured to output a dynamic characteristic adjustment parameter based on the target value of the control parameter and the actual value of the control parameter. The control system comprises:

[0017] a calculation module configured to acquire the target value of the control parameter and the actual value of the control parameter in real time, and obtain a control deviation value based on the target value of the control parameter and the actual value of the control parameter. The actual value of the control parameter is consistent with the target value of the control parameter in terms of parameter type. The parameter type of the target value of the control parameter is power or guide vane opening degree;

[0018] an open-close state judgment module configured to judge the open-close state of the guide vanes based on the target value of the control parameter and the control deviation value to output a judgment result. The judgment result comprises a first signal indicating an increasing open-close trend and a second signal indicating no increasing open-close trend;

[0019] a correction selection module configured to, if the judgment result is the first signal, acquire a guide vane opening degree in real time, correct the dynamic characteristic adjustment parameter by using a correction algorithm based on the guide vane opening degree to output a dynamic characteristic adjustment parameter correction value, and use the dynamic characteristic adjustment parameter correction value as a target parameter; and if the judgment result is the second signal, use the dynamic characteristic adjustment parameter as the target parameter;

[0020] a control module configured to control the open-close of the guide vanes of the generator governor based on the target parameter.

[0021] In one embodiment of the present disclosure, the opening and closing state judging module is configured to: monitor whether the control parameter target value is updated, if yes, judge the opening and closing state of the guide vane based on the difference between the new control parameter target value and the control parameter target value before the update; and if not, obtain the n-th derivative of the control deviation value based on the control deviation value, n being a non-zero natural number, and judge the opening and closing state of the guide vane based on the control deviation value and the n-th derivative of the control deviation value.

[0022] In one embodiment of the present disclosure, the correction algorithm is a variable-order inertia correction algorithm.

[0023] In one embodiment of the present disclosure, the correction selecting module is specifically configured to: calculate a guide vane opening rate and a guide vane closing rate based on the guide vane opening degree; obtain an error coefficient based on the guide vane opening rate and the guide vane closing rate; if the error coefficient is less than or equal to a set error threshold, correct the dynamic characteristic adjustment parameter by using the correction algorithm; and if the error coefficient is greater than the set error threshold, optimize the correction parameter of the correction algorithm, and then correct the dynamic characteristic adjustment parameter by using the corrected correction algorithm.

[0024] According to a third aspect of the present disclosure, a control device for dynamic characteristics of guide vanes of a hydraulic turbine governor is also provided, which comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the control method for dynamic characteristics of guide vanes of a hydraulic turbine governor according to the first aspect of the present disclosure.

[0025] In one or more embodiments of the present disclosure, a water turbine system includes a generator governor, a PID regulator, a control parameter generation device, and a control parameter acquisition device, the control parameter acquisition device is configured to acquire an actual value of a control parameter of the generator governor, the control parameter generation device is configured to output a target value of the control parameter, and the PID regulator is configured to output a dynamic characteristic adjustment parameter based on the target value of the control parameter and the actual value of the control parameter. The control method includes: acquiring the target value of the control parameter and the actual value of the control parameter in real time, obtaining a control deviation value based on the target value of the control parameter and the actual value of the control parameter, the actual value of the control parameter being consistent with the target value of the control parameter in terms of parameter type, and the parameter type of the target value of the control parameter being power or guide vane opening degree; performing guide vane opening and closing state judgment based on the target value of the control parameter and the control deviation value to output a judgment result, the judgment result including a first signal indicating an increase in the opening and closing trend and a second signal indicating no increase in the opening and closing trend; if the judgment result is the first signal, acquiring the guide vane opening degree in real time, correcting the dynamic characteristic adjustment parameter based on the guide vane opening degree to output a corrected value of the dynamic characteristic adjustment parameter, and taking the corrected value of the dynamic characteristic adjustment parameter as a target parameter; if the judgment result is the second signal, taking the dynamic characteristic adjustment parameter as the target parameter; and controlling the opening and closing of the guide vane of the generator governor based on the target parameter. In this case, the control deviation value is obtained based on the target value of the control parameter and the actual value of the control parameter, the guide vane opening and closing state judgment is performed based on the target value of the control parameter and the control deviation value to output a judgment result, for the opening and closing trend increasing, the dynamic characteristic adjustment parameter is corrected by using a correction algorithm to output a corrected value of the dynamic characteristic adjustment parameter, and then the opening and closing of the guide vane of the generator governor is controlled by using the corrected value of the dynamic characteristic adjustment parameter. Compared with the prior art of directly using the dynamic characteristic adjustment parameter output by the PID regulator to control the opening and closing of the guide vane of the generator governor, the problem that the traditional PID regulator is difficult to adapt to the control of a nonlinear system due to time-invariant characteristics is overcome, and the problem of poor speed and power regulation quality caused by the dynamic characteristics of the guide vane opening and closing is solved.

[0026] Additional aspects and advantages of the present disclosure will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0027] The above and / or additional aspects and advantages of the present disclosure will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0028] Figure 1 A flowchart schematically showing a control method for dynamic characteristics of a guide vane of a water turbine governor according to an embodiment of the present disclosure is shown;

[0029] Figure 2 A connection diagram of the control method according to an embodiment of the present disclosure is shown;

[0030] Figure 3 A measured curve of dynamic characteristics of a certain guide vane switching of a unit provided by the embodiment of the present disclosure is shown;

[0031] Figure 4 A measured curve of frequency disturbance ±2Hz of a certain unit provided by the embodiment of the present disclosure is shown;

[0032] Figure 5 A measured curve of frequency disturbance ±2Hz after correction by the control method of the present disclosure is shown;

[0033] Figure 6 A measured curve of power dynamic characteristics of a certain guide vane disturbance 10% of a unit provided by the embodiment of the present disclosure is shown;

[0034] Figure 7 A measured curve of power dynamic characteristics of guide vane disturbance 10% after correction by the control method of the present disclosure is shown;

[0035] Figure 8 A block diagram of a control system of guide vane dynamic characteristics of a hydro-turbine governor provided by the embodiment of the present disclosure is shown;

[0036] Figure 9 A block diagram of a control device of guide vane dynamic characteristics of a hydro-turbine governor for implementing the control method of guide vane dynamic characteristics of a hydro-turbine governor provided by the embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0037] The exemplary embodiments will be described in detail hereinbelow with reference to the drawings. In the following description, the same numbers in different drawings represent the same or similar elements unless otherwise represented. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the embodiments of the present disclosure. Rather, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present disclosure as detailed in the appended claims.

[0038] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the different embodiments or examples described in the present specification and the features of the different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0039] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly and specifically limited. It should also be understood that the term "and / or" used in the present disclosure means and includes any or all possible combinations of one or more associated listed items.

[0040] The embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present disclosure, and cannot be understood as a limitation of the present disclosure.

[0041] The present disclosure provides a control method and system for guide vane dynamic characteristics of a hydro-turbine governor, mainly aiming to solve the problem of poor speed and power regulation quality caused by guide vane opening and closing dynamic characteristics.

[0042] In the present disclosure, the hydro-turbine system includes a generator governor, a PID regulator, a control parameter generation device, and a control parameter acquisition device. The control parameter acquisition device is used to acquire the actual value of the control parameter of the generator governor, and the control parameter generation device is used to output the target value of the control parameter. The PID regulator is used to output the dynamic characteristic adjustment parameter based on the target value of the control parameter and the actual value of the control parameter.

[0043] In the first embodiment, Figure 1 A flowchart of a control method for guide vane dynamic characteristics of a hydro-turbine governor provided by an embodiment of the present disclosure is shown. Figure 2 A connection diagram of the control method provided by an embodiment of the present disclosure is shown. As shown in the figure, Figure 1 The control method for guide vane dynamic characteristics of a hydro-turbine governor includes:

[0044] In step S11, the target value and the actual value of the control parameter are obtained in real time, and the control deviation value is obtained based on the target value and the actual value of the control parameter. The parameter type of the actual value of the control parameter is consistent with the parameter type of the target value of the control parameter. The parameter type of the target value of the control parameter is power or guide vane opening degree.

[0045] In step S11, the control deviation value D satisfies: D = SP - PV, where PV represents the actual value of the control parameter, and SP represents the target value of the control parameter.

[0046] In step S11, when the turbine governor is in power mode, the parameter type of the control parameter target value is power, the control parameter target value is the turbine governor's power target value Ps, and the control parameter actual value is the turbine governor's actual power value. The actual power value is, for example, active power P. When the turbine governor is in opening mode, the parameter type of the control parameter target value is guide vane opening, the control parameter target value is the turbine governor's guide vane opening target value Ys, and the control parameter actual value is the turbine governor's guide vane opening actual value (i.e., the measured guide vane opening Y). The control parameter actual value refers to the controlled variable in the current control mode.

[0047] Step S12: judging the opening and closing state of the guide vanes based on the control parameter target value and the control deviation value to output a judgment result, wherein the judgment result includes a first signal indicating that the opening and closing trend is increasing and a second signal indicating that the opening and closing trend is not increasing.

[0048] In step S12, the opening and closing state of the guide vanes is judged based on the control parameter target value and the control deviation value to output a judgment result, including: monitoring whether the control parameter target value is updated, and if so, judging the opening and closing state of the guide vanes based on the difference between the new control parameter target value and the control parameter target value before the update; if not updated, obtaining the deviation n-order derivative based on the control deviation value, where n is a non-zero natural number, and judging the opening and closing state of the guide vanes based on the control deviation value and the deviation n-order derivative.

[0049] Specifically, the opening and closing state judgment algorithm is used to judge the opening and closing state of the guide vane based on the control parameter target value and the control deviation value. The control parameter target value SP is the control command issued by the forward channel (i.e., the control parameter generating device) of the opening and closing state judgment algorithm.

[0050] like Figure 2 As shown, the opening and closing state judgment algorithm 1-01 receives the control deviation value D and the control parameter target value SP from the forward channel, performs a prediction calculation on the opening and closing state of the guide vane, and outputs a judgment result SEL, where SEL=1 is the first signal and SEL=0 is the second signal.

[0051] Among them, the opening and closing state of the guide vanes (also known as the opening and closing trend) is predicted and calculated, and the judgment result SEL is output, including:

[0052] Monitor whether the target value of the control parameter is updated;

[0053] If updated, calculate the new control parameter target value SP 新 and the control parameter target value SP before updating 旧 The difference between the two, make an algebraic judgment, if SP 新 -SP 旧>0, the guide vane is predicted to be increasing at the next moment, and the output judgment result is SEL=1; otherwise, the guide vane is predicted to be not increasing at the next moment, and the output judgment result is SEL=0. 新 and the control parameter target value SP before updating 旧 It is the value of the same variable at two different times;

[0054] If there is no update, the n-order derivative of the deviation is obtained based on the control deviation value. The n-order derivative of the deviation refers to the first-order derivative and the higher-order derivative d of the negative number of the control deviation value. n (-D) / dt n , d n (-D) / dt n =d n (PV-SP) / dt n (n=1,2,……); If any of the control deviation value and the deviation n-order derivative is greater than 0, that is, SP-PV>0, or d n (PV-SP) / dt n >0, the guide vane is predicted to be increasing at the next moment, and the output judgment result is SEL=1; otherwise, the guide vane is predicted to be not increasing at the next moment, and the output judgment result is SEL=0; where d n (PV-SP) / dt n >0 means that any order derivative of the negative value of the control deviation value is greater than 0.

[0055] In step S13, if the judgment result is the first signal, the guide vane opening is obtained in real time. Based on the guide vane opening, a correction algorithm is used to correct the dynamic characteristic adjustment parameter and output a dynamic characteristic adjustment parameter correction value, and the dynamic characteristic adjustment parameter correction value is used as the target parameter; if the judgment result is the second signal, the dynamic characteristic adjustment parameter is used as the target parameter.

[0056] In step S13, the judgment result determines whether to correct the dynamic characteristic adjustment parameters output by the PID regulator. Specifically, Figure 2 As shown, the first input end of the logic selector 1-02 is connected to the correction algorithm 1-03, the second input end of the logic selector 1-02 is connected to the PID regulator, the control end of the logic selector 1-02 is connected to the opening and closing state judgment algorithm 1-01, and the output end of the logic selector 1-02 outputs the target parameter C ord Logic selector 1-02 selects the first input parameter A or the second input parameter B as the target parameter C ord Output. PID regulator output dynamic characteristic adjustment parameter C pidThe correction algorithm 1-03 outputs a dynamic characteristic adjustment parameter correction value. The first input parameter A is the dynamic characteristic adjustment parameter correction value output by the correction algorithm 1-03, and the second input parameter B is the dynamic characteristic adjustment parameter C pid .

[0057] When the logic selector 1-02 receives SEL=1 output by the start-stop state judgment algorithm 1-01, the first input parameter A is selected as the target parameter C ord ; when receiving SEL=0 output by the start-stop state judgment algorithm 1-01, the second input parameter B is selected as the target parameter C ord When SEL=0, the output of the correction algorithm 1-03 tracks the output of the PID regulator, that is, A=B, thereby realizing disturbance-free switching process.

[0058] In step S13, the guide vane opening Y is the guide vane opening actual value.

[0059] In step S13, the correction algorithm is a variable-order inertia correction algorithm.

[0060] In step S13, based on the guide vane opening, the dynamic characteristic adjustment parameter is corrected by using the correction algorithm to output a dynamic characteristic adjustment parameter correction value, including: calculating the guide vane opening rate and the guide vane closing rate based on the guide vane opening; obtaining an error coefficient based on the guide vane opening rate and the guide vane closing rate; if the error coefficient is less than or equal to a set error threshold, correcting the dynamic characteristic adjustment parameter by using the correction algorithm; if the error coefficient is greater than the set error threshold, optimizing the correction parameter (i.e. the correction coefficient in the transfer function) of the correction algorithm, and then correcting the dynamic characteristic adjustment parameter by using the corrected correction algorithm.

[0061] In step S13, when SEL=1, the correction algorithm 1-03 is called, and the correction algorithm 1-03 receives the guide vane opening Y and the dynamic characteristic adjustment parameter C pid output by the PID regulator, and corrects the dynamic characteristic adjustment parameter according to the correction coefficient in the corrector through the variable-order inertia correction algorithm, thereby realizing correction of the dynamic characteristic of the guide vane opening and closing process, and further improving the opening rate of the guide vane. The transfer function f(x) of the variable-order inertia correction algorithm satisfies:

[0062]

[0063] In the formula, k m is the nth-order correction coefficient, n is the order of the correction link, k m+1 is the (n+1)th-order correction coefficient, and s is a complex variable of Laplace transform.

[0064] In addition, in step S13, in order to better approximate the guide vane opening rate of the generator speed governor to the guide vane closing rate, the guide vane opening rate and the guide vane closing rate are calculated based on the guide vane opening degree, and an error coefficient is obtained based on the guide vane opening rate and the guide vane closing rate. The error coefficient θ is an important indicator for evaluating the correction effect, and its general expression is:

[0065]

[0066] Where N represents the number of samples in a sample period, y ck represents the sample value of the kth guide vane closing rate without correction in one sample period, y ok Represents the sample value of the corrected k-th guide vane opening rate within one sample period.

[0067] The error coefficient θ is used to control the guide vane opening and closing rates within an allowable error range M (i.e., a set error threshold). If θ ≤ M, the correction coefficient in the transfer function remains unchanged. If θ > M, the correction coefficient of the transfer function of the variable-order inertia correction algorithm is adjusted until θ ≤ M, thereby achieving relatively consistent dynamic characteristics for the governor guide vane opening and closing.

[0068] Step S14: Controlling the opening and closing of the guide vanes of the generator speed regulator based on the target parameters.

[0069] In step S14, the target parameters are used to act on the guide vane actuator to control the opening and closing of the guide vanes of the generator speed governor, so that the dynamic characteristics of the guide vanes of the generator speed governor can be made relatively consistent.

[0070] In order to better demonstrate the effect of the embodiment of the present disclosure, a test unit is combined with Figures 3 to 7 Provide a description.

[0071] Figure 3 The actual measured curve of the dynamic characteristics of the guide vane opening and closing of a certain unit provided by the embodiment of the present disclosure is shown; Figure 4 The measured curve of the frequency disturbance ±2 Hz of a certain unit provided by the embodiment of the present disclosure is shown; Figure 5 The measured curve of the frequency disturbance ±2 Hz after correction using the control method of the present disclosure is shown in an embodiment of the present disclosure; Figure 6 The actual measured power dynamic characteristic curve of a certain unit with a 10% guide vane disturbance provided by an embodiment of the present disclosure is shown; Figure 7 The actual measured curve of the power dynamic characteristics of the control method of the present disclosure provided by the embodiment of the present disclosure after correcting 10% of the trailing guide vane disturbance is shown.

[0072] The unit type of a certain test unit is mixed flow type, and the water supply system adopts a single unit and single pipe water diversion method. The rated active power is 350MW, the rated head is 70m, and the rated flow is 600m 3 / s.

[0073] Figure 3 The guide vane action characteristic curve obtained by measuring the switching characteristics of the test unit in a static state. Based on Figure 3 It can be known that the guide vane is fully opened for about 18 seconds, and the guide vane is fully closed for about 6 seconds.

[0074] Figure 4 The measured curve of the test unit under the condition of rated water head, speed control and frequency disturbance ± 2 Hz. Based on Figure 4 It can be known that the frequency overshoot in the guide vane opening direction is 5.5%, and the frequency overshoot in the guide vane closing direction is 0%.

[0075] Figure 5 The measured curve of the test unit under the condition of rated water head, speed control and frequency disturbance ± 2 Hz after the control method of the present disclosure. Based on Figure 5 It can be known that the frequency overshoot in the guide vane opening direction is 0%, and the frequency overshoot in the guide vane closing direction is 0%.

[0076] Figure 6 The measured curve of the test unit under the condition of rated water head, power control and frequency disturbance ± 0.25 Hz. Based on Figure 6 It can be known that the guide vane opening degree changes by ± 10%, the active power of the measured unit changes by ± 46 MW, the maximum reverse regulation power is 6.3 MW, and the minimum reverse regulation power is 4.3 MW.

[0077] Figure 7 The measured curve of the test unit under the condition of rated water head, power control and frequency disturbance ± 0.25 Hz by using the control method of the present disclosure. Based on Figure 7 It can be known that the guide vane opening degree changes by ± 10%, the active power of the measured unit changes by ± 46 MW, the maximum reverse regulation power is 4.3 MW, and the minimum reverse regulation power is 4.3 MW.

[0078] In the control method for the guide vane dynamic characteristic of the hydraulic turbine governor according to the embodiments of the present disclosure, the hydraulic turbine system comprises a generator governor, a PID regulator, a control parameter generation device and a control parameter acquisition device, the control parameter acquisition device is configured to acquire an actual value of a control parameter of the generator governor, the control parameter generation device is configured to output a target value of the control parameter, and the PID regulator is configured to output a dynamic characteristic adjustment parameter based on the target value of the control parameter and the actual value of the control parameter. The control method comprises the following steps: acquiring the target value of the control parameter and the actual value of the control parameter in real time, obtaining a control deviation value based on the target value of the control parameter and the actual value of the control parameter, the actual value of the control parameter being consistent with the target value of the control parameter in terms of parameter type, and the parameter type of the target value of the control parameter being power or guide vane opening degree; performing guide vane opening and closing state judgment based on the target value of the control parameter and the control deviation value to output a judgment result, the judgment result comprising a first signal indicating an increasing opening and closing trend and a second signal indicating no increasing opening and closing trend; if the judgment result is the first signal, acquiring the guide vane opening degree in real time, correcting the dynamic characteristic adjustment parameter by using a correction algorithm based on the guide vane opening degree, outputting a dynamic characteristic adjustment parameter correction value, taking the dynamic characteristic adjustment parameter correction value as a target parameter, and controlling the opening and closing of the guide vane of the generator governor based on the target parameter. In this case, the control deviation value is obtained based on the target value of the control parameter and the actual value of the control parameter, the guide vane opening and closing state judgment is performed based on the target value of the control parameter and the control deviation value to output the judgment result, for the increasing opening and closing trend, the dynamic characteristic adjustment parameter is corrected by using the correction algorithm to output the dynamic characteristic adjustment parameter correction value, and then the opening and closing of the guide vane of the generator governor is controlled by using the dynamic characteristic adjustment parameter correction value. Compared with the prior art of directly using the dynamic characteristic adjustment parameter output by the PID regulator to control the opening and closing of the guide vane of the generator governor, the problem that the traditional PID regulator is difficult to adapt to the control of a nonlinear system due to time-invariant characteristics is overcome, and the problem of poor speed and power regulation quality caused by the guide vane opening and closing dynamic characteristic is solved.

[0079] The control method of the embodiment of the present disclosure is a control method for improving the dynamic characteristics of the guide vane of the hydro-turbine governor. Compared with the prior art, the control method of the embodiment of the present disclosure further has the following beneficial technical effects: the control method for improving the dynamic characteristics of the guide vane of the hydro-turbine governor provided by the embodiment of the present disclosure fills a gap; the dynamic variable structure correction is adopted on the basis of the traditional control scheme, thereby overcoming the problem that the traditional PID controller (also referred to as a PID regulator) is difficult to adapt to the control of a nonlinear system due to time-invariant characteristics; the control method of the present disclosure preferably solves the strong nonlinearity in the opening and closing process caused by the inherent characteristics of the hydro-turbine guide vane actuator, thereby effectively improving the problem of poor control index of the unit frequency and power; the control method of the present disclosure is proved in actual engineering verification to have obvious effects in improving the dynamic control index of the guide vane, improving the frequency control index of the unit, and improving the stability of the unit.

[0080] The following is an embodiment of the system of the present disclosure, which can be used to execute the method embodiments of the present disclosure. For details not disclosed in the system embodiments of the present disclosure, please refer to the method embodiments of the present disclosure.

[0081] Please refer to Figure 8 , Figure 8 A block diagram of a control system for the dynamic characteristics of the guide vane of the hydro-turbine governor provided by the embodiment of the present disclosure is shown. The control system for the dynamic characteristics of the guide vane of the hydro-turbine governor can be realized by software, hardware, or a combination of both to become all or part of the system.

[0082] In the present disclosure, the hydro-turbine system includes a generator governor, a PID regulator, a control parameter generation device, and a control parameter acquisition device. The control parameter acquisition device is used to acquire the actual value of the control parameter of the generator governor, and the control parameter generation device is used to output the target value of the control parameter. The PID regulator is used to output the dynamic characteristic adjustment parameter based on the target value of the control parameter and the actual value of the control parameter.

[0083] The control system 10 for the dynamic characteristics of the guide vane of the hydro-turbine governor includes a calculation module 11, an opening and closing state judgment module 12, a correction selection module 13, and a control module 14, wherein:

[0084] The calculation module 11 is used to acquire the target value of the control parameter and the actual value of the control parameter in real time, obtain the control deviation value based on the target value of the control parameter and the actual value of the control parameter, and the parameter type of the actual value of the control parameter is consistent with the parameter type of the target value of the control parameter. The parameter type of the target value of the control parameter is power or guide vane opening degree;

[0085] The opening and closing state judgment module 12 is used to judge the opening and closing state of the guide vane based on the target value of the control parameter and the control deviation value to output a judgment result. The judgment result includes a first signal indicating an increasing opening and closing trend and a second signal indicating no increasing opening and closing trend.

[0086] The correction selection module 13 is configured to, if the judgment result is the first signal, acquire the guide vane opening degree in real time, correct the dynamic characteristic adjustment parameter based on the guide vane opening degree, output a dynamic characteristic adjustment parameter correction value, and take the dynamic characteristic adjustment parameter correction value as the target parameter; if the judgment result is the second signal, take the dynamic characteristic adjustment parameter as the target parameter.

[0087] The control module 14 is configured to control the opening and closing of the guide vane of the generator governor based on the target parameter.

[0088] Optionally, the opening and closing state judgment module 12 is configured to monitor whether the target value of the control parameter is updated, if yes, perform the opening and closing state judgment of the guide vane based on the difference between the new target value of the control parameter and the target value of the control parameter before the update, and if not, obtain the n-th derivative of the deviation based on the control deviation value, n is a non-zero natural number, and perform the opening and closing state judgment of the guide vane based on the control deviation value and the n-th derivative of the deviation.

[0089] Optionally, the correction algorithm is a variable-order inertia correction algorithm.

[0090] Optionally, the correction selection module 13 is specifically configured to calculate the guide vane opening rate and the guide vane closing rate based on the guide vane opening degree, obtain an error coefficient based on the guide vane opening rate and the guide vane closing rate, correct the dynamic characteristic adjustment parameter by using the correction algorithm if the error coefficient is less than or equal to a set error threshold, and optimize the correction parameter of the correction algorithm if the error coefficient is greater than the set error threshold, and then correct the dynamic characteristic adjustment parameter by using the corrected correction algorithm.

[0091] It should be explained that, when the control system of the guide vane dynamic characteristic of the hydraulic turbine governor provided in the above embodiment executes the control method of the guide vane dynamic characteristic of the hydraulic turbine governor, only the division of the above functional modules is taken as an example for illustration, and in actual application, the above functions can be distributed to be completed by different functional modules according to needs, that is, the internal structure of the control device of the guide vane dynamic characteristic of the hydraulic turbine governor is divided into different functional modules to complete all or part of the above functions. In addition, the control system of the guide vane dynamic characteristic of the hydraulic turbine governor provided in the above embodiment and the control method of the guide vane dynamic characteristic of the hydraulic turbine governor belong to the same concept, and the implementation process is detailed in the method embodiment, which will not be described here.

[0092] The serial numbers of the above embodiments of the present disclosure are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0093] In the control system for the guide vane dynamic characteristic of the hydraulic turbine governor according to the embodiments of the present disclosure, the calculation module is configured to obtain a control parameter target value and a control parameter actual value in real time, obtain a control deviation value based on the control parameter target value and the control parameter actual value, the control parameter actual value being of the same type as the control parameter target value, and the type of the control parameter target value being power or guide vane opening degree; the on-off state judgment module is configured to judge the on-off state of the guide vane based on the control parameter target value and the control deviation value to output a judgment result, the judgment result including a first signal indicating an increasing on-off trend and a second signal indicating no increasing on-off trend; the correction selection module is configured to, if the judgment result is the first signal, obtain the guide vane opening degree in real time, correct the dynamic characteristic adjustment parameter based on the guide vane opening degree by using a correction algorithm to output a dynamic characteristic adjustment parameter correction value, and take the dynamic characteristic adjustment parameter correction value as a target parameter; and if the judgment result is the second signal, take the dynamic characteristic adjustment parameter as the target parameter; and the control module is configured to control the on-off of the guide vane of the generator governor based on the target parameter. In this case, the control deviation value is obtained based on the control parameter target value and the control parameter actual value, the on-off state of the guide vane is judged based on the control parameter target value and the control deviation value to output a judgment result, for the increasing on-off trend, the dynamic characteristic adjustment parameter is corrected by using a correction algorithm to output a dynamic characteristic adjustment parameter correction value, and then the on-off of the guide vane of the generator governor is controlled by using the dynamic characteristic adjustment parameter correction value. Compared with the prior art of directly using the dynamic characteristic adjustment parameter output by the PID regulator to control the on-off of the guide vane of the generator governor, the problem that the traditional PID regulator is difficult to adapt to the control of a nonlinear system due to the time-invariant characteristic is overcome, and the problem of poor speed and power regulation quality caused by the guide vane opening and closing dynamic characteristic is solved.

[0094] According to the embodiments of the present disclosure, the present disclosure further provides a control device for the guide vane dynamic characteristic of a hydraulic turbine governor, a readable storage medium, and a computer program product.

[0095] Figure 9 is a block diagram of a control device for the guide vane dynamic characteristic of a hydraulic turbine governor for implementing the control method for the guide vane dynamic characteristic of a hydraulic turbine governor according to the embodiments of the present disclosure. The control device for the guide vane dynamic characteristic of a hydraulic turbine governor is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The control device for the guide vane dynamic characteristic of a hydraulic turbine governor can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable electronic devices, and other similar computing devices. The components shown in the present disclosure, the connections and relationships between the components, and the functions of the components are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed in the present disclosure.

[0096] like Figure 9 As shown, a device 20 for controlling the dynamic characteristics of guide vanes of a turbine governor includes a computing unit 21, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 22 or a computer program loaded from a storage unit 28 into a random access memory (RAM) 23. RAM 23 may also store various programs and data required for the operation of the device 20 for controlling the dynamic characteristics of guide vanes of a turbine governor. The computing unit 21, ROM 22, and RAM 23 are interconnected via a bus 24. An input / output (I / O) interface 25 is also connected to the bus 24.

[0097] Multiple components in the device 20 for controlling the dynamic characteristics of the guide vanes of a turbine governor are connected to an I / O interface 25, including: an input unit 26, such as a keyboard, a mouse, etc.; an output unit 27, such as various types of displays, speakers, etc.; a storage unit 28, such as a magnetic disk, an optical disk, etc., which is communicatively connected to the computing unit 21; and a communication unit 29, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 29 allows the device 20 for controlling the dynamic characteristics of the guide vanes of a turbine governor to exchange information / data with other devices for controlling the dynamic characteristics of the guide vanes of a turbine governor via a computer network such as the Internet and / or various telecommunication networks.

[0098] The computing unit 21 can be various general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the computing unit 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 21 performs the various methods and processes described above, such as executing a method for controlling the dynamic characteristics of the guide vanes of a turbine governor. For example, in some embodiments, the method for controlling the dynamic characteristics of the guide vanes of a turbine governor can be implemented as a computer software program that is tangibly contained in a machine-readable medium, such as a storage unit 28. In some embodiments, part or all of the computer program can be loaded and / or installed on the control device 20 for the dynamic characteristics of the guide vanes of a turbine governor via the ROM 22 and / or the communication unit 29. When the computer program is loaded into the RAM 23 and executed by the computing unit 21, one or more steps of the method for controlling the dynamic characteristics of the guide vanes of a turbine governor described above can be performed. Alternatively, in other embodiments, the computing unit 21 may be configured in any other appropriate manner (for example, by means of firmware) to execute the method for controlling the dynamic characteristics of the guide vanes of the turbine governor.

[0099] Various implementations of the systems and techniques described above in the disclosure can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a special-purpose computer chip, a system on a chip (SOC), a computer having a kernel, a loadable programmable logic electronic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0100] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a remote machine or a server.

[0101] In the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or a control device of the guide vane dynamic characteristics of the hydro-turbine governor. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or electronic device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium can include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0102] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0103] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0104] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server is generally established by computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server can also be a server of a distributed system, or a server combined with a blockchain.

[0105] It should be understood that various forms of flow shown above can be used with reordering, adding or deleting steps. For example, each step recited in the present disclosure can be executed in parallel, in sequence, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

[0106] The above detailed description does not limit the scope of the disclosure. Various modifications, combinations, sub-combinations and alternatives can be made to the detailed description. Any modification, equivalent replacement and improvement etc. made within the spirit and principle of the disclosure shall be included in the scope of the disclosure.

Claims

1. A method for controlling the dynamic characteristics of guide vanes of a turbine governor, characterized in that: The hydroturbine system includes a generator speed governor, a PID regulator, a control parameter generating device, and a control parameter collecting device. The control parameter collecting device is used to collect actual values ​​of control parameters of the generator speed governor. The control parameter generating device is used to output target values ​​of control parameters. The PID regulator is used to output dynamic characteristic adjustment parameters based on the target values ​​of control parameters and the actual values ​​of control parameters. The control method includes: acquiring the control parameter target value and the control parameter actual value in real time, and obtaining a control deviation value based on the control parameter target value and the control parameter actual value, wherein the control parameter actual value and the control parameter target value have the same parameter type, and the parameter type of the control parameter target value is power or guide vane opening; performing an opening / closing state judgment of the guide vane based on the control parameter target value and the control deviation value to output a judgment result, the judgment result including a first signal indicating an increasing opening / closing trend and a second signal indicating no increasing opening / closing trend; If the judgment result is the first signal, the guide vane opening is acquired in real time, and based on the guide vane opening, a correction algorithm is used to correct the dynamic characteristic adjustment parameter to output a correction value of the dynamic characteristic adjustment parameter, and the correction value of the dynamic characteristic adjustment parameter is used as a target parameter; if the judgment result is the second signal, the dynamic characteristic adjustment parameter is used as a target parameter; The guide vanes of the generator speed governor are controlled to open and close based on the target parameter.

2. The method for controlling the dynamic characteristics of the guide vanes of a turbine governor according to claim 1, wherein: The judging the opening and closing state of the guide vanes based on the control parameter target value and the control deviation value to output a judgment result includes: Monitor whether the control parameter target value is updated. If so, determine the opening and closing status of the guide vanes based on the difference between the new control parameter target value and the control parameter target value before the update.

3. The method for controlling the dynamic characteristics of the guide vanes of a turbine governor according to claim 2, wherein: The judging the opening and closing state of the guide vanes based on the control parameter target value and the control deviation value to output a judgment result further includes: If not, an n-order derivative of the deviation is obtained based on the control deviation value, where n is a non-zero natural number, and the opening and closing states of the guide vanes are judged based on the control deviation value and the n-order derivative of the deviation.

4. The method for controlling the dynamic characteristics of the guide vanes of a turbine governor according to claim 1, wherein: The correction algorithm is a variable order inertia correction algorithm.

5. The method for controlling the dynamic characteristics of the guide vanes of a turbine governor according to claim 4, wherein: The method of correcting the dynamic characteristic adjustment parameter based on the guide vane opening by using a correction algorithm and outputting a correction value of the dynamic characteristic adjustment parameter includes: Calculating a guide vane opening rate and a guide vane closing rate based on the guide vane opening; obtaining an error coefficient based on the guide vane opening rate and the guide vane closing rate; If the error coefficient is less than or equal to the set error threshold, the dynamic characteristic adjustment parameter is corrected using the correction algorithm; If the error coefficient is greater than the set error threshold, the correction parameters of the correction algorithm are optimized, and then the dynamic characteristic adjustment parameters are corrected using the corrected correction algorithm.

6. A control system for the dynamic characteristics of the guide vanes of a turbine governor, characterized in that: The hydroturbine system includes a generator speed governor, a PID regulator, a control parameter generating device, and a control parameter collecting device. The control parameter collecting device is used to collect the actual value of the control parameter of the generator speed governor. The control parameter generating device is used to output the target value of the control parameter. The PID regulator is used to output the dynamic characteristic adjustment parameter based on the target value of the control parameter and the actual value of the control parameter. The control system includes: a calculation module, configured to obtain the control parameter target value and the control parameter actual value in real time, and obtain a control deviation value based on the control parameter target value and the control parameter actual value, wherein the control parameter actual value and the control parameter target value have the same parameter type, and the control parameter target value has the same parameter type as power or guide vane opening; an opening and closing state judgment module, configured to judge the opening and closing state of the guide vanes based on the control parameter target value and the control deviation value to output a judgment result, wherein the judgment result includes a first signal indicating an increasing opening and closing trend and a second signal indicating no increasing opening and closing trend; a correction selection module, configured to, if the judgment result is the first signal, obtain the guide vane opening in real time, and based on the guide vane opening, use a correction algorithm to correct the dynamic characteristic adjustment parameter to output a corrected dynamic characteristic adjustment parameter value, and use the corrected dynamic characteristic adjustment parameter value as a target parameter; and, if the judgment result is the second signal, use the dynamic characteristic adjustment parameter as the target parameter; A control module is used to control the opening and closing of the guide vanes of the generator speed regulator based on the target parameter.

7. The control system for the dynamic characteristics of the guide vanes of the turbine governor according to claim 6, characterized in that: The opening and closing state judgment module is used to: Monitor whether the control parameter target value is updated. If so, judge the opening and closing status of the guide vane based on the difference between the new control parameter target value and the control parameter target value before the update; if not updated, obtain the deviation n-order derivative based on the control deviation value, where n is a non-zero natural number, and judge the opening and closing status of the guide vane based on the control deviation value and the deviation n-order derivative.

8. The control system for the dynamic characteristics of the guide vanes of the turbine governor according to claim 6, characterized in that: The correction algorithm is a variable order inertia correction algorithm.

9. The control system for the dynamic characteristics of the guide vanes of the turbine governor according to claim 8, characterized in that: The correction selection module is specifically used to: The guide vane opening rate and the guide vane closing rate are calculated based on the guide vane opening; an error coefficient is obtained based on the guide vane opening rate and the guide vane closing rate; if the error coefficient is less than or equal to a set error threshold, the dynamic characteristic adjustment parameter is corrected using the correction algorithm; if the error coefficient is greater than the set error threshold, the correction parameter of the correction algorithm is optimized, and then the dynamic characteristic adjustment parameter is corrected using the corrected correction algorithm.

10. A device for controlling the dynamic characteristics of guide vanes of a turbine governor, characterized in that: include: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for controlling the dynamic characteristics of the guide vanes of the turbine governor according to any one of claims 1 to 5.

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