Full-head water turbine speed regulation system and speed regulation method

Abstract

The application discloses a kind of full water head water turbine speed regulation system and speed regulation method, comprising: frequency feedforward adjustment module, for the speed limit processing of unit primary frequency modulation, and the instruction after speed limit processing is sent to power PID adjustment module;Wherein, unit primary frequency modulation is the difference of given frequency and the frequency feedback signal provided by the generator;Power PID adjustment module is used to output control instruction to actuator based on the instruction after speed limit processing and power given instruction;Actuator is used to output water turbine guide vane opening instruction according to the control instruction;Adaptive control unit is used to output water head adaptive control instruction, and after being multiplied with the water turbine guide vane opening instruction, it acts on water turbine to control the water turbine work.The application can effectively solve the real-time adaptation of water turbine and its regulating system model simulation characteristics to actual water turbine unit regulating characteristics in stable calculation simulation characteristics, which can be changed according to the change of real-time water head.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power systems, and more particularly, to a water turbine speed regulation system and method under full water head. BACKGROUND

[0002] A large Francis turbine hydroelectric generating unit has a constantly changing water head during the whole year, and the power control and regulation characteristics of the unit are closely related to the water head. The water turbine speed regulation system model in the comprehensive stability calculation program does not consider the influence of the water head, and assumes that the water head is constant. When the actual water turbine unit is under the same group of power PID control parameters and different water heads, the power regulation characteristics of the water turbine unit are inconsistent, and the regulation characteristics of the unit under high water head are obviously different from those under low water head. This makes the actual control characteristics of the water turbine and its regulation system under full water head greatly different from the model simulation characteristics in the power grid simulation program.

[0003] Therefore, there is a need for a water turbine speed regulation system under full water head, so that the simulation model characteristics are always consistent with the actual water turbine regulation characteristics. SUMMARY

[0004] The present application proposes a water turbine speed regulation system and method under full water head to solve the problem of how to make the water turbine speed regulation system consistent with the regulation characteristics of the actual water turbine.

[0005] In order to solve the above problems, according to one aspect of the present application, a water turbine speed regulation system under full water head is provided, which comprises: a frequency feedforward regulation module, a power PID regulation module, an actuator, a water turbine and a generator connected in sequence, and an adaptive control unit connected with the actuator and the water turbine respectively; wherein,

[0006] The frequency feedforward regulation module is used for rate limiting processing of unit primary frequency modulation, and sending the instruction after rate limiting processing to the power PID regulation module; wherein the unit primary frequency modulation is the difference between the given frequency and the frequency feedback signal provided by the generator;

[0007] The power PID regulation module is used for outputting a control instruction to the actuator based on the instruction after rate limiting processing and a power given instruction;

[0008] The actuator is used for outputting a water turbine guide vane opening degree instruction according to the control instruction;

[0009] The adaptive control unit is used for outputting a water head adaptive control instruction, and multiplying the water head adaptive control instruction with the water turbine guide vane opening degree instruction to act on the water turbine to control the operation of the water turbine.

[0010] Preferably, the adaptive control unit comprises:

[0011] The water head adaptive module is configured to output a water head ratio of an arbitrary water head and a test water head.

[0012] The unit flow adaptive module is configured to output a unit flow ratio of the arbitrary water head and the test water head.

[0013] The flow coefficient adaptive module is configured to output a flow coefficient ratio of the arbitrary water head and the test water head.

[0014] The adaptive control unit is configured to determine the water head adaptive control instruction according to a product of the water head ratio, the unit flow ratio and the flow coefficient ratio.

[0015] Preferably, the unit flow adaptive module outputs the unit flow ratio of the arbitrary water head and the test water head, and includes:

[0016]

[0017] wherein k is the unit flow ratio; Q 110 is the unit flow of the hydraulic turbine under the test water head; Q 111 is the unit flow of the hydraulic turbine under the arbitrary water head.

[0018] The unit flow of the hydraulic turbine is determined by using the following method, and includes:

[0019]

[0020] wherein Q 11 is the unit flow of the hydraulic turbine; Q is the excess flow of the hydraulic turbine; D is the runner diameter of the hydraulic turbine; H is the working water head of the hydraulic turbine; and Z is the number of nozzles of the hydraulic turbine. is the nozzle flow coefficient; and d0 is the jet diameter.

[0021] Preferably, the flow coefficient adaptive module outputs the flow coefficient ratio of the arbitrary water head and the test water head, and includes:

[0022]

[0023] wherein k1 is the flow coefficient ratio of the hydraulic turbine; C v0 is the flow coefficient of the hydraulic turbine under the test water head; C v1 is the flow coefficient of the hydraulic turbine under the arbitrary water head.

[0024] The flow coefficient of the hydraulic turbine is determined by using the following method, and includes:

[0025]

[0026] wherein Cv is the flow 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; and g is the acceleration of gravity.

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

[0028] The frequency feedforward regulating module is used to limit the rate of primary frequency modulation of the unit, and the instruction after the rate limiting processing is sent to the power PID regulating 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 regulating module is used to output a control instruction to the actuator based on the instruction after the rate limiting processing and the power given instruction;

[0030] The actuator is used to output a guide vane opening instruction of the hydraulic turbine according to the control instruction;

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

[0032] Preferably, the method further comprises:

[0033] The water head adaptive module in the adaptive control unit is used to output the water head ratio of the arbitrary water head and the test water head;

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

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

[0036] 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 flow velocity coefficient ratio.

[0037] Preferably, the unit flow adaptive module in the adaptive control unit is used to output the unit flow ratio of the arbitrary water head and the test water head, comprising:

[0038]

[0039] wherein k is the unit flow ratio; Q 110 is the unit flow of the hydraulic turbine at the test water head; Q 111 is the unit flow of the hydraulic turbine at the arbitrary water head;

[0040] Wherein, the unit flow of the water turbine is determined by using the following method, comprising:

[0041]

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

[0043] Preferably, wherein the flow coefficient adaptive module in the adaptive control unit outputs the water turbine flow velocity coefficient ratio under any water head and test water head, comprising:

[0044]

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

[0046] Wherein, the flow velocity coefficient of the water turbine is determined by using the following method, comprising:

[0047]

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

[0049] The application provides a water turbine speed regulation system and method under full water head, comprising: a frequency feedforward regulation module, which is used for speed limit processing of unit primary frequency regulation and sending the instruction after the speed limit processing to a power PID regulation module; wherein the unit primary frequency regulation is the difference between a given frequency and a frequency feedback signal provided by the generator; the power PID regulation module is used for outputting a control instruction to an actuator based on the instruction after the speed limit processing and a power given instruction; the actuator is used for outputting a water turbine guide vane opening degree instruction according to the control instruction; and an adaptive control unit is used for outputting a water head adaptive control instruction and multiplying the water head adaptive control instruction with the water turbine guide vane opening degree instruction to act on the water turbine to control the water turbine operation. The application utilizes the correlation between the water flow coefficient and the water head, the water flow efficiency changes with the water head, so that the unit flow effect is different under different water heads, the flow coefficient factor is introduced into the simulation model to improve the refinement degree of the model, the simulation characteristics of the simulation model considering the flow coefficient factor are always consistent with the regulation characteristics of the actual operation unit under full water head, and the simulation characteristics of the water turbine and the regulation system model can be adapted to the regulation characteristics of the actual water turbine unit under full water head in real time, and can be changed according to the real-time water head. BRIEF DESCRIPTION OF DRAWINGS

[0050] The exemplary embodiments of the present application can be more fully understood with reference to the accompanying drawings, in which:

[0051] Figure 1 FIG. 1 is a structural schematic diagram of a water turbine speed regulation system under full water head according to an embodiment of the application;

[0052] Figure 2 FIG. 2 is a connection structural diagram of a water turbine speed regulation system under full water head according to an embodiment of the application;

[0053] Figure 3 FIG. 3 is a flow chart of a water turbine speed regulation method under full water head according to an embodiment of the application. DETAILED DESCRIPTION

[0054] The exemplary embodiments of the present application will now be described with reference to the accompanying drawings. The present application can, however, be carried out in many different ways, and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the application to those skilled in the art. The terminology used in the description of the exemplary embodiments herein is not intended to be limiting. Identical elements in the exemplary embodiments shown in the drawings are designated by identical reference numerals.

[0055] The terms used herein, including technical terms, have meanings commonly understood by those skilled in the art, unless otherwise specified. In addition, it is understood that the terms defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and not be interpreted in an idealized or overly formal sense unless otherwise indicated herein.

[0056] To solve the problem that the simulation model of the hydroelectric generating set in the current power grid stability calculation program does not consider the water conservancy characteristics factor, so that the simulation characteristics cannot be consistent with the actual regulating characteristics of the water turbine under the full water head. The purpose of the present application is to provide a method for introducing a flow velocity coefficient parameter variable into the simulation model based on the water conservancy characteristics, which can make the simulation characteristics of the simulation model always consistent with the regulating characteristics of the unit under the full water head.

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

[0058] Preferably, the frequency feedforward regulation module 101 is used for rate limiting processing of the unit primary frequency modulation, and sends the instruction after the rate limiting processing to the power PID regulation module; wherein the unit primary frequency modulation is the difference between the given frequency and the frequency feedback signal provided by the generator.

[0059] Preferably, the power PID regulation module 102 is used for outputting a control instruction to the actuator based on the instruction after the rate limiting processing and the power given instruction.

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

[0061] Preferably, the adaptive control unit 106 is configured to output a water head adaptive control instruction, and multiply the water head adaptive control instruction with the guide vane opening degree instruction to control the operation of the water turbine.

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

[0063] The water head adaptive module is configured to output a water head ratio of an arbitrary water head to a test water head.

[0064] The unit discharge adaptive module is configured to output a unit discharge ratio of the arbitrary water head to the test water head.

[0065] The flow coefficient adaptive module is configured to output a flow coefficient ratio of the arbitrary water head to the test water head.

[0066] The adaptive control unit is configured to determine the water head adaptive control instruction according to a product of the water head ratio, the unit discharge ratio, and the flow coefficient ratio.

[0067] Preferably, the unit discharge adaptive module is configured to output the unit discharge ratio of the arbitrary water head to the test water head, and comprises:

[0068]

[0069] wherein k is the unit discharge ratio; Q 110 is the unit discharge of the water turbine under the test water head; Q 111 is the unit discharge of the water turbine under the arbitrary water head.

[0070] Preferably, the unit discharge of the water turbine is determined by the following method, and comprises:

[0071]

[0072] wherein Q 11 is the unit discharge of the water turbine; Q is the excess discharge of the water turbine; D is the runner diameter of the water turbine; H is the working water head of the water turbine; and Z is the number of nozzles of the water turbine. is the flow coefficient of the nozzle; and d0 is the jet diameter.

[0073] Preferably, the flow coefficient adaptive module is configured to output the flow coefficient ratio of the arbitrary water head to the test water head, and comprises:

[0074]

[0075] wherein k1 is the flow coefficient ratio of the water turbine; C v0 is the flow coefficient of the water turbine under the test water head; C v1 is the flow coefficient of the water turbine under the arbitrary water head.

[0076] wherein the flow velocity coefficient of the water turbine is determined by the following method, comprising:

[0077]

[0078] wherein C v is the flow 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 acceleration of gravity.

[0079] As shown in Figure 2 the application, the water turbine is controlled by the water head adaptive module, the unit flow adaptive module and the flow coefficient adaptive module.

[0080] Specifically, the water head adaptive module outputs the water head ratio of any water head to the test water head; the unit flow adaptive module outputs the unit flow ratio of any water head to the test water head; the flow coefficient adaptive module outputs the flow coefficient ratio of any water head to the test water head of the water turbine, and determines the water head adaptive control instruction according to the product of the water head ratio, the unit flow ratio and the flow coefficient ratio of the water turbine; then the water head adaptive control instruction and the control instruction p GV output by the actuator are multiplied, and the water turbine control instruction p GV ′ is output to act on the water turbine, so that the adjustment characteristics of the actual operating unit under the full water head are always consistent, the real-time adjustment characteristics of the actual water turbine unit under the full water head are adapted, and the water turbine can be changed according to the change of the real-time water head.

[0081] Preferably, the unit flow adaptive module outputs the unit flow ratio of any water head to the test water head, comprising:

[0082]

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

[0084] wherein the unit flow of the water turbine is determined by the following method, comprising:

[0085]

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

[0087] Preferably, wherein the flow coefficient adaptive module, output any water head and test water head under the turbine flow coefficient ratio, comprising:

[0088]

[0089] Wherein, k1 is the flow coefficient ratio of the turbine; C v0 is the flow coefficient of the turbine under test water head; C v1 is the flow coefficient of the turbine under any water head;

[0090] Wherein, the flow coefficient of the turbine is determined by using the following method, comprising:

[0091]

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

[0093] In the present application, the most critical point of the modeling method of the full water head turbine governing system model is to introduce the correlation between the flow coefficient and the water head. Under the condition that the control parameters are unchanged, the actual unit regulating characteristics change with the water head due to the difference of fluid efficiency. The introduction of the flow coefficient parameter variable into the stability calculation simulation model makes the turbine simulation model more perfect, and with the improvement of the model refinement degree, the regulating characteristics are more consistent with the actual unit characteristics.

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

[0095]

[0096] In the formula, 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 flow coefficient; d0 is the jet diameter, m.

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

[0098]

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

[0100]

[0101] Get:

[0102]

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

[0104] Assuming that the flow rate coefficient of the water turbine under the test water head is C ν0 , the flow rate coefficient of the water turbine under the arbitrary water head is C v1 , the ratio of the flow rate coefficients of the water turbine under the two water heads is:

[0105]

[0106] Finally, the correction coefficient under the arbitrary water head relative to the test water head is the product of the ratio of the unit flow rates under the two water heads, the ratio of the flow rate coefficients of the water turbine under the two water heads, and the ratio of the two water heads, that is:

[0107]

[0108] In the formula, p GV is the opening degree of the guide vane of the water turbine, p GV ' is the corrected opening degree of the guide vane of the water turbine, H1 is the arbitrary water head, and H0 is the test water head.

[0109] The speed regulation model provided by the application introduces the flow rate coefficient variable into the simulation model of the water turbine unit and its regulation system based on the water conservancy characteristics, and according to the time variation of the relationship between the flow rate coefficient and the water head, the simulation characteristics of the water turbine model in the power grid stability calculation program and the actual characteristics of the water turbine are always consistent under the full water head.

[0110] Figure 3 is a flow chart of the water turbine speed regulation method 300 under the full water head according to the embodiment of the application. As Figure 3 indicated, the water turbine speed regulation method 300 based on the water turbine speed regulation system under the full water head provided by the embodiment of the application starts from step 301, in step 301, the frequency feedforward regulation module is used to perform rate limiting processing on the unit primary frequency regulation, and the instruction after the rate limiting processing is sent to the power PID regulation module; wherein the unit primary frequency regulation is the difference between the given frequency and the frequency feedback signal provided by the generator.

[0111] In step 302, the power PID regulation module is used to output a control instruction to the actuator based on the instruction after the rate limiting processing and the power given instruction.

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

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

[0114] Preferably, the method further comprises:

[0115] The water head ratio of any water head to the test water head is output by a water head adaptive module in the adaptive control unit.

[0116] The unit flow ratio of any water head to the test water head is output by a unit flow adaptive module in the adaptive control unit.

[0117] The flow coefficient ratio of any water head to the test water head is output by a flow coefficient adaptive module in the adaptive control unit.

[0118] The water head adaptive control instruction is determined by the adaptive control unit according to the product of the water head ratio, the unit flow ratio and the flow coefficient ratio of the water turbine.

[0119] Preferably, the unit flow adaptive module in the adaptive control unit outputs the unit flow ratio of any water head to the test water head, comprising:

[0120]

[0121] wherein k is the unit flow ratio; Q 110 is the unit flow of the water turbine at the test water head; Q 111 is the unit flow of the water turbine at any water head;

[0122] wherein the unit flow of the water turbine is determined by the following method, comprising:

[0123]

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

[0125] Preferably, the flow coefficient adaptive module in the adaptive control unit outputs the flow coefficient ratio of any water head to the test water head, comprising:

[0126]

[0127] wherein k1 is the flow coefficient ratio of the water turbine; C v0 is the flow coefficient of the water turbine at the test water head; Cv1 to determine the flow velocity coefficient of the water turbine, comprising:

[0128] to determine the flow velocity coefficient of the water turbine, comprising:

[0129]

[0130] wherein C v is the flow 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; and g is the acceleration of gravity.

[0131] The full water head water turbine speed regulating method 300 of the embodiment of the present application corresponds to the full water head water turbine speed regulating system 100 of another embodiment of the present application, which will not be described here again.

[0132] The present application has been described with reference to a number of embodiments. However, those skilled in the art will recognize that other embodiments than those specifically described herein are equally possible within the scope of the present application, as defined by the appended claims.

[0133] In general, all terms used herein are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a" or "an" means "at least one" unless otherwise clearly indicated by the context of the disclosure. The steps of any methods disclosed herein need not be performed in the exact order disclosed, unless explicitly stated.

[0134] As will be appreciated by one skilled in the art, embodiments of the present application can be comprised of a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer program code thereon for use by or in connection with an instruction execution system. For the purposes of this description, a computer-usable or computer readable storage medium can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

[0135] The present application is described herein with reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing system or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. These computer program instructions can also be stored in a computer-usable or computer-readable storage medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-usable or computer-readable storage medium produce an article of manufacture including instructions which implement the function specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more flowcharts and / or blocksFigure 1 means for performing the function specified in the block or blocks.

[0136] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 flow or flows and / or blocks Figure 1 means for performing the function specified in the block or blocks.

[0137] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 flow or flows and / or blocks Figure 1 steps for performing the function specified in the block or blocks.

[0138] Finally, it should be noted that the above-mentioned embodiments are merely intended to illustrate the technical solutions of the present application, rather than limit the same. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and any modification or replacement without departing from the spirit and scope of the present application should be covered within the protection scope of the claims of the present application.

Claims

1. A speed regulation system for a hydraulic turbine operating at full head, characterized in that, The system comprises a frequency feedforward adjustment module, a power PID adjustment module, an actuator, a water turbine and a generator connected in sequence, and an adaptive control unit connected with the actuator and the water turbine respectively. The frequency feedforward adjustment module is configured to perform rate limiting processing on unit primary frequency regulation and send an instruction after the rate limiting processing to the power PID adjustment module; the unit primary frequency regulation is a difference between a given frequency and a frequency feedback signal provided by the generator. The power PID adjustment module is configured to output a control instruction to the actuator based on the instruction after the rate limiting processing and a power given instruction. The actuator is configured to output a water turbine guide vane opening degree instruction according to the control instruction. The adaptive control unit is configured to output a water head adaptive control instruction and multiply the water head adaptive control instruction with the water turbine guide vane opening degree instruction to act on the water turbine to control the water turbine. The adaptive control unit comprises: a water head adaptive module configured to output a water head ratio of an arbitrary water head to a test water head; a unit flow adaptive module configured to output a unit flow ratio of the arbitrary water head to the test water head; a flow coefficient adaptive module configured to output a water turbine flow coefficient ratio of the arbitrary water head to the test water head; and the adaptive control unit configured to determine the water head adaptive control instruction according to a product of the water head ratio, the unit flow ratio and the water turbine flow coefficient ratio.

2. The system of claim 1, wherein, The unit flow adaptive module outputs the unit flow ratio of the arbitrary water head to the test water head, and the unit flow of the water turbine is determined by the following method: where k is the specific flow rate ratio; Q 110 is the specific flow rate of the water turbine under the test water head; Q 111 is the specific flow rate of the water turbine under an arbitrary water head; The flow coefficient adaptive module outputs the water turbine flow coefficient ratio of the arbitrary water head to the test water head, and the flow coefficient of the water turbine is determined by the following method: wherein Q 11 is the specific discharge of the turbine; Q is the discharge of the turbine; D is the runner diameter of the turbine; H is the working head of the turbine; and Z is the number of nozzles of a turbine; is the nozzle velocity coefficient; and d0 is the jet diameter.

3. The system of claim 1, wherein, The method comprises: wherein k1 is the water turbine flow velocity coefficient ratio; C v0 is the flow velocity coefficient of the water turbine under the test water head; C v1 is the flow velocity coefficient of the water turbine under an arbitrary water head; performing rate limiting processing on unit primary frequency regulation by using the frequency feedforward adjustment module and sending an instruction after the rate limiting processing to the power PID adjustment module; the unit primary frequency regulation is a difference between a given frequency and a frequency feedback signal provided by the generator; where C v is the flow rate coefficient; V is the flow rate; H is the vertical distance from the centerline of the nozzle to the free surface of the vessel; and g is the acceleration due to gravity.

4. A method of governing a hydraulic turbine based on the hydraulic turbine governing system according to any one of claims 1 to 3, characterized in that outputting a control instruction to the actuator by using the power PID adjustment module based on the instruction after the rate limiting processing and a power given instruction; outputting a water turbine guide vane opening degree instruction according to the control instruction by using the actuator; outputting a water head adaptive control instruction by using the adaptive control unit and multiplying the water head adaptive control instruction with the water turbine guide vane opening degree instruction to act on the water turbine to control the water turbine. The method further comprises: outputting a water head ratio of an arbitrary water head to a test water head by using a water head adaptive module in the adaptive control unit; outputting a unit flow ratio of the arbitrary water head to the test water head by using a unit flow adaptive module in the adaptive control unit; outputting a water turbine flow coefficient ratio of the arbitrary water head to the test water head by using a flow coefficient adaptive module in the adaptive control unit; and determining the water head adaptive control instruction according to a product of the water head ratio, the unit flow ratio and the water turbine flow coefficient ratio by using the adaptive control unit. ​ ​ 5. The system of claim 4, wherein, The unit flow adaptive module in the adaptive control unit outputs the unit flow ratio at any water head and test water head, comprising: where k is the specific flow rate ratio; Q 110 is the specific flow rate of the water turbine under the test water head; Q 111 is the specific flow rate of the water turbine under an arbitrary water head; The unit flow of the water turbine is determined by using the following method, comprising: wherein Q 11 is the specific discharge of the turbine; Q is the discharge of the turbine; D is the runner diameter of the turbine; H is the working head of the turbine; and Z is the number of nozzles of a turbine; is the nozzle velocity coefficient; and d0 is the jet diameter.

6. The system of claim 4, wherein, The flow coefficient adaptive module in the adaptive control unit outputs the flow coefficient ratio of the water turbine at any water head and test water head, comprising: wherein k1 is the water turbine flow velocity coefficient ratio; C v0 is the flow velocity coefficient of the water turbine under the test water head; C v1 is the flow velocity coefficient of the water turbine under an arbitrary water head; The flow coefficient of the water turbine is determined by using the following method, comprising: where C v is the flow rate coefficient; V is the flow rate; H is the vertical distance from the centerline of the nozzle to the free surface of the vessel; and g is the acceleration due to gravity.

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