A method and device for primary frequency modulation control of a waste power generating unit

Abstract

The present application provides a kind of refuse generator unit primary frequency modulation control method and device, method includes the following steps: collecting actual frequency and rated frequency of power grid, judge refuse generator unit primary frequency modulation system state;Through refuse generator unit operating data, refuse generator unit primary frequency modulation system parameter is identified;Based on frequency deviation, get the opening degree instruction of regulating valve;According to the state of refuse generator unit primary frequency modulation system, based on state observer and control law, get the opening degree of oil motor;The actual value of oil motor opening degree is through limiter, and the opening degree of regulating valve is obtained;Complete refuse generator unit primary frequency modulation control.The present application can provide control algorithm support for the optimization of refuse generator unit primary frequency modulation, and provide support for the frequency regulation of refuse generator unit supporting power grid.

Description

Technical Field

[0001] This invention relates to the field of thermal power plant automation control, and more particularly to a primary frequency regulation control method and device for waste-to-energy generator sets. Background Technology

[0002] my country's electricity load is increasingly characterized by a dual peak season in summer and winter, with summer cooling and winter heating loads accounting for a growing proportion. In some provinces, summer cooling loads account for 40%-50%, or even more than 50%, of peak electricity load, leading to a tight balance between supply and demand. The randomness, uncertainty, and transient nature of renewable energy sources such as wind and solar power, which are dependent on weather conditions, further exacerbates the already challenging situation of ensuring electricity supply. Waste-to-energy plants, with their advantages in consuming municipal solid waste and their ability to handle short-term peak loads, are gradually playing a role in managing peak summer and winter demand.

[0003] Grid frequency is a crucial indicator of power system operational quality. Frequency changes occur when there is a momentary imbalance between power generation and load demand in the power system. Without effective primary frequency regulation control, even minor power imbalances can lead to significant frequency fluctuations. Waste-to-energy incineration plants operate on the same principle as thermal power plants, and thus suffer from the slow response speed issues common to thermal power plants when responding to primary frequency regulation, posing a threat to the power quality and reliability of local power supply. However, current research on primary frequency regulation control in waste-to-energy plants is limited, lacking both theoretical and engineering studies.

[0004] Therefore, there is a need to provide a control algorithm to support the primary frequency regulation optimization of waste-to-energy generator sets and to provide support for the grid frequency regulation of waste-to-energy generator sets. Summary of the Invention

[0005] The purpose of this invention is to optimize the primary frequency regulation control of waste-to-energy generator sets by providing a method and apparatus for primary frequency regulation control of waste-to-energy generator sets.

[0006] In a first aspect, the present invention provides a primary frequency regulation control method for a waste-to-energy generator set, comprising the following steps:

[0007] 1) Collect the actual frequency f of the power grid g and rated frequency f gei Calculate the actual frequency f of the power grid g With the rated frequency f gei Frequency deviation P between CV Define frequency deviation P CV Exceeding the given value Δf s When in startup state, frequency deviation P CV Less than the given value Δf e The current state is the end state:

[0008]

[0009] 2) The hydraulic actuator start-up delay time DT was identified through the operating data of the waste-to-energy generator set. o DT, the delay time for the oil motor to shut off c 1. Oil motor opening time constant T o Oil motor shut-off time constant T c 1. Hydraulic motor opening coefficient (VEL) open Oil motor shut-off coefficient VEL close The maximum output power P of the steam turbine MAX Minimum output power P of steam turbine MIN The time constant T measured by the valve opening sensor LVDT ;

[0010] 3) For the actual frequency f of the power grid g With the rated frequency f gei The frequency deviation between them is used to calculate the valve opening command P using a piecewise linear function. GV :

[0011] P GV =g(f g -f gei (2)

[0012] In formula (2), g(.) is a broken-line function;

[0013] 4) When the state is in the start state, after the hydrant motor start delay time DT... o Then, the frequency deviation P CV With the opening degree P GV Simultaneously, the data is sent to the controller for state estimation and subsequent calculation of the hydrator opening degree;

[0014] When the state is the end state, after the oil motor shutdown delay time DT has elapsed. c Then, the frequency deviation P CV With the opening degree P GV Simultaneously, the data is sent to the controller for state estimation and subsequent calculation of the hydrator opening degree;

[0015] The following state observer is used to estimate the state of the primary frequency modulation system:

[0016] (3)

[0017] In formula (3), u is the actual value of the hydraulic actuator opening. For state observer gain; This refers to the state of a primary frequency modulation system;

[0018] The following control law is used to calculate the next step of the hydraulic actuator opening:

[0019]

[0020] In formula (4), k is the gain of the control law;

[0021] 5) The actual value of the hydrator opening u is limited by a limiter to obtain the limited hydrator opening u. a The upper limit of the amplitude is the throttle motor opening coefficient VEL. open The lower limit is the hydrator shut-off coefficient VEL. close :

[0022]

[0023] 6) When the state is in the start-up state, after the hydraulic actuator opening time constant T o Then, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening P. GV1 :

[0024]

[0025] When the state is the final state, after the oil actuator shut-off time constant T c Then, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening P. GV2 :

[0026]

[0027] 7) Based on the operating status, and using the valve opening P obtained in step 6), GV1 P GV2 Adjusting the opening of the regulating valve enables primary frequency regulation control of the waste-to-energy generator set.

[0028]

[0029] In a second aspect, the present invention provides a primary frequency regulation control system for a waste-to-energy generator set, comprising:

[0030] The acquisition module is used to acquire the actual frequency f of the power grid. g and rated frequency f gei ;

[0031] The calculation and judgment module, connected to the acquisition module, is used to calculate the actual frequency f of the power grid. g With the rated frequency f gei Frequency deviation P between CV And according to the frequency deviation P CV Determine the state; where,

[0032] Define frequency deviation P CV Exceeding the given value Δf s When in startup state, frequency deviation P CV Less than the given value Δf e The current state is the end state:

[0033]

[0034] The identification module is used to identify the hydraulic actuator start-up delay time DT based on the operating data of the waste-to-energy generator set. o DT, the delay time for the oil motor to shut off c 1. Oil motor opening time constant T o Oil motor shut-off time constant T c 1. Hydraulic motor opening coefficient (VEL) open Oil motor shut-off coefficient VEL close The maximum output power P of the steam turbine MAX Minimum output power P of steam turbine MIN The time constant T measured by the valve opening sensor LVDT ;

[0035] The valve opening command calculation module, connected to the calculation and judgment module, is used to calculate and obtain the valve opening command; among which, the actual power grid frequency f... g With the rated frequency f gei The frequency deviation between them is used to calculate the valve opening command P using a piecewise linear function. GV :

[0036] P GV =g(f g -f gei (2)

[0037] In formula (2), g(.) is a broken-line function;

[0038] The hydraulic actuator opening degree calculation module, connected to both the calculation and judgment module and the valve opening degree command calculation module, is used to calculate the hydraulic actuator opening degree, including:

[0039] When the state is "start", after the hydrator start delay time DT... o Then, the frequency deviation P CV With the opening degree P GV Simultaneously, the data is sent to the controller for state estimation and subsequent calculation of the hydrator opening degree;

[0040] When the state is the end state, after the oil motor shutdown delay time DT has elapsed. c Then, the frequency deviation P CV With the opening degree P GVSimultaneously, the data is sent to the controller for state estimation and subsequent calculation of the hydrator opening degree;

[0041] The following state observer is used to estimate the state of the primary frequency modulation system:

[0042]

[0043] In formula (3), u is the actual value of the hydraulic actuator opening. For state observer gain; This refers to the state of a primary frequency modulation system;

[0044] The following control law is used to calculate the next step of the hydraulic actuator opening:

[0045]

[0046] In formula (4), k is the gain of the control law;

[0047] The limiting module is used to limit the actual value u of the hydrator opening to obtain a limited hydrator opening u. a The upper limit of the amplitude is the throttle motor opening coefficient VEL. open The lower limit is the hydrator shut-off coefficient VEL. close :

[0048]

[0049] The regulating valve opening calculation module, connected to the limiting module, is used to calculate the regulating valve opening based on the status, including:

[0050] When the state is in the start-up state, after the hydrator opening time constant T o Then, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening P. GV1 :

[0051]

[0052] When the state is the final state, after the oil actuator shut-off time constant T c Then, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening P. GV2 :

[0053]

[0054] The adjustment module, connected to the valve opening calculation module, is used to adjust the valve opening P based on the operating status. GV1 P GV2 Adjusting the opening of the regulating valve enables primary frequency regulation control of the waste-to-energy generator set.

[0055]

[0056] Thirdly, the present invention provides a primary frequency regulation control device for a waste-to-energy generator set, comprising:

[0057] One or more processors;

[0058] Memory, used to store one or more programs.

[0059] When the one or more programs are executed by the one or more processors, the one or more processors perform the steps of the primary frequency regulation control method for waste generator sets as described above.

[0060] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the primary frequency regulation control method for waste generator sets as described above.

[0061] This invention has outstanding substantive features and significant progress compared to the prior art, specifically:

[0062] (a) By adopting the method of the present invention, the state of the primary frequency modulation system can be estimated in real time through the proposed state observer, and then the precise action of the hydrator opening can be achieved through the compensation control law, which has the advantages of fast adjustment speed and small overshoot.

[0063] (b) The method of the present invention can achieve correct adjustment of the tuning gate opening through state judgment and limiter constraint, thus ensuring the safety of the first frequency modulation operation. Attached Figure Description

[0064] Figure 1 This is a block diagram illustrating the implementation of the method of the present invention. Detailed Implementation

[0065] 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.

[0066] Example 1

[0067] This embodiment proposes a primary frequency regulation control method for waste-to-energy generator sets, such as... Figure 1 As shown, it includes the following steps:

[0068] 1) Collect the actual frequency f of the power grid g and rated frequency f gei Calculate the actual frequency f of the power grid g With the rated frequency f gei Frequency deviation P betweenCV Define frequency deviation P CV Exceeding the given value Δf s When in startup state, frequency deviation P CV Less than the given value Δf e The current state is the end state:

[0069]

[0070] 2) The hydraulic actuator start-up delay time DT was identified through the operating data of the waste-to-energy generator set. o DT, the delay time for the oil motor to shut off c 1. Oil motor opening time constant T o Oil motor shut-off time constant T c 1. Hydraulic motor opening coefficient (VEL) open Oil motor shut-off coefficient VEL close The maximum output power P of the steam turbine MAX Minimum output power P of steam turbine MIN The time constant T measured by the valve opening sensor LVDT ;

[0071] 3) For the actual frequency f of the power grid g With the rated frequency f gei The frequency deviation between them is used to calculate the valve opening command P using a piecewise linear function. GV :

[0072] P GV =g(f g -f gei (2)

[0073] In formula (2), g(.) is a broken-line function;

[0074] 4) When the state is in the start state, after the hydrant motor start delay time DT... o Then, the frequency deviation P CV With the opening degree P GV Simultaneously, the data is sent to the controller for state estimation and subsequent calculation of the hydrator opening degree;

[0075] When the state is the end state, after the oil motor shutdown delay time DT has elapsed. c Then, the frequency deviation P CV With the opening degree P GV Simultaneously, the data is sent to the controller for state estimation and subsequent calculation of the hydrator opening degree;

[0076] The following state observer is used to estimate the state of the primary frequency modulation system:

[0077]

[0078] In formula (3), u is the actual value of the hydraulic actuator opening. For state observer gain; This refers to the state of a primary frequency modulation system;

[0079] The following control law is used to calculate the next step of the hydraulic actuator opening:

[0080]

[0081] In formula (4), k is the gain of the control law;

[0082] 5) The actual value of the hydrator opening u is limited by a limiter to obtain the limited hydrator opening u. a The upper limit of the amplitude is the throttle motor opening coefficient VEL. open The lower limit is the hydrator shut-off coefficient VEL. close :

[0083]

[0084] 6) When the state is in the start-up state, after the hydraulic actuator opening time constant T o Then, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening P. GV1 :

[0085]

[0086] When the state is the final state, after the oil actuator shut-off time constant T c Then, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening P. GV2 :

[0087]

[0088] 7) Based on the operating status, and using the valve opening P obtained in step 6), GV1 P GV2 Adjusting the opening of the regulating valve enables primary frequency regulation control of the waste-to-energy generator set.

[0089]

[0090] Example 2

[0091] This embodiment provides a primary frequency regulation control system for a waste-to-energy generator set, such as... Figure 1 As shown, it includes:

[0092] The acquisition module is used to acquire the actual frequency f of the power grid. g and rated frequency f gei;

[0093] The calculation and judgment module, connected to the acquisition module, is used to calculate the actual frequency f of the power grid. g With the rated frequency f gei Frequency deviation P between CV And according to the frequency deviation P CV Determine the state; where,

[0094] Define frequency deviation P CV Exceeding the given value Δf s When in startup state, frequency deviation P CV Less than the given value Δf e The current state is the end state:

[0095]

[0096] The identification module is used to identify the hydraulic actuator start-up delay time DT based on the operating data of the waste-to-energy generator set. o DT, the delay time for the oil motor to shut off c 1. Oil motor opening time constant T o Oil motor shut-off time constant T c 1. Hydraulic motor opening coefficient (VEL) open Oil motor shut-off coefficient VEL close The maximum output power P of the steam turbine MAX Minimum output power P of steam turbine MIN The time constant T measured by the valve opening sensor LVDT ;

[0097] The valve opening command calculation module, connected to the calculation and judgment module, is used to calculate and obtain the valve opening command; among which, the actual power grid frequency f... g With the rated frequency f gei The frequency deviation between them is used to calculate the valve opening command P using a piecewise linear function. GV :

[0098] P GV =g(f g -f gei (2)

[0099] In formula (2), g(.) is a broken-line function;

[0100] The hydraulic actuator opening degree calculation module, connected to both the calculation and judgment module and the valve opening degree command calculation module, is used to calculate the hydraulic actuator opening degree, including:

[0101] When the state is "start", after the hydrator start delay time DT... o Then, the frequency deviation P CV With the opening degree PGV Simultaneously, the data is sent to the controller for state estimation and subsequent calculation of the hydrator opening degree;

[0102] When the state is the end state, after the oil motor shutdown delay time DT has elapsed. c Then, the frequency deviation P CV With the opening degree P GV Simultaneously, the data is sent to the controller for state estimation and subsequent calculation of the hydrator opening degree;

[0103] The following state observer is used to estimate the state of the primary frequency modulation system:

[0104]

[0105] In formula (3), u is the actual value of the hydraulic actuator opening. For state observer gain; This refers to the state of a primary frequency modulation system;

[0106] The following control law is used to calculate the next step of the hydraulic actuator opening:

[0107]

[0108] In formula (4), k is the gain of the control law;

[0109] The limiting module is used to limit the actual value u of the hydrator opening to obtain a limited hydrator opening u. a The upper limit of the amplitude is the throttle motor opening coefficient VEL. open The lower limit is the hydrator shut-off coefficient VEL. close :

[0110]

[0111] The regulating valve opening calculation module, connected to the limiting module, is used to calculate the regulating valve opening based on the status, including:

[0112] When the state is in the start-up state, after the hydrator opening time constant T o Then, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening P. GV1 :

[0113]

[0114] When the state is the final state, after the oil actuator shut-off time constant T c Then, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening P. GV2 :

[0115]

[0116] The adjustment module, connected to the valve opening calculation module, is used to adjust the valve opening P based on the operating status. GV1 P GV2 Adjusting the opening of the regulating valve enables primary frequency regulation control of the waste-to-energy generator set.

[0117]

[0118] Example 3

[0119] In Example 2, each module in the system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of the computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0120] In an exemplary embodiment, a primary frequency regulation control device for a waste-to-energy generator set is provided, the computer device being a terminal. The computer device further includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used for exchanging information between the processor and external devices. The communication interface of the computer device is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements the steps of the primary frequency regulation control method for the waste-to-energy generator set. The display unit of the computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0121] Those skilled in the art will understand that the structure of the computer device described above is only a partial structure related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. A specific computer device may include more or fewer components, or combine certain components, or have different component arrangements.

[0122] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps of a primary frequency regulation control method for a waste-to-energy generator set.

[0123] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0124] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0125] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A primary frequency regulation control method for a waste-to-energy generator set, characterized in that, Includes the following steps: 1) Collect the actual frequency of the power grid f g and rated frequency f gei Calculate the actual frequency of the power grid f g With rated frequency f gei Frequency deviation between P CV Define frequency deviation P CV Exceeding the given value ∆ f s When in startup state, frequency deviation P CV Less than the given value ∆ f e The current state is the end state: （1） 2) The start-up delay time of the hydraulic actuator can be identified through the operating data of the waste-to-energy generator set. DT o 1. Oil motor shutdown delay time DT c 1. Oil motor opening time constant T o Oil motor shut-off time constant T c 1. Oil motor opening coefficient VEL open Oil motor shut-off coefficient VEL close Maximum output power of steam turbine P MAX Minimum output power of steam turbine P MIN The time constant measured by the valve opening sensor T LVDT ; 3) Regarding the actual frequency of the power grid f g and rated frequency f gei The frequency deviation between them is used to calculate the valve opening command using a piecewise linear function. P GV : P GV = g ( f g － f gei ) （2） In formula (2), g ( · () is a piecewise linear function; 4) When the status is in the start state, the frequency deviation will be... P CV With the opening of the valve P GV After the throttle motor start-up delay time DT o Then, it is simultaneously sent to the controller for state estimation and the next step of calculating the hydrator opening degree; When the state is the end state, the frequency deviation will be... P CV With the opening of the valve P GV After the hydraulic motor shut-off delay time DT c Then, it is simultaneously sent to the controller for state estimation and the next step of calculating the hydrator opening degree; The following state observer is used to estimate the state of the primary frequency modulation system: （3） In formula (3), u This represents the actual opening value of the hydraulic actuator. , , For state observer gain; This refers to the state of a primary frequency modulation system; The following control law is used to calculate the next step of the hydraulic actuator opening: （4） In formula (4), k The gain of the control law; 5) The actual value of the hydrator opening. u The limiting accelerator motor opening is obtained by using a limiter. u a The upper limit of the amplitude is the throttle motor opening coefficient. VEL open The lower limit is the hydrator shut-off coefficient. VEL close : （7） 6) When the state is in the start-up state, the time constant after the oil motor opening... T o Afterwards, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening. P GV1 : （8） When the state is the final state, after the oil actuator shut-off time constant T c Afterwards, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening. P GV2 : （9） 7) Based on the operating status, and using the valve opening obtained in step 6), P GV1 , P GV2 Adjusting the opening of the regulating valve enables primary frequency regulation control of the waste-to-energy generator set. （10）。 2. A primary frequency regulation control system for a waste-to-energy generator set, characterized in that, include: The acquisition module is used to acquire the actual frequency of the power grid. f g and rated frequency f gei ; The calculation and judgment module, connected to the acquisition module, is used to calculate the actual frequency of the power grid. f g and rated frequency f gei Frequency deviation between P CV and based on frequency deviation P CV Determine the state; where, Define frequency deviation P CV Exceeding the given value ∆ f s When in startup state, frequency deviation P CV Less than the given value ∆ f e The current state is the end state: （1） The identification module is used to identify the hydraulic actuator start-up delay time based on the operating data of the waste-to-energy generator set. DT o 1. Oil motor shutdown delay time DT c 1. Oil motor opening time constant T o Oil motor shut-off time constant T c 1. Oil motor opening coefficient VEL open Oil motor shut-off coefficient VEL close Maximum output power of steam turbine P MAX Minimum output power of steam turbine P MIN The time constant measured by the valve opening sensor T LVDT ; The valve opening command calculation module, connected to the calculation and judgment module, is used to calculate and obtain the valve opening command; among which, the actual frequency of the power grid is considered. f g and rated frequency f gei The frequency deviation between them is used to calculate the valve opening command using a piecewise linear function. P GV : P GV = g ( f g － f gei ) （2） In formula (2), g ( · () is a piecewise linear function; The hydraulic actuator opening degree calculation module, connected to both the calculation and judgment module and the valve opening degree command calculation module, is used to calculate the hydraulic actuator opening degree, including: When the state is in the start state, the frequency deviation will be... P CV With the opening of the valve P GV After the throttle motor start-up delay time DT o Then, it is simultaneously sent to the controller for state estimation and the next step of calculating the hydrator opening degree; When the state is the end state, the frequency deviation will be... P CV With the opening of the valve P GV After the hydraulic motor shut-off delay time DT c Then, it is simultaneously sent to the controller for state estimation and the next step of calculating the hydrator opening degree; The following state observer is used to estimate the state of the primary frequency modulation system: （3） In formula (3), u This represents the actual opening value of the hydraulic actuator. , , For state observer gain; This refers to the state of a primary frequency modulation system; The following control law is used to calculate the next step of the hydraulic actuator opening: （4） In formula (4), k The gain of the control law; The limiting module is used to limit the actual value of the throttle motor opening. u The limiting accelerator motor opening is obtained by using a limiter. u a The upper limit of the amplitude is the throttle motor opening coefficient. VEL open The lower limit is the hydrator shut-off coefficient. VEL close : （7） The regulating valve opening calculation module, connected to the limiting module, is used to calculate the regulating valve opening based on the status, including: When the state is in the start state, after the hydraulic actuator opening time constant T o Afterwards, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening. P GV1 : （8） When the state is the final state, after the oil actuator shut-off time constant T c Afterwards, u a The signal is fed into an integrator and then passes through an output power limiter to obtain the valve opening. P GV2 : （9） The adjustment module, connected to the valve opening calculation module, is used to adjust the valve opening based on the operating status and the obtained valve opening. P GV1 , P GV2 Adjusting the opening of the regulating valve enables primary frequency regulation control of the waste-to-energy generator set. （10）。 3. A primary frequency regulation control device for a waste-to-energy generator set, characterized in that, include: One or more processors; Memory, used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors perform the steps of the primary frequency regulation control method for waste generator sets as described in claim 1.

4. A computer-readable storage medium storing a computer program, characterized in that, When the program is executed by the processor, it implements the steps of the primary frequency regulation control method for waste generator sets as described in claim 1.

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