Hydraulic turbine speed regulation method, device, system and medium based on generalized inverse operation

Abstract

The application discloses a water turbine speed regulation method, device, system and medium based on generalized inverse operation. Applied to a water turbine speed regulation system, the method comprises the following steps: obtaining a target rotating speed and a feedback rotating speed of a water turbine, wherein the feedback rotating speed is a rotating speed difference value between an actual output rotating speed of a water turbine component and a nominal output rotating speed output by a nominal model; performing generalized inverse operation on the target rotating speed and the feedback rotating speed by using a generalized inverse operator to obtain a control signal for controlling the water turbine component; and sending the control signal to the water turbine component to adjust the actual output rotating speed of the water turbine component. The method provided in the application can improve the robustness and stability of an inner model control system, reduce the delay of the inner model control system, and improve the accuracy of water turbine component speed regulation.

Description

Technical Field

[0001] The present application relates to the field of control, and in particular to a method, device, system and medium for regulating the speed of a turbine based on generalized inverse operation. Background Art

[0002] Internal model control (IMC) is a control strategy that uses a mathematical model of the process to design a controller. In IMC, the inversion operation is a critical and complex task, enabling the controller to effectively reverse the system's dynamic characteristics to achieve the desired performance. IMC can be applied to turbine speed regulation systems to ensure that the turbine's output speed reaches the target.

[0003] Traditional internal model control methods typically rely on a mathematical model of the system. This approach requires a precise system transfer function, which reduces the robustness and stability of the internal model control system, and thus the accuracy of turbine speed regulation. Furthermore, this method consumes a large amount of computing resources, increases latency in the internal model control system, reduces its performance, and further reduces the accuracy of turbine speed regulation. Summary of the Invention

[0004] The embodiments of the present application provide a turbine speed control method, device, system and medium based on generalized inverse operation, which can improve the robustness and stability of the internal model control system, reduce the delay of the internal model control system, and improve the accuracy of turbine component speed control.

[0005] In a first aspect, an embodiment of the present application provides a turbine speed control method based on generalized inverse operation, which is applied to a turbine speed control system, wherein the turbine speed control system includes at least an internal model control module, a turbine component, and a nominal model corresponding to the turbine component. The output end of the internal model control module is connected to the turbine component and the nominal model corresponding to the turbine component. The internal model control module includes a generalized inverse operator. The method includes: obtaining a target speed and a feedback speed of the turbine, wherein the feedback speed is the speed difference between the actual output speed of the turbine component and the nominal output speed output by the nominal model; performing a generalized inverse operation on the target speed and the feedback speed through the generalized inverse operator to obtain a control signal for controlling the turbine component; and sending the control signal to the turbine component to adjust the actual output speed of the turbine component.

[0006] In the second aspect, an embodiment of the present application provides a turbine speed control device based on generalized inverse operation, which is applied to a turbine speed control system. The turbine speed control system at least includes an internal model control module, a turbine component and a nominal model corresponding to the turbine component. The output end of the internal model control module is connected to the turbine component and the nominal model corresponding to the turbine component. The internal model control module includes a generalized inverse operator. The device includes: a speed acquisition module, which is used to obtain the target speed and feedback speed of the turbine, wherein the feedback speed is the speed difference between the actual output speed of the turbine component and the nominal output speed output by the nominal model; an operation module, which is used to perform generalized inverse operation on the target speed and feedback speed through the generalized inverse operator to obtain a control signal for controlling the turbine component; and a speed control module, which is used to send the control signal to the turbine component to adjust the actual output speed of the turbine component.

[0007] In a third aspect, an embodiment of the present application provides a turbine speed control system based on generalized inverse operation, comprising: a turbine assembly, an internal model controller; the output end of the internal model controller is connected to the input end of the turbine assembly, and the output end of the turbine assembly is connected to the input end of the internal model controller; the internal model controller processes the actual output speed of the turbine assembly by executing the turbine speed control method based on generalized inverse operation as described in the first aspect, generates a control signal, and sends the control signal to the turbine assembly to adjust the actual output speed of the turbine assembly.

[0008] In a fourth aspect, an embodiment of the present application provides an electronic device comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the turbine speed control method based on generalized inverse operation as described in the first aspect is implemented.

[0009] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the turbine speed control method based on generalized inverse operation as described in the first aspect is implemented.

[0010] In a sixth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the turbine speed control method based on generalized inverse operation as described in the first aspect.

[0011] As can be seen from the above, in the embodiment of the present application, a generalized inverse operator is used to implement the speed regulation of the turbine assembly, and the inverse modeling of the internal model control system is realized, so that the process of the internal model control system regulating the speed of the turbine assembly no longer depends on the precise transfer function of the internal model control system, thereby improving the robustness and stability of the internal model control system, and thus improving the accuracy of the speed regulation of the turbine assembly. In addition, in the embodiment of the present application, the output end of the internal model control module is connected to the turbine assembly and the nominal model corresponding to the turbine assembly, and the feedback speed formed by the speed difference between the actual output speed of the turbine assembly and the nominal output speed output by the nominal model is used as the input of the generalized inverse operator in the internal model control module. The internal model control module forms a closed loop with the turbine assembly and the nominal model corresponding to the turbine assembly, reducing the delay of the internal model control system and thus improving the accuracy of the speed regulation of the turbine assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0013] Figure 1 1 is a flow chart of a method for regulating a hydraulic turbine speed based on generalized inverse operation provided by one embodiment of the present application;

[0014] Figure 2 This is a structural diagram of a water turbine speed control system provided by an embodiment of the present application;

[0015] Figure 3 This is a nominal model provided by an embodiment of the present application Schematic diagram of the structure;

[0016] Figure 4 is a schematic diagram of a turbine speed control system provided by an embodiment of the present application;

[0017] Figure 5 This is a design flow chart of a turbine speed control system provided by one embodiment of the present application;

[0018] Figure 6 This is a schematic diagram comparing the speed regulation effects of a turbine speed regulation system provided by one embodiment of the present application;

[0019] Figure 7 1 is a structural diagram of a hydraulic turbine speed regulating device based on generalized inverse operation provided by another embodiment of the present application;

[0020] Figure 8 This is a structural diagram of an electronic device provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0021] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0022] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0023] For ease of understanding, before explaining the solution provided in this application, the background of the solution provided in this application is first explained.

[0024] In internal model control (IMC), inversion is a critical and complex task, aimed at enabling the controller to effectively invert the system's dynamic characteristics to achieve the desired performance. Traditional IMC methods typically rely on a mathematical model of the system, which includes mathematical descriptions such as the system's transfer function. Most IMC methods rely on mathematical inversion methods, which require a precise system transfer function and face a series of challenges in practical applications. First, the mathematical model of the system is difficult to accurately obtain, especially for complex and nonlinear systems. Even when the system structure is known, traditional mathematical model-based inversion methods often struggle to maintain stability and robustness due to factors such as external disturbances and model uncertainty. Second, mathematical inversion methods typically consume a large amount of computing resources, which can cause delays and performance degradation in real-time control systems. Furthermore, changes in the mathematical model can lead to performance degradation in the controller, making traditional methods difficult to adapt to changing environments.

[0025] In order to solve the problems of the prior art, the embodiments of the present application provide a method, device, system and medium for regulating the speed of a turbine based on a generalized inverse operation. The method proposed in the embodiments of the present application improves the internal model control module through a generalized inverse operator. Unlike the traditional inversion method based on a mathematical model, this method utilizes the generalized inverse operator of the controller to realize the inverse modeling of the system and no longer relies on the precise transfer function of the system. The method aims to improve the robustness and performance of the internal model control system, and is particularly suitable for practical engineering applications that are difficult to model or where the system model changes frequently, such as turbine speed governors. By adopting the generalized inverse operator of the controller, it is possible to adapt to the dynamic characteristics of the system more flexibly, improve the stability and robustness of the control system, and thus achieve better performance in practical applications.

[0026] The method proposed in this application can be applied to a turbine speed control system, wherein the turbine speed control system includes at least a turbine assembly and an internal model controller. The turbine assembly may include but is not limited to a relay, a pressure pipe, and a generator load. The output end of the internal model controller is connected to the input end of the turbine assembly, and the output end of the turbine assembly is connected to the input end of the internal model controller. The internal model controller processes the actual output speed of the turbine assembly through the turbine speed control method based on generalized inverse operation proposed in the embodiment of the application, generates a control signal, and sends the control signal to the turbine assembly to adjust the actual output speed of the turbine assembly. In the embodiment of the application, the internal model controller includes an internal model control module and a nominal model corresponding to the turbine assembly. The output end of the internal model control module is connected to the turbine assembly and the nominal model corresponding to the turbine assembly. The internal model control module includes a generalized inverse operator.

[0027] The following first introduces the turbine speed control method based on generalized inverse operation provided in the embodiment of the present application.

[0028] Figure 1 FIG. 1 shows a flow chart of a method for regulating a turbine speed based on generalized inverse operation according to an embodiment of the present application. Figure 1 As shown, the method includes the following steps:

[0029] Step S101: obtaining the target speed and feedback speed of the turbine.

[0030] In step S101 , the target speed of the turbine may be a desired turbine output speed input by a user, or a desired turbine output speed by a turbine speed control system according to the current working condition of the turbine.

[0031] In step S101, the feedback speed is the speed difference between the actual output speed of the turbine assembly and the nominal output speed output by the nominal model. The nominal model is a mathematical model constructed based on the parameters corresponding to the turbine assembly. In this embodiment of the present application, the turbine assembly includes a penstock, a generator load, and a servomotor. Accordingly, the nominal model corresponding to the turbine assembly includes a penstock model, a generator load model, and a servomotor model.

[0032] It should be noted that in the embodiment of the present application, the output end of the internal model control module is connected to the nominal model corresponding to the turbine assembly, that is, the output of the internal model control module is the input of the nominal model corresponding to the turbine assembly. At the same time, the difference between the actual output speed of the turbine assembly and the nominal output speed output by the nominal model is used as the input of the internal model control module. It can be seen that the internal model control module, the turbine assembly and the nominal model corresponding to the turbine assembly form a closed loop, which reduces the delay of the internal model control system and thereby improves the accuracy of the speed regulation of the turbine assembly.

[0033] Step S102 : performing a generalized inverse operation on the target speed and the feedback speed by a generalized inverse operator to obtain a control signal for controlling the turbine assembly.

[0034] In step S102, a generalized inverse operator is deployed in the internal model control module. Unlike traditional inversion methods based on mathematical models, the generalized inverse operator is used to implement inverse modeling of the system, thereby eliminating the need to rely on the accuracy of the system's transfer function. This can improve the robustness and performance of the internal model control system and is suitable for practical engineering applications where modeling is difficult or the system model changes frequently.

[0035] Step S103: sending a control signal to the turbine assembly to adjust the actual output speed of the turbine assembly.

[0036] In step S103, the output speed of the turbine assembly is adjusted by the control signal so that the actual output speed of the turbine assembly is closer to the target speed. In one example, the method proposed in the embodiment of the present application can be performed multiple times until the difference between the actual output speed of the turbine assembly and the target speed is less than a preset difference.

[0037] It should be noted that after the actual output speed of the turbine assembly, the actual output speed of the turbine assembly can also be processed, for example, the difference between it and the nominal output speed output by the nominal model is calculated, and the processing result is input into the generalized inverse operator to achieve closed-loop control.

[0038] Based on the scheme defined in steps S101 to S103 above, it can be seen that in the embodiment of the present application, a generalized inverse operator is used to implement the speed regulation of the turbine assembly, thereby realizing the inverse modeling of the internal model control system. This makes the process of the internal model control system regulating the speed of the turbine assembly no longer dependent on the precise transfer function of the internal model control system, thereby improving the robustness and stability of the internal model control system, and thus improving the accuracy of the speed regulation of the turbine assembly. In addition, in the embodiment of the present application, the output end of the internal model control module is connected to the turbine assembly and the nominal model corresponding to the turbine assembly. The feedback speed formed by the speed difference between the actual output speed of the turbine assembly and the nominal output speed output by the nominal model is used as the input of the generalized inverse operator in the internal model control module. The internal model control module forms a closed loop with the turbine assembly and the nominal model corresponding to the turbine assembly, reducing the delay of the internal model control system and thus improving the accuracy of the speed regulation of the turbine assembly.

[0039] Before explaining the method proposed in this application in detail, the internal model speed control system used in this application is first introduced.

[0040] In one embodiment, Figure 2 The structural diagram of the turbine speed control system is shown. Figure 2 It can be seen that the turbine speed control system includes a generalized inverse operator, an actual model G of the controlled object, and a nominal model of the controlled object. In the embodiment of the present application, the controlled object is a turbine assembly, the actual model of the controlled object is the entity of the turbine assembly, and the nominal model of the controlled object is a mathematical model constructed based on the relevant parameters of the turbine assembly. The generalized inverse operator includes: an estimation controller and a nominal model of the controlled object. The estimation controller is used to transmit control signals to the actual model and nominal model corresponding to the controlled object based on the input and virtual measured output, obtain the virtual measured output of the actual model of the controlled object and the output of the nominal model of the controlled object, calculate the difference between the two, and transmit the difference to the estimation controller of the inner loop. Figure 2 The generalized inverse operator replaces the inverse operation structure in the traditional internal model controller to obtain the inverse of the nominal model of the controlled object.

[0041] The control part of the generalized inverse operator adopts the expected dynamic PID (Proportional-Integral-Derivative) method, such as Figure 2 As shown, the transfer function of the generalized inverse operator can be expressed by formula (1):

[0042]

[0043] In formula (1), Cf is the feedforward controller, C c is a PID controller.

[0044] exist Figure 2 In the case where there is only one known nominal model of the controlled object, the nominal model is recorded as r is the input signal, y u is the desired output signal, u e is the control signal, then r, y u and u e Satisfying formulas (2) and (3):

[0045]

[0046] When the input target signal and the expected output signal y u When they are consistent, we can get formula (4):

[0047]

[0048] By transforming formula (4), we can get formula (5):

[0049]

[0050] Control signal u e is the estimated value of the inverse of the controlled object.

[0051] In formula (1) to formula (5), the transfer function from the input r of the internal model control module to the controlled output vector y is: Where C is the transfer function of the generalized inverse operator, G is the actual model of the controlled object, is the nominal model of the controlled object.

[0052] It should be noted that, in the embodiment of the present application, the nominal model of the controlled object It consists of a relay model, a pressure pipe model and a generator load model. Among them, the three nominal models can be used Figure 3 Nominal model shown That is, the output end of the relay model serves as the input end of the pressure pipe model, and the output end of the pressure pipe model serves as the output end of the generator load model.

[0053] Before using the method proposed in the embodiment of the present application to regulate the speed of a turbine assembly, a nominal model corresponding to the turbine assembly needs to be constructed.

[0054] Specifically, the servomotor reaction time corresponding to the servomotor, the pipeline parameters corresponding to the pressure pipeline, and the load parameters corresponding to the generator load are obtained; a servomotor model is constructed based on the servomotor reaction time corresponding to the servomotor; a pressure pipeline model is constructed based on the pipeline parameters corresponding to the pressure pipeline; and a generator load model is constructed based on the load parameters corresponding to the generator load. After obtaining the servomotor model, the pressure pipeline model, and the generator load model, Figure 3 The connection relationship shown is connected to the three nominal models mentioned above to obtain the nominal model corresponding to the turbine component.

[0055] For the servomotor model, a first transfer function corresponding to the servomotor may be constructed based on the servomotor reaction time corresponding to the servomotor; and the servomotor model may be constructed based on the first transfer function.

[0056] It should be noted that the servomotor model is the actuator of the turbine's speed governor. Based on the weak signal output by the internal model control module, it outputs a displacement signal with sufficient operating force to drive the turbine's water guide mechanism to adjust the output speed of the turbine assembly. The first transfer function corresponding to the servomotor model can be a first-order inertia link, which can be expressed by formula (6):

[0057]

[0058] In formula (6), T y is the relay reaction time; G a (s) is the output value of the first transfer function; s is the input variable of the first transfer function.

[0059] Relay reaction time T y It can be determined by a step experiment. From the first transfer function mentioned above, it can be seen that under a step disturbance input with an amplitude of a, the time domain response of the actuator of the turbine governor can be expressed by formula (7):

[0060]

[0061] Performing a logarithmic transformation on formula (7) yields formula (8):

[0062]

[0063] The servo reaction time T can be obtained by the slope of the straight line equation in formula (8): y The value of .

[0064] For the pressure pipe model, the pipe parameters corresponding to the pressure pipe model include at least: the pipe length of the pressure pipe, the target water flow velocity in the pressure pipe, and the turbine head.

[0065] In the process of constructing a pressure pipe model based on the pipe parameters corresponding to the pressure pipe, the product of the pipe length and the target water flow velocity is calculated to obtain a first value; the product of the turbine head and the acceleration of gravity is calculated to obtain a second value; the ratio of the first value to the second value is calculated to obtain the water flow inertia time; then, a second transfer function corresponding to the pressure pipe is constructed based on the water flow inertia time, and the pressure pipe model is constructed based on the second transfer function.

[0066] In the above embodiment, the water flow inertia time is used to characterize the time required for the water flow velocity in the pressure pipe to increase from the initial flow velocity to the target water flow velocity. When the pipe wall of the pressure pipe is rigid, the water flow inertia time can be determined by formula (9):

[0067]

[0068] In formula (9), L is the length of the pressure pipe; V0 is the target water velocity in the pressure pipe; H0 is the turbine head; g is the acceleration of gravity; T w It is the water flow inertia time, which represents the time required for the water flow velocity in the pressure pipe to increase from 0 to V0 under the action of the initial water head H0.

[0069] In the embodiment of the present application, the pressure pipe model can be a rigid water hammer model, and the lossless turbine transfer coefficient is used to obtain the turbine rigid model, the guide vane opening y to the moment m t The transfer function of is the second transfer function. The second transfer function can be expressed by formula (10):

[0070]

[0071] In formula (10), T w is the water flow inertia time; G t (s) is the output value of the second transfer function; s is the input variable of the second transfer function.

[0072] For the generator load model, the unit inertia time corresponding to the generator load can be determined based on the flywheel torque, the rated speed of the generator set, and the rated output power of the generator set; the comprehensive self-regulation coefficient of the generator set can be determined based on the self-regulation coefficient of the generator set and the turbine torque transfer coefficient; then, the third transfer function corresponding to the generator load is determined based on the unit inertia time corresponding to the generator load and the comprehensive self-regulation coefficient of the generator set, and the generator load model is constructed based on the third transfer function.

[0073] In the above embodiment, the load parameters include at least: the flywheel torque of the turbine generator set, the rated speed of the generator set, the rated output power of the generator set, the self-regulation coefficient of the generator set, and the turbine torque.

[0074] The inertia time of the unit can be expressed by formula (11):

[0075]

[0076] In formula (11), T a GD is the inertia time of the unit; 2 is the flywheel torque of the turbine generator set; n r is the rated speed of the generator set; P r is the rated output power of the generator set.

[0077] The comprehensive self-regulation coefficient of the generator set can be determined by formula (12):

[0078] e n =e g -e x (12)

[0079] In formula (12), e n is the comprehensive self-regulation coefficient of the generator set, usually taking the value as (0,2); e g is the self-regulation coefficient of the generator set; e x is the turbine torque transfer coefficient, which is used for the transfer coefficient of turbine torque to speed; e g and e x It can be determined by formulas (13) and (14):

[0080]

[0081] In formulas (13) and (14), p e is the electromagnetic power of the generator, x is the speed, and m is the turbine torque.

[0082] In the embodiment of the present application, the generator load model can be a generator model under the condition of single-machine isolated grid operation, taking into account the damping load and motor load to obtain a first-order generator load model. The transfer function of the generator load model (i.e., the third transfer function) is the transfer function from torque to speed, which can be determined by formula (15):

[0083]

[0084] In formula (15), G g (s) is the output value of the third transfer function; s is the input variable of the third transfer function; T a is the unit inertia time corresponding to the generator load; e n is the comprehensive self-regulation coefficient of the generator set.

[0085] After obtaining the above three nominal models, according to Figure 3 Connect the three nominal models in the connection method shown, and you can get

[0086] like Figure 1 As shown, in an embodiment of the present application, the generalized inverse operator includes an estimation controller and a nominal model corresponding to the turbine component, the estimation controller includes a proportional-integral-differential PID controller and a feedforward controller, the output end of the feedforward controller is connected to the input end of the nominal model, and the output end of the nominal model serves as the input end of the PID controller.

[0087] During the speed regulation process of the turbine assembly, the generalized inverse operator can obtain a first speed output by the nominal model; perform PID control on the first speed through a PID controller to obtain a second speed; calculate the speed difference between the target speed and the feedback speed; perform feedforward control on the speed difference through a feedforward controller to obtain a third speed; calculate the difference between the second speed and the third speed to obtain a fourth speed for compensating the output speed of the turbine assembly; and generate a control signal based on the fourth speed.

[0088] In the above embodiment, the transfer function of the estimated controller can be determined by formula (16):

[0089]

[0090] In formula (16), C is the output value of the estimated controller transfer function, C f is the transfer function of the feedforward controller, C c is the transfer function of the PID controller, K p is the coefficient of the proportional unit of the PID controller, K i K is the coefficient of the integral unit of the PID controller. d is the coefficient of the differential unit of the PID controller, and b is the disturbance coefficient.

[0091] It should be noted that, in the embodiment of the present application, the generalized inverse operator is composed of the estimated controller C and the nominal model of the controlled object. A closed-loop system such as Figure 2 The parameters of the estimated controller are adjusted so that the generalized inverse operator outputs y u Approximate the input u as quickly as possible. In principle, the estimation controller C can be any controller. In the embodiment of the present application, the estimation controller is a controller based on the expected dynamic proportional integral derivative.

[0092] In formula (16), K p , K i , K d, b are parameters to be adjusted, where K d for the reason The matrix composed of Where i=1,2,…,i=m-1, m is the order of the controller system. K p , K i , K d , b are determined by formulas (17), (18), (19) and (20) respectively:

[0093]

[0094] In formulas (17)-(20), l and k are mathematical coefficients and have no physical meaning. i It can be determined by formula (21):

[0095]

[0096] In formula (21), ω e is the expected bandwidth of the generalized inverse operator. e It can be determined by formula (22):

[0097]

[0098] From formula (22), we can see that the generalized inverse operator only has three parameters that need to be adjusted ω e ,γ,l. In practical applications, the above three parameters can be adjusted in the following ways:

[0099] ω e Set as the cutoff frequency of the turbine component and select γ according to the control system requirements; then, select a sufficiently large l. If l does not meet the control requirements, reduce l until the system is critically stable; if there is no l that meets the control requirements, increase ω e Repeat the above operations until the control requirements are met.

[0100] After determining the generalized inverse operator, the transfer function corresponding to each nominal model is substituted into the nominal model. Substitute the transfer function of the PID controller and the transfer function of the feedforward controller into C c and C f In, you can get Figure 4 The turbine speed control system shown.

[0101] In getting Figure 4 After the turbine speed control system is installed, the output speed of the turbine assembly can be regulated.

[0102] This concludes the introduction to the turbine speed control method based on generalized inverse operation proposed in the embodiments of the present application.

[0103] Figure 5 The design flow chart of the turbine speed control system is shown. Figure 5 As shown, the process mainly includes the following steps:

[0104] Step S501, determining model parameters of a nominal model of a turbine assembly;

[0105] Step S502, adjusting the parameters of the generalized inverse operator according to the nominal model of the turbine assembly;

[0106] Step S503: Connect the input end of the tuned generalized inverse operator to the output interface of the turbine assembly, and connect the output end of the tuned generalized inverse operator to the input interface of the turbine assembly to complete the structural configuration of the turbine speed control system.

[0107] Step S504: According to the configured input and output of the turbine speed control system, the parameters of the generalized inverse operator are adjusted to obtain the adjusted turbine speed control system.

[0108] Figure 6 The figure shows the speed regulation effect comparison of the turbine speed regulation system in the present application and the related art. Figure 6 In the figure, GIS-IMC represents the speed regulator based on the improved internal model control algorithm of the generalized inverse operator proposed in this application, IMC represents the speed regulator designed by the traditional internal model control method, and PID represents the traditional PID hydraulic speed regulator. Figure 6 It can be seen that in terms of tracking and anti-interference performance, the improved internal model control algorithm based on the generalized inverse operator has a short adjustment time, small overshoot and small inverse response amplitude.

[0109] The method proposed in this application can solve the problem of difficulty in inverse calculation of existing internal model controllers and can be better applied to water turbine speed control systems.

[0110] This application addresses the difficulty in solving the inverse operation part of the traditional internal model controller, applies the idea of ​​closed-loop control, and adopts the method of generalized inverse operator to replace the inversion module of the traditional internal model controller, instead of relying on the precise transfer function of the system, thereby improving the robustness and performance of the internal model control system. This application also designs a generalized inverse operator based on the basic idea of ​​expected dynamic parameterization, configures the closed-loop characteristics of the generalized inverse operator, and finally adjusts the closed-loop dynamics to the expected dynamics. The characteristics of the generalized inverse operator on this expected dynamic are easier to analyze, and this method based on expected dynamic parameterization is easy to adjust and has a clear physical meaning.

[0111] In addition, in the present application, the generalized inverse operator includes an estimation controller and a nominal model module of the controlled object. The internal model control algorithm composed of the generalized inverse operator includes the generalized inverse operator, the actual model of the controlled object and the nominal model. The generalized inverse operator replaces the controller part in the traditional internal model control, making it easier to obtain the inverse of the controlled object. The improved internal model controller has a unified structure and convenient parameter adjustment. The improved internal model control algorithm is applied to the speed control system of the turbine. Compared with the traditional PID control and the traditional internal model control, the speed control performance has a short adjustment time, a small overshoot and a small inverse response amplitude.

[0112] The embodiment of the present application further provides a turbine speed control device based on generalized inverse operation, which is applied to a turbine speed control system. The turbine speed control system at least includes an internal model control module, a turbine assembly, and a nominal model corresponding to the turbine assembly. The output end of the internal model control module is connected to the turbine assembly and the nominal model corresponding to the turbine assembly. The internal model control module includes a generalized inverse operator, such as Figure 7 As shown, the device 700 includes: a speed acquisition module 701, a calculation module 702 and a speed regulation module 703.

[0113] The speed acquisition module 701 is used to obtain the target speed and feedback speed of the turbine, wherein the feedback speed is the speed difference between the actual output speed of the turbine component and the nominal output speed output by the nominal model;

[0114] An operation module 702 is configured to perform a generalized inverse operation on the target speed and the feedback speed through a generalized inverse operator to obtain a control signal for controlling the turbine assembly;

[0115] The speed regulating module 703 is used to send a control signal to the turbine assembly to adjust the actual output speed of the turbine assembly.

[0116] In one example, a turbine assembly includes at least a servomotor, a pressure pipe, and a generator load. The nominal model corresponding to the turbine assembly includes a servomotor model, a pressure pipe model, and a generator load model. The turbine speed control device based on generalized inverse operation further includes a model construction module including a parameter acquisition module, a first construction module, a second construction module, and a third construction module. The parameter acquisition module is configured to acquire the servomotor reaction time corresponding to the servomotor, the pipe parameters corresponding to the pressure pipe, and the load parameters corresponding to the generator load. The first construction module is configured to construct the servomotor model based on the servomotor reaction time corresponding to the servomotor. The second construction module is configured to construct the pressure pipe model based on the pipe parameters corresponding to the pressure pipe. The third construction module is configured to construct the generator load model based on the load parameters corresponding to the generator load.

[0117] In one example, the first constructing module is specifically configured to construct a first transfer function corresponding to the servomotor based on a servomotor reaction time corresponding to the servomotor; and construct a servomotor model based on the first transfer function.

[0118] In one example, the first transfer function is represented by:

[0119]

[0120] Among them, T y is the relay reaction time; G a (s) is the output value of the first transfer function; s is the input variable of the first transfer function.

[0121] In one example, the pipeline parameters include at least: the pipeline length of the pressure pipeline, the target water flow rate in the pressure pipeline, and the turbine head, wherein the second construction module is specifically used to calculate the product of the pipeline length and the target water flow rate to obtain a first value; calculate the product of the turbine head and the acceleration of gravity to obtain a second value; calculate the ratio of the first value to the second value to obtain the water flow inertia time, wherein the water flow inertia time is used to characterize the time required for the water flow rate in the pressure pipeline to increase from the initial flow rate to the target water flow rate; construct a second transfer function corresponding to the pressure pipeline based on the water flow inertia time; and construct a pressure pipeline model based on the second transfer function.

[0122] In one example, the second transfer function is represented by:

[0123]

[0124] Among them, T w is the water flow inertia time; G t (s) is the output value of the second transfer function; s is the input variable of the second transfer function.

[0125] In one example, the load parameters include at least: the flywheel torque of the turbine generator set, the rated speed of the generator set, the rated output power of the generator set, the self-regulation coefficient of the generator set, and the turbine torque transfer coefficient; wherein the third construction module is specifically used to determine the unit inertia time corresponding to the generator load based on the flywheel torque, the rated speed of the generator set, and the rated output power of the generator set; determine the comprehensive self-regulation coefficient of the generator set based on the self-regulation coefficient of the generator set and the turbine torque transfer coefficient; determine the third transfer function corresponding to the generator load based on the unit inertia time corresponding to the generator load and the comprehensive self-regulation coefficient of the generator set; and construct a generator load model based on the third transfer function.

[0126] In one example, the third transfer function is represented by:

[0127]

[0128] Among them, G g (s) is the output value of the third transfer function; s is the input variable of the third transfer function; T a is the unit inertia time corresponding to the generator load; e n is the comprehensive self-regulation coefficient of the generator set; GD 2 is the flywheel torque, n r is the rated speed of the generator set, P r is the rated output power of the generator set; e n =e g -e x , e g is the self-regulation coefficient of the generator set, e x is the turbine torque transfer coefficient.

[0129] In one example, the generalized inverse operator includes an estimation controller and a nominal model corresponding to the turbine component, the estimation controller includes a proportional-integral-differential PID controller and a feedforward controller, the output end of the feedforward controller is connected to the input end of the nominal model, and the output end of the nominal model serves as the input end of the PID controller, wherein the operation module is specifically used to obtain a first speed output by the nominal model; perform PID control on the first speed through the PID controller to obtain a second speed; calculate the speed difference between the target speed and the feedback speed; perform feedforward control on the speed difference through the feedforward controller to obtain a third speed; calculate the difference between the second speed and the third speed to obtain a fourth speed for compensating the output speed of the turbine component; and generate a control signal based on the fourth speed.

[0130] In one example, the transfer function of the estimated controller is expressed as follows:

[0131]

[0132] Where C is the output value of the estimated controller transfer function, C f is the transfer function of the feedforward controller, C c is the transfer function of the PID controller,

[0133] K p is the coefficient of the proportional unit of the PID controller, K i K is the coefficient of the integral unit of the PID controller. d is the coefficient of the differential unit of the PID controller, and b is the disturbance coefficient.

[0134] The turbine speed control device based on generalized inverse operation provided in the embodiment of the present application can implement each process implemented in the aforementioned method embodiment. To avoid repetition, it will not be described here.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0136] Figure 8 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0137] The electronic device may include a processor 801 and a memory 802 storing computer program instructions.

[0138] Specifically, the processor 801 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0139] The memory 802 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 802 may include removable or non-removable (or fixed) media. Where appropriate, the memory 802 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 802 is a non-volatile solid-state memory.

[0140] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0141] The processor 801 reads and executes computer program instructions stored in the memory 802 to implement any one of the turbine speed regulation methods based on generalized inverse operation in the above embodiments.

[0142] In one example, the electronic device may further include a communication interface 803 and a bus 810. Figure 8 As shown, the processor 801, the memory 802, and the communication interface 803 are connected via a bus 810 and communicate with each other.

[0143] The communication interface 803 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0144] Bus 810 comprises hardware, software or both, couples the parts of electronic equipment to each other.For example, and not limitation, bus can comprise accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations.In suitable cases, bus 810 can comprise one or more buses.Although the present application embodiment describes and shows specific bus, the application considers any suitable bus or interconnection.

[0145] In addition, in conjunction with the turbine speed control method based on generalized inverse operations in the above-mentioned embodiments, embodiments of the present application may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when executed by a processor, the computer program instructions implement any of the turbine speed control methods based on generalized inverse operations in the above-mentioned embodiments.

[0146] In addition, in conjunction with the turbine speed control method based on generalized inverse operations in the above embodiments, embodiments of the present application may provide a computer program product for implementation. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes and implements any of the turbine speed control methods based on generalized inverse operations in the above embodiments.

[0147] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0148] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in unit, a function card or the like. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0149] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0150] The various aspects of the present disclosure are described above with reference to the flowcharts and / or block diagrams of the turbine speed control method, device, system, and medium based on generalized inverse operation according to the embodiments of the present disclosure. It should be understood that each block in the flowchart and / or block diagram, as well as the combination of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine such that these instructions, when executed by the processor of the computer or other programmable data processing device, enable the implementation of the functions / actions specified in one or more blocks of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It is also understood that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can also be implemented by dedicated hardware that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0151] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A method for regulating the speed of a hydraulic turbine based on generalized inverse operation, characterized in that: The method is applied to a turbine speed control system, wherein the turbine speed control system includes at least an internal model control module, a turbine assembly, and a nominal model corresponding to the turbine assembly, wherein an output end of the internal model control module is connected to the turbine assembly and the nominal model corresponding to the turbine assembly, and the internal model control module includes a generalized inverse operator. The method includes: Obtaining a target speed and a feedback speed of the turbine, wherein the feedback speed is a speed difference between an actual output speed of the turbine assembly and a nominal output speed output by the nominal model; Performing a generalized inverse operation on the target speed and the feedback speed by the generalized inverse operator to obtain a control signal for controlling the turbine assembly; Sending the control signal to the turbine assembly to adjust the actual output speed of the turbine assembly; The generalized inverse operator includes an estimation controller and a nominal model corresponding to the turbine component, the estimation controller includes a proportional-integral-differential PID controller and a feedforward controller, the output end of the feedforward controller is connected to the input end of the nominal model, and the output end of the nominal model serves as the input end of the PID controller, wherein the generalized inverse operator performs a generalized inverse operation on the target speed and the feedback speed to obtain a control signal for controlling the turbine component, including: obtaining a first speed output by the nominal model; performing PID control on the first speed by the PID controller to obtain a second speed; calculating the speed difference between the target speed and the feedback speed; performing feedforward control on the speed difference by the feedforward controller to obtain a third speed; calculating the difference between the second speed and the third speed to obtain a fourth speed for compensating the output speed of the turbine component; and generating the control signal based on the fourth speed.

2. The method according to claim 1, characterized in that The turbine assembly includes at least a servomotor, a pressure pipe, and a generator load. The nominal model corresponding to the turbine assembly includes a servomotor model, a pressure pipe model, and a generator load model. Before obtaining the target speed and feedback speed of the turbine, the method further includes: Obtaining a servo reaction time corresponding to the servo, a pipeline parameter corresponding to the pressure pipeline, and a load parameter corresponding to the generator load; constructing the servomotor model based on the servomotor reaction time corresponding to the servomotor; Constructing the pressure pipeline model based on pipeline parameters corresponding to the pressure pipeline; The generator load model is constructed based on the load parameters corresponding to the generator load.

3. The method according to claim 2, characterized in that Constructing the servomotor model based on the servomotor reaction time corresponding to the servomotor includes: constructing a first transfer function corresponding to the servomotor based on a servomotor reaction time corresponding to the servomotor; The servomotor model is constructed based on the first transfer function.

4. The method according to claim 3, characterized in that The first transfer function is expressed by the following formula: Among them, T y is the reaction time of the relay; G a (s) is the output value of the first transfer function; s is the input variable of the first transfer function.

5. The method according to claim 2, characterized in that The pipeline parameters include at least: the pipeline length of the pressure pipeline, the target water flow rate in the pressure pipeline, and the turbine head. The pressure pipeline model is constructed based on the pipeline parameters corresponding to the pressure pipeline, including: Calculating the product of the pipeline length and the target water flow rate to obtain a first value; Calculating the product of the turbine head and the acceleration of gravity to obtain a second value; Calculating a ratio of the first value to the second value to obtain a water flow inertia time, wherein the water flow inertia time is used to represent the time required for the water flow velocity in the penstock to increase from an initial flow velocity to a target water flow velocity; Constructing a second transfer function corresponding to the pressure pipe based on the water flow inertia time; The pressure pipe model is constructed based on the second transfer function.

6. The method according to claim 5, characterized in that The second transfer function is expressed by the following formula: Among them, T w is the water flow inertia time; G t (s) is the output value of the second transfer function; s is the input variable of the second transfer function.

7. The method according to claim 2, characterized in that The load parameters include at least: the flywheel torque of the generator set of the turbine, the rated speed of the generator set, the rated output power of the generator set, the self-regulation coefficient of the generator set, and the turbine torque transfer coefficient; wherein, constructing the generator load model based on the load parameters corresponding to the generator load includes: Determining the inertia time of the generator set corresponding to the generator load based on the flywheel torque, the rated speed of the generator set, and the rated output power of the generator set; Determining a comprehensive self-regulation coefficient of the generator set based on the self-regulation coefficient of the generator set and the turbine torque transfer coefficient; determining a third transfer function corresponding to the generator load based on the generator set inertia time corresponding to the generator load and the comprehensive self-regulation coefficient of the generator set; The generator load model is constructed based on the third transfer function.

8. The method according to claim 7, characterized in that The third transfer function is expressed by the following formula: Among them, G g (s) is the output value of the third transfer function; s is the input variable of the third transfer function; T a is the inertia time of the generator set corresponding to the generator load; e n is the comprehensive self-regulation coefficient of the generator set; GD 2 is the flywheel torque, n r is the rated speed of the generator set, P r is the rated output power of the generator set; e n =e g -e x , e g is the self-regulation coefficient of the generator set, e x is the turbine torque transfer coefficient.

9. The method according to claim 1, characterized in that The transfer function of the estimated controller is expressed as follows: Where C is the output value of the estimated controller transfer function, C f is the transfer function of the feedforward controller, C c is the transfer function of the PID controller, K p is the coefficient of the proportional unit of the PID controller, K i is the coefficient of the integral unit of the PID controller, K d is the coefficient of the differential unit of the PID controller, and b is the disturbance coefficient.

10. A turbine speed regulating device based on generalized inverse operation, characterized in that: The device is applied to a turbine speed control system, wherein the turbine speed control system comprises at least an internal model control module, a turbine assembly, and a nominal model corresponding to the turbine assembly, wherein an output end of the internal model control module is connected to the turbine assembly and the nominal model corresponding to the turbine assembly, and the internal model control module comprises a generalized inverse operator. The device comprises: a speed acquisition module, configured to acquire a target speed and a feedback speed of the turbine, wherein the feedback speed is a speed difference between an actual output speed of the turbine assembly and a nominal output speed output by the nominal model; an operation module, configured to perform a generalized inverse operation on the target speed and the feedback speed through the generalized inverse operator to obtain a control signal for controlling the turbine assembly; A speed regulating module, configured to send the control signal to the turbine assembly to adjust the actual output speed of the turbine assembly; The generalized inverse operator includes an estimation controller and a nominal model corresponding to the turbine component, the estimation controller includes a proportional-integral-differential PID controller and a feedforward controller, the output end of the feedforward controller is connected to the input end of the nominal model, and the output end of the nominal model serves as the input end of the PID controller, wherein the operation module is used to obtain a first speed output by the nominal model; perform PID control on the first speed through the PID controller to obtain a second speed; calculate the speed difference between the target speed and the feedback speed; perform feedforward control on the speed difference through the feedforward controller to obtain a third speed; calculate the difference between the second speed and the third speed to obtain a fourth speed for compensating the output speed of the turbine component; and generate the control signal based on the fourth speed.

11. A turbine speed control system based on generalized inverse operation, characterized in that: include: A turbine assembly and an internal model controller; the output end of the internal model controller is connected to the input end of the turbine assembly, and the output end of the turbine assembly is connected to the input end of the internal model controller; The internal model controller processes the actual output speed of the turbine component by executing the turbine speed control method based on generalized inverse operation described in any one of claims 1 to 9, generates a control signal, and sends the control signal to the turbine component to adjust the actual output speed of the turbine component.

12. An electronic device, characterized in that: The electronic device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the turbine speed regulation method based on generalized inverse operation according to any one of claims 1 to 9 is implemented.

13. A computer-readable storage medium, characterized in that Computer program instructions are stored on a computer-readable storage medium, and when the computer program instructions are executed by a processor, the turbine speed regulation method based on generalized inverse operation according to any one of claims 1 to 9 is implemented.

14. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the turbine speed regulation method based on generalized inverse operation as described in any one of claims 1 to 9.

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