A thermal power unit superheated steam temperature system control method, system, controller and computer readable storage medium based on multiple type compensation

Abstract

The application provides a thermal power unit superheated steam temperature system control method, system, controller and computer readable storage medium based on multiple compensation types, the method comprising: establishing a state space model from the desuperheating valve opening to the superheater inlet temperature and a state space model from the superheater inlet temperature to the superheater outlet temperature; designing an input inertia compensation link of an outer loop controller output; sending the input inertia compensation link output and the superheater outlet temperature into a reduced-order extended state observer; designing a lead-lag compensation link for the highest order state variable output by the reduced-order extended state observer; designing a control law based on the reduced-order extended state observer output, the lead-lag compensation link output and the superheater outlet temperature set value to obtain a control law output; designing an inner loop controller with the control law output and the superheater inlet temperature as inputs; and obtaining a cascade control structure of the superheated steam temperature system. The application can improve the temperature fluctuation suppression capability of the superheated steam temperature system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of superheated steam temperature control optimization of thermal power units, and particularly relates to a superheated steam temperature system control method, system and controller based on multiple type compensation of thermal power units and a computer readable storage medium. BACKGROUND

[0002] The superheated steam temperature system of a thermal power unit is an operating index affecting the economy of the unit. The higher the superheated steam temperature, the higher the economy of the unit. However, excessively high superheated steam temperature can cause irreversible damage to the pipeline. The lower the superheated steam temperature, the lower the economy of the unit. In order to enable high-parameter operation, it is necessary to ensure that the fluctuation range of the superheated steam temperature system is small, thereby improving the set value of the superheated steam temperature system and ensuring that the superheated steam temperature system of the unit operates in a higher range.

[0003] At present, the superheated steam temperature system of a thermal power unit uses a cascade control structure. The inner loop controller generally uses PI / PID or conventional first-order / two-order active disturbance rejection control due to the need for fast response speed. The design of the outer loop controller is the focus of research, including PID weak model feedback control, model predictive control strong model feedback control and artificial intelligence-based feedback control. PID has the advantages of simple structure, stable performance and easy engineering implementation. However, when dealing with large inertia processes, it has the disadvantages of slow response speed and weak anti-interference ability. Robust control also does not depend on accurate mathematical models. However, the designed controller is generally a high-order controller, which is difficult to implement in engineering and has strong conservatism. Model predictive control has satisfactory control effect when the model is accurate. However, when the model deviates from the design condition, the control performance decreases significantly. Artificial intelligence-based feedback control has limited practical application value due to the complexity of calculation, difficulty in ensuring convergence and difficulty in engineering implementation. Active disturbance rejection control has strong anti-interference ability and does not depend on accurate mathematical models, and has attracted widespread attention. In order to solve the problem of active disturbance rejection control in dealing with large inertia processes, patents CN201810041569.0 and CN202011125339.6 respectively designed an improved scheme of input and output compensation, which can be applied to the design of the outer loop controller. However, the improved scheme does not improve the extended state observer, which causes problems such as high order of the extended state observer and limited bandwidth when the compensation order is low. SUMMARY

[0004] The purpose of the present application is to improve the control quality of the superheated steam temperature system of a thermal power unit, and a superheated steam temperature system control method, system, controller and computer readable storage medium based on multiple type compensation of thermal power units are provided.

[0005] In a first aspect, the present invention provides a method for controlling the superheated steam temperature system of a thermal power unit based on multi-type compensation, comprising the following steps:

[0006] 1) Based on the operating data of the superheated steam temperature system of the thermal power unit, establish a system for controlling the opening degree u of the desuperheating water valve. A to superheater inlet temperature y A State-space model A and from the superheater inlet temperature y A State-space model B for the superheater outlet temperature y;

[0007] 2) Design superheater inlet temperature y A Setting value The input inertia compensation element of order n-i based on the state space model, where i∈[1,n];

[0008] 3) Input the output of the inertia compensation circuit The superheater outlet temperature y is fed into the j-th order reduced expansion state observer;

[0009] 4) Output z based on the j-th order reduced extended state observer j+1 Design an advance-delay compensation mechanism;

[0010] 5) Output z based on the j-th order reduced extended state observer j+1 The output z of the lead-lag compensation stage a,j+1 The control law is designed based on the superheater outlet temperature setpoint r.

[0011] 6) Set the superheater inlet temperature y A Setting value That is, the outer loop controller output is updated to the control law output u1, using the control law output u1 and the superheater inlet temperature y. A Design an inner-loop controller for the input, using PI / PID or conventional first-order / second-order active disturbance rejection control. Update the opening degree u of the desuperheating water valve based on the output of the inner-loop controller. A This enables cascade control of the superheated steam temperature system in thermal power units.

[0012] Based on the above, the opening degree u of the desuperheating water valve A to superheater inlet temperature y A The state-space model A is:

[0013] (1)

[0014] In the formula, Let A be the state variables of state-space model A.

[0015] Let A be the state matrix of the state-space model A.

[0016] is an input matrix of the state space model A, is an output matrix of the state space model A, u A is a desuperheating valve opening, y A is a superheater inlet temperature; m is an order of the state space model A, with m e (1, 10 10 ] and is an integer; T A is a parameter of the state space model, with T A e (0, 10 10 ]; b A is a gain of the state space model A, with b A e [﹣10 10 , 0);

[0017] A state space model B from a superheater inlet temperature y A to a superheater outlet temperature y is:

[0018] (1)

[0019] wherein, is a state variable of the state space model B,

[0020] is a state matrix of the state space model B,

[0021] is an input matrix of the state space model B, is an output matrix of the state space model B, y is a superheater outlet temperature; n is an order of the state space model B, with n e (1, 10 10 ] and is an integer; T is a parameter of the state space model B, with T e (0, 10 10 ]; b is a gain of the state space model B, with b e (0, 10 10 ].

[0022] Based on the above, an expression of an input inertia compensation link is:

[0023] (3)

[0024] wherein, is a state variable of the input inertia compensation link;

[0025] is a state matrix of the input inertia compensation link;

[0026] is an input matrix of the input inertia compensation link, is a set value of the superheater inlet temperature y A .

[0027] Based on the above, the j-order reduced extended state observer is designed as follows:

[0028] If j=1, the reduced extended state observer is:

[0029] , (4)

[0030] If j≥2, the reduced extended state observer is:

[0031] (5)

[0032] In the formula, i=2, 3, …, j+1, , and are intermediate variables, z2, z i and z j+1 are the outputs of the reduced extended state observer, which are also the state estimations of the state space model B; l 1, l i and l j are the gains of the reduced extended state observer, and b o is the estimation value of the gain b of the state space model B, which is a parameter to be tuned.

[0033] Based on the above, the lead-lag compensation link designed is:

[0034] (6)

[0035] In the formula, T m is the time constant of the lead-lag compensation link, λ is the coefficient of the lead-lag compensation link, z a,j+1 is the output of the lead-lag compensation link; T m and λ are parameters to be tuned.

[0036] Based on the above, the expression of the control law designed is as follows:

[0037] (7)

[0038] In the formula, k1, k i are the gains of the control law, which are parameters to be tuned; u1 is the output of the control law.

[0039] In a second aspect, the present application provides a thermal power unit superheated steam temperature system control system based on multiple type compensation, comprising:

[0040] a state space model module, presetting a state space model A and a state space model B; the state space model A is a state space model from a desuperheating water valve opening degree u A to a superheater inlet temperature y A , which is established based on operation data of a superheater temperature system of a thermal power unit; the state space model B is a state space model from the superheater inlet temperature y A to a superheater outlet temperature y, which is established based on the operation data of the superheater temperature system of the thermal power unit;

[0041] an input inertia compensation link module, an input end of which is connected to the superheater inlet temperature y A set value ; the input inertia compensation link is an n-i order input inertia compensation link based on the state space model of the superheater inlet temperature y A set value , and i∈[1, n];

[0042] an extended state observer module, an input end of which is connected to an output of the input inertia compensation link module and the superheater outlet temperature y; the extended state observer is a j order reduced order extended state observer designed based on the output of the input inertia compensation link module and the superheater outlet temperature y;

[0043] a lead-lag compensation link module, an input end of which is connected to an output z j+1 of the extended state observer module; the lead-lag compensation link is designed based on the output z j+1 of the j order reduced order extended state observer;

[0044] a control law module, an input end of which is connected to the output z j+1 of the extended state observer module, the output z a,j+1 of the lead-lag compensation module and a superheater outlet temperature set value r; the control law is designed based on the output z j+1 of the j order reduced order extended state observer, the output z a,j+1 of the lead-lag compensation link and the superheater outlet temperature set value r;

[0045] a cascade control module, an input end of which is connected to an output u1 of the control law module, and which comprises an outer loop controller updating module and an inner loop controller module;

[0046] the outer loop controller updating module is used for updating the superheater inlet temperature y A set value to the output u1 of the control law module;

[0047] the inner loop controller module, with the output u1 of the control law module and the superheater inlet temperature y AFor input, PI / PID or conventional first-order / second-order active disturbance rejection control is adopted to design the inner loop controller;

[0048] The output of the inner loop controller module is updated to the state space model module A , and the cascade control of the superheated steam temperature system of the thermal power unit is completed.

[0049] In a third aspect, the present application provides a controller for a superheated steam temperature system of a thermal power unit based on multiple type compensation, comprising:

[0050] One or more processors;

[0051] 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 superheated steam temperature system control method based on multiple type compensation.

[0053] In a fourth aspect, the present application provides a computer readable storage medium storing a computer program, characterized in that the program is executed by a processor to implement the steps of the superheated steam temperature system control method based on multiple type compensation.

[0054] The present application has outstanding substantial features and significant progress compared with the prior art, specifically:

[0055] 1. The present application designs multiple type compensation links for the control difficulties of the superheated steam temperature system of the thermal power unit, an input inertia compensation link is used to improve the synchronization of the input variable of the reduced-order extended state observer, and a lead-lag compensation link is used to advance the total disturbance, and the cooperation of the two can significantly improve the ability of the present application method to cope with the large inertia of the superheated steam temperature system.

[0056] 2. The reduced-order extended state observer designed by the present application can improve the observation efficiency and has a faster observation speed.

[0057] 3. The present application can improve the temperature fluctuation suppression ability of the superheated steam temperature system. BRIEF DESCRIPTION OF DRAWINGS

[0058] Figure 1 The present application is the implementation steps of the method.

[0059] Figure 2 The present application is the structural diagram of the superheated steam temperature system control method and device based on multiple type compensation of the thermal power unit.

[0060] Figure 3 The present application is the control effect of the method and other comparative methods. DETAILED DESCRIPTION

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0062] Example 1

[0063] This embodiment proposes a control method for the superheated steam temperature system of a thermal power unit based on multi-type compensation, the process of which is as follows: Figure 1 As shown, the control principle is as follows: Figure 2 As shown, it includes the following steps:

[0064] 101) Based on the operating data of the superheated steam temperature system of the thermal power unit, establish a system for controlling the temperature from the opening degree u of the desuperheating water valve. A to superheater inlet temperature y A State-space model A and from the superheater inlet temperature y A State-space model B for the superheater outlet temperature y;

[0065] From the opening degree of the desuperheating water valve u A to superheater inlet temperature y A The state-space model A is:

[0066] (1)

[0067] In the formula, Let A be the state variables of state-space model A.

[0068] Let A be the state matrix of the state-space model A.

[0069] Let A be the input matrix of the state-space model A. Let u be the output matrix of state-space model A. A To reduce the opening degree of the overheating water valve, y A Let m be the inlet temperature of the superheater; m is the order of the state-space model A, where m∈(1,10). 10 And it is an integer; T A For the parameters of the state-space model, we have T A ∈(0,10 10 ];b A For the gain of state-space model A, we have b A ∈[﹣10 10 ,0).

[0070] In this embodiment, m=1, T A =35, b A =-1.2 / 35.

[0071] the superheater inlet temperature y A The state space model B from the superheater inlet temperature y to the superheater outlet temperature y is:

[0072] (1)

[0073] wherein, is the state variable of the state space model B,

[0074] is the state matrix of the state space model B,

[0075] is the input matrix of the state space model B, is the output matrix of the state space model B, y is the superheater outlet temperature; n is the order of the state space model B, and n∈(1,10 10 ] and is an integer; T is a parameter of the state space model B, and T∈(0,10 10 ]; b is the gain of the state space model B, and b∈(0,10 10 ].

[0076] In this embodiment, n=3, T=35, and b=1.2 / 35.

[0077] 102) Design an input inertia compensation link of n-i order based on the state space model for the set value of the superheater inlet temperature y A (i.e. the output of the outer loop controller), and i∈[1,n];

[0078] The expression of the input inertia compensation link is:

[0079] (3)

[0080] wherein, is the state variable of the input inertia compensation link;

[0081] is the state matrix of the input inertia compensation link;

[0082] is the input matrix of the input inertia compensation link, is the set value of the superheater inlet temperature y A .

[0083] In this embodiment, i=2.

[0084] 103) Send the output of the input inertia compensation link obtained in step 102) and the superheater outlet temperature y into a j-order reduced-order extended state observer; ​

[0085] The j-order reduced-order extended state observer is designed as follows:

[0086] If j=1, the reduced-order extended state observer is:

[0087] , (4)

[0088] If j≥2, the reduced-order extended state observer is:

[0089] (5)

[0090] wherein i=2, 3, …, j+1, , and are intermediate variables, z2, z i and z j+1 are outputs of the reduced-order extended state observer and are state estimations of the state space model B; l 1, l i and l j are gains of the reduced-order extended state observer, and b o is an estimated value of the gain b of the state space model B, and b

[0091] In this embodiment, j=2, b o = 0.1, l 1 = 0.4, l i = 0.04.

[0092] It should be noted that the parameters to be tuned (hereinafter the same) refer to parameters designed in this way, and specific numerical values can be determined by various tuning methods, wherein the tuning method can adopt existing methods, and the specific implementation is not discussed in the present application. The parameters to be tuned are given as given values, and are directly given in the implementation of the present application.

[0093] 104) Based on the output z j+1 of the j-order reduced-order extended state observer obtained in step 103), a lead-lag compensation link is designed;

[0094] The designed lead-lag compensation link is:

[0095] (6)

[0096] wherein T mLet z be the time constant of the lead-lag compensation element, λ be the coefficient of the lead-lag compensation element, and z be the time constant of the lead-lag compensation element. a,j+1 For the output of the lead-lag compensation stage; T m λ and λ are the parameters that need to be tuned.

[0097] In this embodiment, T m =10, λ=0.1.

[0098] 105) Based on the QUOTE obtained in step 3) The output z of the order-downward extended state observer j+1 The output z of the lead-lag compensation link obtained in step 104) a,j+1 The control law is designed based on the superheater outlet temperature setpoint r.

[0099] The expression for the control law of the design is as follows:

[0100] (7)

[0101] In the formula, k1, k i U is the gain of the control law, is the parameter that needs to be tuned; u1 is the output of the control law.

[0102] In this embodiment, k1=0.04, k i =0.4.

[0103] 106) The superheater inlet temperature y A Setting value (i.e., the outer loop controller output) is updated to the control law output u1, using the control law output u1 and the superheater inlet temperature y A Design an inner-loop controller for the input, using PI / PID or conventional first-order / second-order active disturbance rejection control. Update the opening degree u of the desuperheating water valve based on the output of the inner-loop controller. A This enables cascade control of the superheated steam temperature system in thermal power units.

[0104] In this embodiment, the inner loop controller is a PI controller with a proportional gain of -1.354 and an integral gain of -0.052.

[0105] Comparative experiment

[0106] To analyze the effectiveness of the method of this invention, an improved active disturbance rejection control proposed in patent CN201810041569.0 was added as the outer loop controller of the cascade control system. The inner loop controller is consistent with that of this embodiment. The parameter of the comparison method is ω. c =0.2, ω0=0.2, b0=0.1 and G cp (s) = 1 / (35s + 1) 2, the comparative effect under the nominal operating condition is shown as Figure 3

[0107] The specific simulation process is as follows: at the simulation start time, the system is in a steady state, the set value is changed from 0 to 1 at 10 s, the control amount of the closed loop is disturbed from 0 to 5 at 1500 s, and the simulation ends at 3000 s. The solid line is the method of the application, and the dashed line is the comparative method. It can be seen from Figure 3 that the method of the application has faster tracking speed and stronger anti-interference ability, and shows the best control quality.

[0108] Example 2

[0109] Based on the same inventive concept, the application also provides a multi-type compensation-based control system for a superheated steam temperature system of a thermal power unit. The implementation scheme for solving the problem provided by the multi-type compensation-based control system for a superheated steam temperature system of a thermal power unit is similar to the implementation scheme described in the method of Example 1, and therefore the specific limitations in one or more multi-type compensation-based control system embodiments for a superheated steam temperature system of a thermal power unit provided below can refer to the limitations for the method in Example 1, which will not be described here again.

[0110] In an exemplary embodiment, a multi-type compensation-based control system for a superheated steam temperature system of a thermal power unit is provided, comprising:

[0111] a state space model module, presetting a state space model A and a state space model B; the state space model A is a state space model from a desuperheating valve opening degree u A to a superheater inlet temperature y A established based on operation data of the superheated steam temperature system of the thermal power unit, and the state space model B is a state space model from the superheater inlet temperature y A to a superheater outlet temperature y established based on the operation data of the superheated steam temperature system of the thermal power unit;

[0112] an input inertia compensation link module, an input end of which is connected to a superheater inlet temperature y A set value ; the input inertia compensation link is an n-i order input inertia compensation link based on the state space model of the superheater inlet temperature y A set value , and i∈[1,n];

[0113] an extended state observer module, an input end of which is connected to an output of the input inertia compensation link module and a superheater outlet temperature y; the extended state observer is a j order reduced order extended state observer designed based on the output of the input inertia compensation link module and the superheater outlet temperature y;​

[0114] a lead-lag compensation module, an input end of which is connected with the output z of the extended state observer module j+1 ; the lead-lag compensation is based on the output z of the j-th order reduced-order extended state observer j+1 designed;

[0115] a control law module, an input end of which is connected with the output z of the extended state observer module j+1 , the output z of the lead-lag compensation module a,j+1 and the superheater outlet temperature set value r; the control law is designed based on the output z of the j-th order reduced-order extended state observer j+1 , the output z of the lead-lag compensation module a,j+1 and the superheater outlet temperature set value r;

[0116] a cascade control module, an input end of which is connected with the output u1 of the control law module, and which comprises an outer loop controller updating module and an inner loop controller module;

[0117] the outer loop controller updating module is used for updating the superheater inlet temperature y A set value to the output u1 of the control law module;

[0118] the inner loop controller module, with the output u1 of the control law module and the superheater inlet temperature y A as inputs, designs the inner loop controller by using PI / PID or conventional first-order / two-order active disturbance rejection control;

[0119] the output of the inner loop controller module is updated to the desuperheating water valve opening degree u A of the state space model module, so as to complete the cascade control of the superheated steam temperature system of the thermal power unit.

[0120] Embodiment 3

[0121] Each module in the above system can be realized by software, hardware and a combination thereof in whole or in part. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above modules.

[0122] In an exemplary embodiment, a controller of a multi-type compensation based superheated steam temperature system of a thermal power generating unit is provided, and the computer device can 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 through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is configured 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 operating system and the computer program in the non-volatile storage medium to run. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals, and the wireless communication can be achieved through WIFI, mobile cellular network, NFC (Near Field Communication) or other technologies. The computer program is executed by the processor to implement the steps of the multi-type compensation based superheated steam temperature system control method of the thermal power generating unit. The display unit of the computer device is configured to form a visually visible picture, which can 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. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0123] Those skilled in the art can understand that the structure of the computer device described above is only part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components, or combine certain components, or have a different arrangement of components.

[0124] In an exemplary embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the steps of the multi-type compensation based superheated steam temperature system control method of the thermal power generating unit.

[0125] Those skilled 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. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to 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. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0126] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope disclosed in the present application.

[0127] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling a superheated steam temperature system of a thermal power generating unit based on multi-type compensation, characterized in that, The method comprises the following steps: 1) Based on the operation data of the superheated steam temperature system of thermal power units, state space model A from the desuperheating water valve opening u A to the superheater inlet temperature y A and state space model B from the superheater inlet temperature y A to the superheater outlet temperature y are established; 2) Designing the superheater inlet temperature y A Setpoint an input inertia compensation element of order n-i based on a state space model, and i∈[1,n] 3) feeding the output of the input inertia compensation block and superheater outlet temperature y into the jth reduced order extended state observer; The j-order reduced-order extended state observer is designed as follows: If j=1, the reduced-order extended state observer is: ， （4） If j≥2, the reduced-order extended state observer is: （5） where i = 2, 3, …, j + 1, , and are intermediate variables, z2, z i and z j+1 are the outputs of the reduced order extended state observer, and are the state estimates of the state space model B; l 1, l i and l j are the gains of the reduced order extended state observer, and are the parameters to be tuned; b o is the estimated value of the gain b of the state space model B, and is the parameter to be tuned; 4) the output z of the j-th order reduced order extended state observer j+1 Design a lead-lag compensation link; The lead-lag compensation link designed is: （6） In the formula, T m is the time constant of the lead-lag compensation link, λ is the coefficient of the lead-lag compensation link, z a,j+1 is the output of the lead-lag compensation link; T m and λ are parameters that need to be adjusted; 5) the output z of the j-th order reduced order extended state observer j+1 , the output z of the lead-lag compensator a,j+1 and the superheater outlet temperature setpoint r to design the control law; The expression of the control law designed is as follows: （7） In the formula, k1, k i U is the gain of the control law, is the parameter that needs to be tuned; u1 is the output of the control law; 6) The superheater inlet temperature y A Set value , the outer loop controller output, is updated to the output ui of the control law, and the output ui of the control law and the superheater inlet temperature y A The inner loop controller is designed for the input, and a PI / PID or a conventional first-order / two-order active disturbance rejection control is used to design the inner loop controller. The output of the obtained inner loop controller is used to update the desuperheating valve opening degree u A , completing the cascade control of the superheated steam temperature system of the thermal power unit.

2. The multi-type compensation based control method for superheated steam temperature system of thermal power generating unit according to claim 1, characterized in that, The state space model A from the desuperheating valve opening u A to the superheater inlet temperature y A is: （1） wherein is a state variable of the state space model A, is the state matrix of the state space model A, is an input matrix for the state space model A, is an output matrix for the state space model A, u A is a desuperheating valve opening, y A is a superheater inlet temperature; m is an order of the state space model A, with m e (1,10 10 ] and is an integer; T A is a parameter of the state space model, with T A e (0,10 10 ]; b A is a gain of the state space model A, with b A e [﹣10 10 ,0). State space model B from superheater inlet temperature y A to superheater outlet temperature y is: （1） wherein is a state variable of the state space model B, is the state matrix of the state space model B, is the input matrix of the state space model B, is the output matrix of the state space model B, y is the superheater outlet temperature; n is the order of the state space model B, with n e (1,10 10 ] and is an integer; T is a parameter of the state space model B, with T e (0,10 10 ]; b is a gain of the state space model B, with b e (0,10 10 ].

3. The method according to claim 2, wherein, The expression of the input inertia compensation link is as follows: （3） In the formula, is the state variable of the input inertia compensation link; is the state matrix for the input inertia compensation block; is the input matrix for the input inertia compensation element, is the set value for the superheater inlet temperature y A .

4. A multi-type compensation-based control system for a superheated steam temperature system of a thermal power generating unit, characterized in that, The method comprises the following steps: a state space model module, presetting a state space model A and a state space model B; the state space model A is a state space model from a deaerator water valve opening degree u A to a superheater inlet temperature y A , which is established based on operation data of a superheated steam temperature system of a thermal power unit; the state space model B is a state space model from a superheater inlet temperature y A to a superheater outlet temperature y, which is established based on operation data of a superheated steam temperature system of a thermal power unit; an input inertia compensation element module, an input end of which is connected with the superheater inlet temperature y A set value ; the input inertia compensation element is the superheater inlet temperature y A set value based on a state space model, and i ∈ [1, n]; an extended state observer module, an input end of which is connected to an output of the input inertia compensation link module and the superheater outlet temperature y; The extended state observer is based on the output of an input inertia compensation link module and a j-th order reduced order extended state observer designed with superheater outlet temperature y The j-order reduced-order extended state observer is designed as follows: If j=1, the reduced-order extended state observer is: ， （4） If j≥2, the reduced-order extended state observer is: （5） where i = 2, 3,..., j + 1, , and are intermediate variables, z2, z i and z j+1 are the outputs of the reduced order extended state observer, and are the state estimates of the state space model B; l 1、 l i and l j are the gains of the reduced order extended state observer, and are the parameters to be tuned; b o is the estimated value of the gain b of the state space model B, and is the parameter to be tuned; a lead-lag compensator module, an input end of which is connected with the output z of the expanded state observer module j+1 ; the lead-lag compensator is based on the output z of the j-order reduced-order expanded state observer j+1 designed; The lead-lag compensation link designed is: （6） In the formula, T m is the time constant of the lead-lag compensation link, λ is the coefficient of the lead-lag compensation link, z a,j+1 is the output of the lead-lag compensation link; T m and λ are parameters that need to be adjusted; a control law module, input connected to the output z of the extended state observer module j+1 , the output z of the lead-lag compensation module a,j+1 and the superheater outlet temperature set point r; the control law is designed based on the output z of the j-th order reduced order extended state observer j+1 , the output z of the lead-lag compensation module a,j+1 and the superheater outlet temperature set point r; The expression of the control law designed is as follows: （7） In the formula, k1, k i U is the gain of the control law, is the parameter that needs to be tuned; u1 is the output of the control law; The cascade control module is connected with the output u1 of the control law module, and comprises an outer loop controller updating module and an inner loop controller module. The outer loop controller update module is configured to update the superheater inlet temperature y A Setpoint to the output ui of the control law module; Inner loop controller module to control the output of the law module u1 and superheater inlet temperature y A For input, PI / PID or conventional first-order / two-order active disturbance rejection control is used to design the inner loop controller; The output of the inner loop controller module updates the state space model module's desuperheating water valve opening degree u A , complete the cascade control of the superheated steam temperature system of the thermal power unit.

5. A controller of a superheated steam temperature system of a thermal power unit based on multi-type compensation, characterized in that, The method comprises the following steps: 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 method for controlling a superheated steam temperature system of a thermal power generating unit based on multiple types of compensation according to any one of claims 1-3.

6. A computer readable storage medium storing a computer program, characterized in that, The programs are executed by the processors to implement the steps of the method for controlling a superheated steam temperature system of a thermal power generating unit based on multiple types of compensation according to any one of claims 1-3.

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