Improved control method and system for input inertia compensation of main steam pressure system of thermal power generating unit, controller and readable storage medium

Abstract

The invention provides an input inertia compensation improved control method and system for a main steam pressure system of a thermal power generating unit, a controller and a readable storage medium. The method comprises the following steps: establishing an n-order state space model from a coal feeding quantity instruction to main steam pressure; designing a state space model-based n-i-order input inertia compensation link of the coal feeding quantity instruction; inputting the output of the input inertia compensation link and the main steam pressure into an i-order improved cascade expansion state observer, and estimating the state of a main steam pressure system through an observer algorithm; designing a control law based on the output of the cascade expansion state observer and a main steam pressure set value; the control quantity output passes through the amplitude limiting and speed limiting module and then is added with the feedforward control quantity to serve as a new coal feeding quantity instruction. The large inertia characteristic of the main steam pressure system of the thermal power generating unit can be remarkably overcome, the change rate of the coal feeding amount instruction is increased, and therefore the control quality of the main steam pressure system is improved.

Description

Technical Field

[0001] The invention relates to the field of optimization control of a main steam pressure system of a thermal power unit, and in particular to an input inertia compensation improvement control method and device for a main steam pressure system of a thermal power unit. Background Art

[0002] The main steam pressure system of a thermal power unit adjusts the main steam pressure by adjusting the coal feed rate command. However, the main steam pressure system of a thermal power unit is a typical large inertia system with control difficulties such as slow response speed and weak anti-interference ability. With the wide load operation of thermal power units, the control quality of the main steam pressure system is an important factor affecting the load response rate of the unit and the stable operation of the unit at low load.

[0003] At present, the control research of the main steam pressure system of thermal power units mainly includes feedforward control, weak model feedback control such as PID, strong model feedback control such as model predictive control, and feedback control based on artificial intelligence.

[0004] Feedforward control mainly speeds up the response speed of the main steam pressure system by optimizing coal quality correction combined with load feedforward, and generally needs to be used in combination with feedback control;

[0005] PID has the advantages of simple structure, stable performance and easy engineering implementation. However, it has the disadvantages of slow response speed and weak anti-interference ability when dealing with large inertia processes.

[0006] Robust control does not rely on precise mathematical models, but the designed controller is generally a high-order controller, which is difficult to implement in engineering and has strong conservatism;

[0007] Model predictive control has satisfactory control effect when the model is accurately known, but the control performance decreases significantly when the model deviates from the design conditions;

[0008] Feedback control based on artificial intelligence has limited practical application value due to difficulties such as computational complexity, difficulty in ensuring convergence, and difficulty in engineering implementation.

[0009] ADRC has strong anti-interference ability and does not rely on accurate mathematical models, and has received widespread attention. In order to solve the problem of ADRC in dealing with large inertia processes, Chinese invention patents CN201810041569.0 and CN202011125339.6 designed improved input and output compensation schemes respectively. However, neither of the two improved schemes improved the extended state observer, which resulted in problems such as the extended state observer being too high in order and limited bandwidth when the observer had a low compensation order, thereby affecting the tracking ability and anti-interference ability of the main steam pressure system of the thermal power unit. Summary of the invention

[0010] The purpose of the present invention is to improve the tracking ability and anti-interference ability of the main steam pressure system of a thermal power unit, and to provide an input inertia compensation improved control method and device for the main steam pressure system of a thermal power unit.

[0011] In a first aspect, the present invention provides an improved control method for input inertia compensation of a main steam pressure system of a thermal power unit, comprising the following steps:

[0012] 1) Based on the data of coal feed rate command change and main steam pressure change of thermal power units, an n-order state space model from coal feed rate command u to main steam pressure y is established through identification method;

[0013] 2) Design the ni-order input inertia compensation link of the coal feed rate command u based on the n-order state space model, and i∈[1,n];

[0014] 3) Input the output of the inertia compensation link and main steam pressure y are sent to the j-order improved cascade expanded state observer;

[0015] 4) Based on the output z of the improved cascade extended state observer j+1 and the design control law for the main steam pressure setpoint r;

[0016] 5) The output u1 of the control law is used to obtain the new coal feeding quantity instruction u through the limiting and speed limiting modules. new ;

[0017] 6) Update the coal feeding quantity instruction u to the coal feeding quantity instruction u new and the feedforward control quantity u ff The sum of u = u new +u ff The main steam pressure system adjusts the coal feed rate instruction according to the updated u and regulates the main steam pressure system.

[0018] Based on the above, the n-order state space model is:

[0019]

[0020] In the formula, is the state variable of the main steam pressure system,

[0021] is the state matrix of the main steam pressure system,

[0022] is the input matrix of the main steam pressure system, is the output matrix of the main steam pressure system, u is the coal supply instruction, y is the main steam pressure; n is the state space model order, n∈(1,10 10] and is an integer; T is the parameter of the state space model, and T∈(0,10 10 ]; b is the gain of the state space model, b∈[-10 10 ,0).

[0023] Based on the above, the expression of the designed input inertia compensation link is:

[0024]

[0025] In the formula, is the state variable of the input inertia compensation link;

[0026] is the state matrix of the input inertia compensation link;

[0027] is the input matrix of the inertia compensation link, u ff is the feedforward control quantity.

[0028] Based on the above, the improved cascade extended state observer is designed as follows:

[0029] If j = 1, the improved cascade extended state observer is:

[0030]

[0031] If j ≥ 2, the improved cascade extended state observer is:

[0032]

[0033] In the formula, ξ1, ξ i and j are intermediate variables, z1, z i and z j To improve the output of the cascade expansion state observer, it is also an estimate of the main steam pressure system state; l1, l i and l j is to improve the gain of the cascade extended state observer, is the parameter that needs to be adjusted; b0 is the estimated value of the gain b of the state space model, is the parameter that needs to be adjusted.

[0034] Based on the above, the expression of the designed control law is as follows:

[0035]

[0036] Where k2, k i and k j is the gain of the control law, is the parameter that needs to be adjusted; u1 is the output of the control law.

[0037] Based on the above, the output u1 of the control law is used to obtain a new coal feed quantity instruction u through the limit and speed limit modules. new The method is:

[0038]

[0039] and

[0040]

[0041] In the formula, u new1 is the output of the limiting module, u 1max The upper limit of the output allowed by the limiter module, u 1min It is the lower limit of the output allowed by the limiter module; for u new1 The value at the last sampling moment, Δt is the sampling period, R Rising is the maximum rate value of the positive rate change, R Decent It is the maximum rate value of negative rate change.

[0042] In a second aspect, the present invention provides an improved control system for input inertia compensation of a main steam pressure system of a thermal power unit, comprising:

[0043] The state space model module presets an n-order state space model; the n-order state space model is a state space model from coal feed quantity instruction u to main steam pressure y established by an identification method based on the data of coal feed quantity instruction change and main steam pressure change of the thermal power unit;

[0044] An input inertia compensation link module, the input end of which is connected to the coal feeding amount instruction u; the input inertia compensation link is an input inertia compensation link of the ni order based on the n order state space model of the coal feeding amount instruction u, and i∈[1,n];

[0045] The input of the extended state observer module is connected to the output of the input inertia compensation link module. and main steam pressure y; the expanded state observer is based on the output of the input inertia compensation module and the j-order improved cascade expanded state observer designed based on the main steam pressure y;

[0046] Control law module, the input end is connected to the output z of the extended state observer module j+1 and the main steam pressure set value r; the control law is based on the output z of the extended state observer module j+1 And the main steam pressure setting value r is designed;

[0047] The amplitude limiting and speed limiting module has an input end connected to the output u1 of the control law module; it is used to obtain a new coal feeding amount instruction u through amplitude limiting and speed limiting for the output u1 of the control law module new ;

[0048] Control module, connects coal feeding quantity instruction u, new coal feeding quantity instruction u new and the feedforward control quantity u ff ; The control method is to update the coal feeding quantity instruction u to the coal feeding quantity instruction u new and the feedforward control quantity u ff The sum of u = u new +u ff , and adjust the coal feed quantity instruction according to the updated u to regulate the main steam pressure system.

[0049] In a third aspect, the present invention provides a controller for a main steam pressure system of a thermal power unit, comprising:

[0050] one or more processors;

[0051] a memory for storing one or more programs,

[0052] When the one or more programs are executed by the one or more processors, the one or more processors execute the steps of the input inertia compensation improved control method of the main steam pressure system of the thermal power unit.

[0053] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the input inertia compensation improved control method of the main steam pressure system of a thermal power unit.

[0054] Compared with the prior art, the present invention has outstanding substantive features and significant progress, specifically:

[0055] 1. Aiming at the control difficulties of the main steam pressure system of the thermal power unit, the present invention designs an input inertia compensation link based on the state space model of the main steam pressure system, and designs an improved extended state observer, so that the extended state observer becomes a cascade form of low-order extended state observers, which can effectively avoid the problems of too high order and limited bandwidth of the extended state observer when the compensation order of the observer is low.

[0056] 2. The present invention designs an input inertia compensation link so that the control method of the denitrification system has the advantages of resisting amplitude and rate saturation.

[0057] 3. The improvement of the input inertia compensation link proposed in the present invention can achieve a satisfactory control effect when b0 deviates greatly from the gain b of the state space model. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a diagram of the implementation steps of the method of the present invention.

[0059] Figure 2 The control principle block diagram of the method of the present invention.

[0060] Figure 3 It is the control effect of the method of the present invention and other comparative methods under nominal working conditions.

[0061] Figure 4 This is the Monte Carlo experiment result of the method of the present invention. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0063] Example 1

[0064] This embodiment proposes an improved control method for input inertia compensation of a main steam pressure system of a thermal power unit. The process is as follows: Figure 1 As shown, the control principle is as follows Figure 2 As shown, the following steps are included:

[0065] 101) Based on the data of coal feed rate command change and main steam pressure change of thermal power unit, an n-order state space model from coal feed rate command u to main steam pressure y is established by identification method;

[0066] The n-order state space model is:

[0067]

[0068] In the formula, is the state variable of the main steam pressure system,

[0069] is the state matrix of the main steam pressure system,

[0070] is the input matrix of the main steam pressure system, is the output matrix of the main steam pressure system, u is the coal supply instruction, y is the main steam pressure; n is the state space model order, n∈1,10 10 ] and is an integer; T is the parameter of the state space model, and T∈(0,10 10 ]; b is the gain of the state space model, b∈[-10 10 ,0).

[0071] In this embodiment, n=5, T=125, and b=5.88 / 125.

[0072] 102) Design the ni-order input inertia compensation link of the coal feed rate command u based on the n-order state space model, and i∈[1,n];

[0073] The expression of the designed input inertia compensation link is:

[0074]

[0075] In the formula, is the state variable of the input inertia compensation link;

[0076] is the state matrix of the input inertia compensation link;

[0077] is the input matrix of the inertia compensation link, u ff is the feedforward control quantity.

[0078] In this embodiment, ff =0 and i=2.

[0079] 103) The output of the input inertia compensation link obtained in step 102) is and main steam pressure y are sent to the j-order improved cascade expanded state observer;

[0080] The improved cascade extended state observer is designed as follows:

[0081] If j = 1, the improved cascade extended state observer is:

[0082]

[0083] If j ≥ 2, the improved cascade extended state observer is:

[0084]

[0085] In the formula, ξ1, ξ i and j are intermediate variables, z1, z i and z j To improve the output of the cascade expansion state observer, it is also an estimate of the main steam pressure system state; l1, l i and l j is to improve the gain of the cascade extended state observer, is the parameter that needs to be adjusted; b0 is the estimated value of the gain b of the state space model, is the parameter that needs to be adjusted.

[0086] In this embodiment, j=2, b0=0.1, l1=0.2, l2=0.01.

[0087] It should be noted that the parameters that need to be adjusted (hereinafter the same) refer to the parameters that are designed. The specific values ​​to be used can be determined by a variety of adjustment methods, wherein the adjustment methods can adopt existing methods, which are not specifically discussed in the present invention. The parameters that need to be adjusted are given as given values ​​and are directly given when the present invention is specifically implemented.

[0088] 104) Based on the output z of the improved cascade extended state observer obtained in step 103) j+1 and the design control law for the main steam pressure setpoint r;

[0089] The expression of the designed control law is as follows:

[0090]

[0091] Where k2, k i and k j is the gain of the control law, is the parameter that needs to be adjusted; u1 is the output of the control law.

[0092] In this embodiment, k1=0.0121, k2=0.22.

[0093] 105) The control law output u1 obtained in step 104) is used to obtain a new coal feeding amount instruction u through the limit and speed limit modules. new ;

[0094] Get the new coal feeding quantity instruction u new The method is:

[0095]

[0096] and

[0097]

[0098] In the formula, u new1 is the output of the limiting module, u 1max The upper limit of the output allowed by the limiter module, u 1min It is the lower limit of the output allowed by the limiter module; for u new1 The value at the last sampling moment, Δt is the sampling period, R Rising is the maximum rate value of the positive rate change, R Decent It is the maximum rate value of negative rate change.

[0099] In this embodiment, 1max =1,u 1min =-1, R Rising =5, R Descent =5 and Dt=0.1.

[0100] 106) Update the coal feeding amount instruction u to the coal feeding amount instruction u obtained in step 105) new and the feedforward control quantity u ff The sum of:

[0101] u=u new +u ff (8)

[0102] The main steam pressure system adjusts the coal feed rate instruction according to the updated u obtained by formula (8) to regulate the main steam pressure system.

[0103] Comparative experiment

[0104] In order to analyze the effectiveness of the method of the present invention, the method proposed in patent CN201810041569.0 (comparison method 2) and the method improved by using reduced-order extended state observer (comparison method 1) are added as comparison. The parameters of comparison method 1 are w c =0.085, w o = 0.2, b0 = 0.1 and G cp (s) = 1 / (125s+1) 3 ; The parameter of comparison method 2 is w c =0.1, w o = 0.2, b0 = 0.1 and G cp (s) = 1 / (125s+1) 3 ; The comparison effect under nominal working conditions is as follows Figure 3 As shown in the figure, the specific simulation process is as follows: at the beginning of the simulation, the system is in a steady state, the set value is changed from 0 to 1 at 10s, the control value of the closed loop is disturbed from 0 to 0.3 at 3000s, and the simulation ends at 6000s;

[0105] The thick solid line is the method of the present invention, the dotted line is the comparative method 1, and the dashed line is the comparative method 2. As can be seen from the figure, the method of the present invention has a faster tracking speed and a stronger anti-interference ability, showing the best control quality.

[0106] In order to further verify the control effect of the method of the present invention, comparative method 1 and comparative method 2 when there is uncertainty in the system, a Monte Carlo experiment is used for verification. The controller parameters are kept unchanged, and the gains b and T of the main steam pressure system are randomly perturbed within the range of ±20% of their initial values. Figure 3 Simulate and calculate the IAE tracking index (IAE) from 0s to 3000s in each simulation sp ) and IAE anti-interference index (IAE) from 3000s to 6000s rd ), we can get Figure 4The Monte Carlo experiment results shown in FIG. 1 show that the IAE of the method of the present invention is sp and IAE rd The value is smaller and the distribution is more concentrated, which makes it more robust.

[0107] Example 2

[0108] Based on the same inventive concept, the embodiment of the present application also provides an improved control system for input inertia compensation of the main steam pressure system of a thermal power plant. The implementation scheme for solving the problem provided by the improved control system for input inertia compensation of the main steam pressure system of the thermal power plant is similar to the implementation scheme recorded in the method of Example 1, so the specific limitations in the embodiments of the improved control system for input inertia compensation of the main steam pressure system of the thermal power plant provided below can refer to the limitations of the method in Example 1, and will not be repeated here.

[0109] In an exemplary embodiment, an input inertia compensation improved control system for a main steam pressure system of a thermal power unit is provided, comprising:

[0110] The state space model module presets an n-order state space model; the n-order state space model is a state space model from coal feed quantity instruction u to main steam pressure y established by an identification method based on the data of coal feed quantity instruction change and main steam pressure change of the thermal power unit;

[0111] An input inertia compensation link module, the input end of which is connected to the coal feeding amount instruction u; the input inertia compensation link is an input inertia compensation link of the ni order based on the n order state space model of the coal feeding amount instruction u, and i∈[1,n];

[0112] The input of the extended state observer module is connected to the output of the input inertia compensation link module. and main steam pressure y; the expanded state observer is based on the output of the input inertia compensation module and the j-order improved cascade expanded state observer designed based on the main steam pressure y;

[0113] Control law module, the input end is connected to the output z of the extended state observer module j+1 and the main steam pressure set value r; the control law is based on the output z of the extended state observer module j+1 And the main steam pressure set value r is designed;

[0114] The amplitude limiting and speed limiting module has an input end connected to the output u1 of the control law module; it is used to obtain a new coal feeding amount instruction u through amplitude limiting and speed limiting for the output u1 of the control law module new ;

[0115] Control module, connects coal feeding quantity instruction u, new coal feeding quantity instruction u newand the feedforward control quantity u ff ; The control method is to update the coal feeding quantity instruction u to the coal feeding quantity instruction u new and the feedforward control quantity u ff The sum of u = u new +u ff , and adjust the coal feed quantity instruction according to the updated u to regulate the main steam pressure system.

[0116] Example 3

[0117] Each module in the above system can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

[0118] In an exemplary embodiment, a controller of a main steam pressure system of a thermal power unit is provided, and the computer device may be a terminal. The computer device further includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, the steps of the input inertia compensation improved control method of the main steam pressure system of the thermal power unit are implemented. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0119] Those skilled in the art will appreciate that the structure of the above-mentioned computer device is only a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components, or combine certain components, or have a different arrangement of components.

[0120] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of an input inertia compensation improved control method of a main steam pressure system of a thermal power unit are implemented.

[0121] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited thereto. The processors involved in each embodiment provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, etc., but are not limited thereto.

[0122] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0123] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An improved control method for input inertia compensation of a main steam pressure system of a thermal power unit, characterized in that: The following steps are involved: 1) Based on the data of coal feed rate command change and main steam pressure change of thermal power units, an n-order state space model from coal feed rate command u to main steam pressure y is established through identification method; 2) Design the ni-order input inertia compensation link of the coal feed rate command u based on the n-order state space model, and i∈[1,n]; 3) Input the output of the inertia compensation link and main steam pressure y are sent to the j-order improved cascade expanded state observer; 4) Based on the output z of the improved cascade extended state observer j+1 and the design control law for the main steam pressure setpoint r; 5) The output u1 of the control law is used to obtain the new coal feeding quantity instruction u through the limiting and speed limiting modules. new ; 6) Update the coal feeding quantity instruction u to the coal feeding quantity instruction u new and the feedforward control quantity u ff The sum of u = u new +u ff The main steam pressure system adjusts the coal feed rate instruction according to the updated u and regulates the main steam pressure system.

2. The input inertia compensation improved control method for the main steam pressure system of a thermal power unit according to claim 1 is characterized in that: The n-order state space model is: In the formula, is the state variable of the main steam pressure system, is the state matrix of the main steam pressure system, is the input matrix of the main steam pressure system, is the output matrix of the main steam pressure system, u is the coal supply instruction, y is the main steam pressure; m is the state space model order, and n∈(1,10 10 ] and is an integer; T is the parameter of the state space model, and T∈(0,10 10 ]; b is the gain of the state space model, b∈[-10 10 ,0).

3. The input inertia compensation improved control method for the main steam pressure system of a thermal power unit according to claim 2 is characterized in that: The expression of the designed input inertia compensation link is: In the formula, is the state variable of the input inertia compensation link; is the state matrix of the input inertia compensation link; is the input matrix of the inertia compensation link, u ff is the feedforward control quantity.

4. The input inertia compensation improved control method for the main steam pressure system of a thermal power unit according to claim 3 is characterized in that: The improved cascade extended state observer is designed as follows: If j = 1, the improved cascade extended state observer is: If j ≥ 2, the improved cascade extended state observer is: In the formula, ξ1, ξ i and j are intermediate variables, z1, z i and z j To improve the output of the cascade expansion state observer, it is also an estimate of the main steam pressure system state; l1, l i and l j is to improve the gain of the cascade extended state observer, is the parameter that needs to be adjusted; b0 is the estimated value of the gain b of the state space model, is the parameter that needs to be adjusted.

5. The input inertia compensation improved control method for the main steam pressure system of a thermal power unit according to claim 4 is characterized in that: The expression of the designed control law is as follows: Where k2, k i and k j is the gain of the control law, is the parameter that needs to be adjusted; u1 is the output of the control law.

6. The input inertia compensation improved control method for the main steam pressure system of a thermal power unit according to claim 1, characterized in that: The output u1 of the control law is used to obtain the new coal feeding quantity instruction u through the limiting and speed limiting modules. new The method is: and In the formula, u new1 is the output of the limiting module, u 1max The upper limit of the output allowed by the limiter module, u 1min It is the lower limit of the output allowed by the limiter module; for u new1 The value at the last sampling moment, Δt is the sampling period, R Rising is the maximum rate value of the positive rate change, R Decent It is the maximum rate value of negative rate change.

7. An improved control system for input inertia compensation of the main steam pressure system of a thermal power unit, characterized in that: include: The state space model module presets an n-order state space model; the n-order state space model is a state space model from coal feed quantity instruction u to main steam pressure y established by an identification method based on the data of coal feed quantity instruction change and main steam pressure change of the thermal power unit; An input inertia compensation link module, the input end of which is connected to the coal feeding amount instruction u; the input inertia compensation link is an input inertia compensation link of the ni order based on the n order state space model of the coal feeding amount instruction u, and i∈[1,n]; The input of the extended state observer module is connected to the output of the input inertia compensation link module. and main steam pressure y; The extended state observer is based on the output of the input inertia compensation module. and the j-order improved cascade expanded state observer designed based on the main steam pressure y; Control law module, the input end is connected to the output z of the extended state observer module j+1 and the main steam pressure set value r; the control law is based on the output z of the extended state observer module j+1 And the main steam pressure setting value r is designed; The amplitude limiting and speed limiting module has an input end connected to the output u1 of the control law module; it is used to obtain a new coal feeding amount instruction u through amplitude limiting and speed limiting for the output u1 of the control law module new ; Control module, connects coal feeding quantity instruction u, new coal feeding quantity instruction u new and the feedforward control quantity u ff ; The control method is to update the coal feeding quantity instruction u to the coal feeding quantity instruction u new and the feedforward control quantity u ff The sum of u = u new +u ff , and adjust the coal feed quantity instruction according to the updated u to regulate the main steam pressure system.

8. A controller for the main steam pressure system of a thermal power unit, characterized in that: include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors execute the steps of the input inertia compensation improved control method of the main steam pressure system of a thermal power unit as described in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the program is executed by a processor, the steps of the input inertia compensation improvement control method of the main steam pressure system of a thermal power unit as described in any one of claims 1 to 6 are implemented.

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