Speed regulation system and speed regulation method for water turbine under full water head

Abstract

The invention discloses a speed regulation system and method for a water turbine under a full water head, and the system comprises a frequency feed-forward regulation module which is used for carrying out the rate limiting processing of the primary frequency modulation of a unit, and transmitting an instruction after the rate limiting processing to a power PID (Proportion Integration Differentiation) regulation module; wherein the primary frequency modulation of the unit is a difference value between a given frequency and a frequency feedback signal provided by the generator; the power PID adjusting module is used for outputting a control instruction to an execution mechanism based on the instruction after the rate limiting processing and a power given instruction; the executing mechanism is used for outputting a water turbine guide vane opening degree instruction according to the control instruction; and the self-adaptive control unit is used for outputting a water head self-adaptive control instruction, and the water head self-adaptive control instruction is multiplied by the water turbine guide vane opening instruction to act on the water turbine so as to control the water turbine to work. According to the method, the simulation characteristics of the water turbine and the adjusting system model thereof in stability calculation can effectively adapt to the actual adjusting characteristics of the water turbine set under the full water head in real time, and can be changed according to the change of the real-time water head.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power systems, and more specifically, to a speed regulating system and a speed regulating method for a water turbine under full water head. Background Art

[0002] The water head of large-scale mixed flow hydropower units is constantly changing during the year-round operation, and the power control regulation characteristics of the units are closely related to the water head. The turbine speed control system model in the comprehensive stability calculation program does not consider the influence of water head and assumes that the water head is constant. When the actual turbine unit has the same set of power PID control parameters and different water heads, the power regulation characteristics of the turbine unit are inconsistent, and the unit regulation characteristics at high water heads are significantly different from those at low water heads. This makes the actual control characteristics of the turbine and its regulation system under full water head very different from the model simulation characteristics in the power grid simulation program.

[0003] Therefore, a turbine speed control system under full water head is needed so that the simulation model characteristics are always consistent with the actual turbine regulation characteristics. Summary of the invention

[0004] The present invention provides a water turbine speed regulating system and a speed regulating method under full water head to solve the problem of how to make the water turbine speed regulating system consistent with the regulating characteristics of an actual water turbine.

[0005] In order to solve the above problems, according to one aspect of the present invention, a full-head turbine speed control system is provided, the system comprising: a frequency feedforward adjustment module, a power PID adjustment module, an actuator, a turbine and a generator connected in sequence, and an adaptive control unit connected to the actuator and the turbine respectively; wherein,

[0006] The frequency feedforward adjustment module is used to perform rate limiting processing on the primary frequency modulation of the unit and send the rate limiting processed instruction to the power PID adjustment module; wherein the primary frequency modulation of the unit is the difference between the given frequency and the frequency feedback signal provided by the generator;

[0007] The power PID adjustment module is used to output a control instruction to the actuator based on the instruction after rate limit processing and the power setting instruction;

[0008] The actuator is used to output a turbine guide vane opening instruction according to the control instruction;

[0009] The adaptive control unit is used to output a water head adaptive control instruction, and after multiplying it with the turbine guide vane opening instruction, the instruction acts on the turbine to control the operation of the turbine.

[0010] Preferably, the adaptive control unit comprises:

[0011] The water head adaptive module is used to output the water head ratio between any water head and the test water head;

[0012] The unit flow adaptive module is used to output the ratio of the unit flow under any water head and the test water head;

[0013] The flow coefficient adaptive module is used to output the ratio of the turbine flow velocity coefficient under any water head and the test water head;

[0014] The adaptive control unit is used to determine the head adaptive control instruction according to the product of the head ratio, the unit flow ratio and the turbine flow rate coefficient ratio.

[0015] Preferably, the unit flow adaptive module outputs the unit flow ratio under any water head and the test water head, including:

[0016]

[0017] Where k is the unit flow ratio; Q 110 is the unit flow rate of the turbine under the test head; Q 111 is the unit flow rate of the turbine under any water head;

[0018] The unit flow rate of the turbine is determined by the following method, including:

[0019]

[0020] Among them, Q 11 is the unit flow of the turbine; Q is the flow rate of the turbine; D is the runner diameter of the turbine; H is the working water head of the turbine; Z is the number of nozzles of a turbine; is the nozzle velocity coefficient; d0 is the jet diameter.

[0021] Preferably, the flow coefficient adaptive module outputs the ratio of the turbine flow velocity coefficient under any water head and the test water head, including:

[0022]

[0023] Where k1 is the turbine velocity coefficient ratio; C v0 C is the velocity coefficient of the turbine under the test head; v1 is the velocity coefficient of the turbine under any water head;

[0024] The flow rate coefficient of the turbine is determined by the following method, including:

[0025]

[0026] Among them, Cv is the velocity coefficient; V is the flow velocity; H is the vertical distance from the center line of the nozzle to the free surface of the container; g is the gravitational acceleration.

[0027] According to another aspect of the present invention, a method for regulating the speed of a hydraulic turbine based on the hydraulic turbine speed regulating system under full water head as described above is provided, the method comprising:

[0028] The frequency feedforward adjustment module is used to perform rate limiting processing on the primary frequency modulation of the unit, and the rate limiting instruction is sent to the power PID adjustment module; wherein the primary frequency modulation of the unit is the difference between the given frequency and the frequency feedback signal provided by the generator;

[0029] The power PID adjustment module outputs the control command to the actuator based on the command processed by the rate limit and the power given command;

[0030] Outputting a turbine guide vane opening instruction according to the control instruction by using an actuator;

[0031] The adaptive control unit is used to output a water head adaptive control instruction, which is multiplied by the turbine guide vane opening instruction and then acts on the turbine to control the operation of the turbine.

[0032] Preferably, the method further comprises:

[0033] The head ratio between the arbitrary head and the test head is output by using the water head adaptive module in the adaptive control unit;

[0034] The unit flow adaptive module in the adaptive control unit is used to output the unit flow ratio under any water head and the test water head;

[0035] The flow coefficient adaptive module in the adaptive control unit is used to output the ratio of the turbine flow velocity coefficient under any water head and the test water head;

[0036] The adaptive control unit is used to determine the head adaptive control instruction according to the product of the head ratio, the unit flow ratio and the turbine flow rate coefficient ratio.

[0037] Preferably, the method of using a unit flow adaptive module in an adaptive control unit to output a unit flow ratio under an arbitrary water head and a test water head comprises:

[0038]

[0039] Where k is the unit flow ratio; Q 110 is the unit flow rate of the turbine under the test head; Q 111 is the unit flow rate of the turbine under any water head;

[0040] The unit flow rate of the turbine is determined by the following method, including:

[0041]

[0042] Among them, Q 11 is the unit flow of the turbine; Q is the flow rate of the turbine; D is the runner diameter of the turbine; H is the working water head of the turbine; Z is the number of nozzles of a turbine; is the nozzle velocity coefficient; d0 is the jet diameter.

[0043] Preferably, the method of using the flow coefficient adaptive module in the adaptive control unit to output the ratio of the turbine flow velocity coefficient under any water head and the test water head comprises:

[0044]

[0045] Where k1 is the turbine velocity coefficient ratio; C v0 C is the velocity coefficient of the turbine under the test head; v1 is the velocity coefficient of the turbine under any water head;

[0046] The flow rate coefficient of the turbine is determined by the following method, including:

[0047]

[0048] Among them, C v is the velocity coefficient; V is the flow velocity; H is the vertical distance from the center line of the nozzle to the free surface of the container; g is the gravitational acceleration.

[0049] The present invention provides a turbine speed control system and a speed control method under full water head, comprising: a frequency feedforward control module, used for performing rate limiting processing on the primary frequency modulation of the unit, and sending the instruction after the rate limiting processing to the power PID control module; wherein the primary frequency modulation of the unit is the difference between a given frequency and a frequency feedback signal provided by the generator; the power PID control module, used for outputting a control instruction to an actuator based on the instruction after the rate limiting processing and the power given instruction; the actuator, used for outputting a turbine guide vane opening instruction according to the control instruction; an adaptive control unit, used for outputting a head adaptive control instruction, and acting on the turbine after multiplying it with the turbine guide vane opening instruction, so as to control the operation of the turbine. The present invention utilizes the correlation between the velocity coefficient and water head of the hydraulic fluid, that is, the hydraulic flow efficiency changes with the change of water head, so that the unit flow efficiency under different water heads is different. The velocity coefficient factor is introduced into the simulation model to improve the refinement of the model. The simulation characteristics of the simulation model taking the velocity coefficient factor into consideration are always consistent with the regulation characteristics of the actual operating unit under full water head, which can effectively solve the problem of the simulation characteristics of the turbine and its regulation system model in the stable calculation to adapt to the regulation characteristics of the actual turbine unit under full water head in real time, and can change according to the change of real-time water head. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] A more complete understanding of exemplary embodiments of the present invention may be obtained by referring to the following drawings:

[0051] Figure 1 It is a structural schematic diagram of a full-water-head turbine speed regulating system 100 according to an embodiment of the present invention;

[0052] Figure 2 A connection structure diagram of a full-water-head hydraulic turbine speed regulating system according to an embodiment of the present invention;

[0053] Figure 3 Flow chart of a method 300 for regulating speed of a hydraulic turbine under full water head according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] Now, exemplary embodiments of the present invention are described with reference to the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to disclose the present invention in detail and completely and to fully convey the scope of the present invention to those skilled in the art. The terms used in the exemplary embodiments shown in the accompanying drawings are not intended to limit the present invention. In the accompanying drawings, the same units / elements are marked with the same reference numerals.

[0055] Unless otherwise specified, the terms (including technical terms) used herein have the commonly understood meanings to those skilled in the art. In addition, it is understood that the terms defined in commonly used dictionaries should be understood to have the same meanings as those in the context of the relevant fields, and should not be understood as idealized or overly formal meanings.

[0056] In order to solve the problem that the simulation model of the hydropower unit in the current power grid stability calculation program does not take into account the hydraulic characteristics, so that the simulation characteristics cannot be consistent with the actual regulation characteristics of the turbine under full water head. The purpose of the present invention is to provide a method for introducing a velocity coefficient parameter into the simulation model based on hydraulic characteristics, so that the simulation characteristics of the simulation model can always keep the regulation characteristics of the unit consistent under full water head.

[0057] Figure 1 FIG. 1 is a schematic structural diagram of a full-water-head turbine speed control system 100 according to an embodiment of the present invention. Figure 1 As shown, the turbine speed control system under full water head provided by the embodiment of the present invention utilizes the correlation between the velocity coefficient of hydraulic fluid and the water head, that is, the hydraulic flow efficiency changes with the change of water head, so that the unit flow efficiency under different water heads is different, and the velocity coefficient factor is introduced into the simulation model to improve the refinement of the model. The simulation characteristics of the simulation model considering the velocity coefficient factor are always consistent with the regulation characteristics of the actual operating unit under full water head, which can effectively solve the problem of the simulation characteristics of the turbine and its regulation system model in the stability calculation to adapt to the regulation characteristics of the actual turbine unit under full water head in real time, and can be changed according to the change of real-time water head. The turbine speed control system 100 under full water head provided by the embodiment of the present invention includes: a frequency feedforward regulation module 101, a power PID regulation module 102, an actuator 103, a turbine 104 and a generator 105 connected in sequence, and an adaptive control unit 106 connected to the actuator and the turbine respectively.

[0058] Preferably, the frequency feedforward adjustment module 101 is used to perform rate limiting processing on the primary frequency regulation of the unit and send the rate limiting processed instruction to the power PID adjustment module; wherein the primary frequency regulation of the unit is the difference between a given frequency and a frequency feedback signal provided by the generator.

[0059] Preferably, the power PID adjustment module 102 is used to output a control instruction to an actuator based on the instruction after rate limiting processing and the power setting instruction.

[0060] Preferably, the actuator 103 is used to output a turbine guide vane opening instruction according to the control instruction.

[0061] Preferably, the adaptive control unit 106 is used to output a water head adaptive control instruction, and after multiplying it with the turbine guide vane opening instruction, the instruction acts on the turbine to control the operation of the turbine.

[0062] Preferably, the adaptive control unit 106 comprises:

[0063] The water head adaptive module is used to output the water head ratio between any water head and the test water head;

[0064] The unit flow adaptive module is used to output the ratio of the unit flow under any water head and the test water head;

[0065] The flow coefficient adaptive module is used to output the ratio of the turbine flow velocity coefficient under any water head and the test water head;

[0066] The adaptive control unit is used to determine the head adaptive control instruction according to the product of the head ratio, the unit flow ratio and the turbine flow rate coefficient ratio.

[0067] Preferably, the unit flow adaptive module outputs the unit flow ratio under any water head and the test water head, including:

[0068]

[0069] Where k is the unit flow ratio; Q 110 is the unit flow rate of the turbine under the test head; Q 111 is the unit flow rate of the turbine under any water head;

[0070] The unit flow rate of the turbine is determined by the following method, including:

[0071]

[0072] Among them, Q 11 is the unit flow of the turbine; Q is the flow rate of the turbine; D is the runner diameter of the turbine; H is the working water head of the turbine; Z is the number of nozzles of a turbine; is the nozzle velocity coefficient; d0 is the jet diameter.

[0073] Preferably, the flow coefficient adaptive module outputs the ratio of the turbine flow velocity coefficient under any water head and the test water head, including:

[0074]

[0075] Where k1 is the turbine velocity coefficient ratio; C v0 C is the velocity coefficient of the turbine under the test head; v1 is the velocity coefficient of the turbine under any water head;

[0076] The flow rate coefficient of the turbine is determined by the following method, including:

[0077]

[0078] Among them, C v is the velocity coefficient; V is the flow velocity; H is the vertical distance from the center line of the nozzle to the free surface of the container; g is the gravitational acceleration.

[0079] Combination Figure 2 As shown, in the present invention, the water turbine is controlled jointly by a water head adaptive module, a unit flow adaptive module and a flow coefficient adaptive module.

[0080] Specifically, the head ratio of any water head and the test water head is output through the water head adaptive module; the unit flow rate ratio under any water head and the test water head is output through the unit flow rate adaptive module; the turbine flow rate coefficient ratio under any water head and the test water head is output through the flow coefficient adaptive module, and the water head adaptive control instruction is determined according to the product of the water head ratio, the unit flow rate ratio and the turbine flow rate coefficient ratio; and the water head adaptive control instruction and the control instruction p output by the actuator are combined. GV Multiply and output the turbine control instruction p GV ′, acts on the turbine, thereby achieving consistency with the regulation characteristics of the actual operating unit under full water head, adapting to the actual regulation characteristics of the turbine unit under full water head in real time, and can change according to the changes in real-time water head.

[0081] Preferably, the unit flow adaptive module outputs the unit flow ratio under any water head and the test water head, including:

[0082]

[0083] Where k is the unit flow ratio; Q 110 is the unit flow rate of the turbine under the test head; Q 111 is the unit flow rate of the turbine under any water head;

[0084] The unit flow rate of the turbine is determined by the following method, including:

[0085]

[0086] Among them, Q 11 is the unit flow of the turbine; Q is the flow rate of the turbine; D is the runner diameter of the turbine; H is the working water head of the turbine; Z is the number of nozzles of a turbine; is the nozzle velocity coefficient; d0 is the jet diameter.

[0087] Preferably, the flow coefficient adaptive module outputs the ratio of the turbine flow velocity coefficient under any water head and the test water head, including:

[0088]

[0089] Where k1 is the turbine velocity coefficient ratio; C v0 C is the velocity coefficient of the turbine under the test head; v1 is the velocity coefficient of the turbine under any water head;

[0090] The flow rate coefficient of the turbine is determined by the following method, including:

[0091]

[0092] Among them, C ν is the velocity coefficient; V is the flow velocity; H is the vertical distance from the center line of the nozzle to the free surface of the container; g is the gravitational acceleration.

[0093] In the present invention, the most critical point of the modeling method of the turbine speed control system under full water head is to introduce the correlation between the velocity coefficient and the water head. When the control parameters remain unchanged, the turbine unit under any water head changes with the change of the water head due to the different fluid efficiency. Introducing the velocity coefficient parameter into the stable calculation simulation model makes the turbine simulation model more perfect, and as the model refinement level increases, its regulation characteristics are more consistent with the actual unit characteristics.

[0094] First, the calculation formula for the unit flow of the turbine is as follows:

[0095]

[0096] Where Q is the flow rate of the turbine, m 3 / s; D is the runner diameter of the turbine, m; H is the working water head of the turbine, m; Z is the number of nozzles of a turbine; is the nozzle velocity coefficient; d0 is the jet diameter, m.

[0097] Assume that the unit flow rate of the turbine under the test head is Q 110 , the unit flow rate of the turbine under any water head is Q 111 , then the unit flow ratio under the two heads is:

[0098]

[0099] Secondly, according to the turbine flow rate equation:

[0100]

[0101] get:

[0102]

[0103] Where V is the flow rate, C ν is the velocity coefficient, H is the vertical distance from the center line of the nozzle to the free surface of the container, and g is the gravitational acceleration.

[0104] Assume that the turbine velocity coefficient under the test head is C ν0 , the turbine velocity coefficient under any water head is C v1 , then the ratio of turbine velocity coefficients under the two water heads is:

[0105]

[0106] Finally, the correction coefficient under any head and the same test head is the product of the ratio of unit flow rate under the two heads, the ratio of turbine velocity coefficient under the two heads and the ratio of the two heads, that is:

[0107]

[0108] In the formula, p GV is the turbine guide vane opening; p GV ′ is the corrected turbine guide vane opening; H1 is the arbitrary water head; H0 is the test water head.

[0109] The speed regulation model provided by the present invention introduces the flow velocity coefficient parameter into the simulation model of the turbine group and its regulation system based on the hydraulic characteristics. According to the time-varying relationship between the flow velocity coefficient and the water head, the simulation characteristics of the turbine model in the power grid stability calculation program are always consistent with the actual characteristics of the turbine under full water head.

[0110] Figure 3 FIG. 3 is a flow chart of a method 300 for regulating the speed of a turbine under full water head according to an embodiment of the present invention. Figure 3 As shown, the turbine speed control method 300 based on the full-head turbine speed control system as described above provided in an embodiment of the present invention starts from step 301. In step 301, the frequency feedforward control module is used to perform rate limiting processing on the primary frequency regulation of the unit, and the rate-limited instruction is sent to the power PID control module; wherein the primary frequency regulation of the unit is the difference between the given frequency and the frequency feedback signal provided by the generator.

[0111] In step 302, a power PID adjustment module is used to output a control instruction to an actuator based on the instruction processed by the rate limit and the power setting instruction.

[0112] In step 303, the actuator is used to output a turbine guide vane opening instruction according to the control instruction.

[0113] In step 304, the adaptive control unit is used to output a water head adaptive control instruction, and the command is multiplied by the turbine guide vane opening instruction and then applied to the turbine to control the operation of the turbine.

[0114] Preferably, the method further comprises:

[0115] The head ratio between the arbitrary head and the test head is output by using the water head adaptive module in the adaptive control unit;

[0116] The unit flow adaptive module in the adaptive control unit is used to output the unit flow ratio under any water head and the test water head;

[0117] The flow coefficient adaptive module in the adaptive control unit is used to output the ratio of the turbine flow velocity coefficient under any water head and the test water head;

[0118] The adaptive control unit is used to determine the head adaptive control instruction according to the product of the head ratio, the unit flow ratio and the turbine flow rate coefficient ratio.

[0119] Preferably, the method of using a unit flow adaptive module in an adaptive control unit to output a unit flow ratio under an arbitrary water head and a test water head comprises:

[0120]

[0121] Where k is the unit flow ratio; Q 110 is the unit flow rate of the turbine under the test head; Q 111 is the unit flow rate of the turbine under any water head;

[0122] The unit flow rate of the turbine is determined by the following method, including:

[0123]

[0124] Among them, Q 11 is the unit flow of the turbine; Q is the flow rate of the turbine; D is the runner diameter of the turbine; H is the working water head of the turbine; Z is the number of nozzles of a turbine; is the nozzle velocity coefficient; d0 is the jet diameter.

[0125] Preferably, the method of using the flow coefficient adaptive module in the adaptive control unit to output the ratio of the turbine flow velocity coefficient under any water head and the test water head comprises:

[0126]

[0127] Where k1 is the turbine velocity coefficient ratio; C v0 C is the velocity coefficient of the turbine under the test head;v1 is the velocity coefficient of the turbine under any water head;

[0128] The flow rate coefficient of the turbine is determined by the following method, including:

[0129]

[0130] Among them, C v is the velocity coefficient; V is the flow velocity; H is the vertical distance from the center line of the nozzle to the free surface of the container; g is the gravitational acceleration.

[0131] The water turbine speed control method 300 under full water head of the embodiment of the present invention corresponds to the water turbine speed control system 100 under full water head of another embodiment of the present invention, which will not be described in detail here.

[0132] The invention has been described above with reference to a few embodiments. However, it is readily apparent to a person skilled in the art that other embodiments than the ones disclosed above are equally within the scope of the invention, as defined by the appended patent claims.

[0133] Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise therein. All references to "a / said / the [means, components, etc.]" are to be openly interpreted as at least one instance of said means, components, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not necessarily have to be performed in the exact order disclosed, unless explicitly stated otherwise.

[0134] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0135] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or 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, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0136] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0137] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A turbine speed control system under full water head, characterized in that: The system comprises: a frequency feedforward adjustment module, a power PID adjustment module, an actuator, a turbine and a generator connected in sequence, and an adaptive control unit connected to the actuator and the turbine respectively; wherein, The frequency feedforward adjustment module is used to perform rate limiting processing on the primary frequency modulation of the unit and send the rate limiting processed instruction to the power PID adjustment module; wherein the primary frequency modulation of the unit is the difference between the given frequency and the frequency feedback signal provided by the generator; The power PID adjustment module is used to output a control instruction to the actuator based on the instruction after rate limit processing and the power setting instruction; The actuator is used to output a turbine guide vane opening instruction according to the control instruction; The adaptive control unit is used to output a water head adaptive control instruction, and after multiplying it with the turbine guide vane opening instruction, the instruction acts on the turbine to control the operation of the turbine.

2. The system according to claim 1, characterized in that The adaptive control unit comprises: The water head adaptive module is used to output the water head ratio between any water head and the test water head; The unit flow adaptive module is used to output the ratio of the unit flow under any water head and the test water head; The flow coefficient adaptive module is used to output the ratio of the turbine flow velocity coefficient under any water head and the test water head; The adaptive control unit is used to determine the head adaptive control instruction according to the product of the head ratio, the unit flow ratio and the turbine flow rate coefficient ratio.

3. The system according to claim 2, characterized in that The unit flow adaptive module outputs the unit flow ratio under any water head and the test water head, including: Where k is the unit flow ratio; Q 110 is the unit flow rate of the turbine under the test head; Q 111 is the unit flow rate of the turbine under any water head; The unit flow rate of the turbine is determined by the following method, including: Among them, Q 11 is the unit flow of the turbine; Q is the flow rate of the turbine; D is the runner diameter of the turbine; H is the working water head of the turbine; Z is the number of nozzles of a turbine; is the nozzle velocity coefficient; d0 is the jet diameter.

4. The system according to claim 2, characterized in that The flow coefficient adaptive module outputs the ratio of the turbine flow velocity coefficient under any water head and the test water head, including: Where k1 is the turbine velocity coefficient ratio; C v0 C is the velocity coefficient of the turbine under the test head; v1 is the velocity coefficient of the turbine under any water head; The flow rate coefficient of the turbine is determined by the following method, including: Among them, C v is the velocity coefficient; V is the flow velocity; H is the vertical distance from the center line of the nozzle to the free surface of the container; g is the gravitational acceleration.

5. A method for regulating the speed of a hydraulic turbine based on the hydraulic turbine speed regulating system under full water head according to any one of claims 1 to 5, characterized in that: The method comprises: The frequency feedforward adjustment module is used to perform rate limiting processing on the primary frequency modulation of the unit, and the rate limiting instruction is sent to the power PID adjustment module; wherein the primary frequency modulation of the unit is the difference between the given frequency and the frequency feedback signal provided by the generator; The power PID adjustment module outputs the control command to the actuator based on the command processed by the rate limit and the power given command; Outputting a turbine guide vane opening instruction according to the control instruction by using an actuator; The adaptive control unit is used to output a water head adaptive control instruction, which is multiplied by the turbine guide vane opening instruction and then acts on the turbine to control the operation of the turbine.

6. The system according to claim 5, characterized in that The method further comprises: The water head adaptive module in the adaptive control unit is used to output the water head ratio between the arbitrary water head and the test water head; The unit flow adaptive module in the adaptive control unit is used to output the unit flow ratio under any water head and the test water head; The flow coefficient adaptive module in the adaptive control unit is used to output the ratio of the turbine flow velocity coefficient under any water head and the test water head; The adaptive control unit is used to determine the water head adaptive control instruction according to the product of the water head ratio, the unit flow ratio and the turbine flow rate coefficient ratio.

7. The system according to claim 6, characterized in that The unit flow adaptive module in the adaptive control unit is used to output the unit flow ratio under any water head and the test water head, including: Where k is the unit flow ratio; Q 110 is the unit flow rate of the turbine under the test head; Q 111 is the unit flow rate of the turbine under any water head; The unit flow rate of the turbine is determined by the following method, including: Among them, Q 11 is the unit flow of the turbine; Q is the flow rate of the turbine; D is the runner diameter of the turbine; H is the working water head of the turbine; Z is the number of nozzles of a turbine; is the nozzle velocity coefficient; d0 is the jet diameter.

8. The system according to claim 6, characterized in that The method of using the flow coefficient adaptive module in the adaptive control unit to output the ratio of the turbine flow velocity coefficient under any water head and the test water head includes: Where k1 is the turbine velocity coefficient ratio; C v0 C is the velocity coefficient of the turbine under the test head; v1 is the velocity coefficient of the turbine under any water head; The flow rate coefficient of the turbine is determined by the following method, including: Among them, C ν is the velocity coefficient; V is the flow velocity; H is the vertical distance from the center line of the nozzle to the free surface of the container; g is the gravitational acceleration.

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