Icebreaker power system control system

Abstract

The invention belongs to the field of ship driving control systems, and particularly relates to an icebreaker power system control system. Comprising a reaction output and load synchronous control module, a heat exchange system water level control module and a coupling power generation system output control module. The reaction output and load synchronous control module comprises a reaction temperature PID (Proportion Integration Differentiation) controller, a reactivity controller and a reaction controller; the heat exchange system water level control module comprises a water level PID (Proportion Integration Differentiation) controller, a water supply PID controller and an evaporator water level controller; the coupling power generation system output control module comprises a steam turbine speed controller, a steam valve opening PID controller, a steam valve controller and an evaporator pressure controller. The system is mainly used for improving the coordination control of a control system, enhancing the capability of resisting energy oscillation and various uncertainties, and enhancing the stability of output.

Description

Technical Field

[0001] The invention belongs to the field of ship drive control systems, and in particular relates to a power system control system for an icebreaker. Background Art

[0002] As a special ship used in extremely cold regions, icebreakers play an important role in icebreaking and obstacle removal, maintaining navigation channels, and performing polar rescue operations. Since they need to continuously achieve the core task of breaking ice through the ship's back and forth motion, impact and crushing, etc. during use, they need to be able to provide sufficiently high instantaneous power and continuous power to accumulate greater kinetic energy in the shortest possible time. Conventional power systems have become increasingly difficult to meet the increasing power requirements for icebreakers, and the maturity of small-scale reaction technology has provided better guarantees for the efficient operation of ships. The system control system, as the basis for maintaining continuous and stable output, has also become an important part of measuring the performance of icebreaker power systems. Summary of the invention

[0003] The purpose of the present invention is to provide an icebreaker power system control system based on actual needs, which is used to enhance the reaction control efficiency of the icebreaker and enhance the stable output capacity of the system, so that it can achieve more accurate and efficient output control through internal loop feedback control.

[0004] To achieve the above purpose, the present invention adopts the following technical solution.

[0005] An icebreaker power system control system includes a reaction output and load synchronization control module, a heat exchange system water level control module, and a coupled power generation system output control module;

[0006] The reaction output and load synchronization control module includes a reaction temperature PID controller, a counter controller, and a reaction controller;

[0007] The reaction temperature PID controller is based on the actual temperature output value T ot With the set temperature value T ot0 The temperature deviation generates the control rod velocity v hb The anti-controller is based on the speed v of the control rod hb The variable determines the reactivity of the reaction ρ hd ,and G is the reactivity value, t is the reaction time; the reaction controller obtains the slow precursor density ρ of each group i (t) and its delayed share β i ; Operational reaction control;

[0008] Where P is the normalized power of the reaction, λ i is the decay index of the i-th group of delayed neutron precursors, C inrefers to the normalized delayed neutron precursor concentration, P0 is the full load power of the reaction, a f is the reaction coefficient of the fuel, a c is the reaction coefficient of the coolant, T f is the fuel temperature, T c is the temperature of the coolant in the chamber, Λ is the neutron lifetime, β is the total amount of delayed neutrons;

[0009] The water level control module of the heat exchange system includes a water level PID controller, a water supply PID controller, and an evaporator water level controller;

[0010] The water level PID controller determines the water level control amount according to the deviation between the actual water level and the set water level in the heat exchange system; the water supply PID controller determines the water level control amount based on the heat exchange medium flow rate Q in the heat exchange system. jz With water supply flow Q gs The difference is used as a feedforward signal to control the water supply flow. The evaporator water level controller controls the heat exchange medium flow rate Q jz , water supply flow Q gs The changes in the evaporator water level h are combined with the water supply parameters in the evaporator. zfq To exercise control;

[0011] The coupled power generation system output control module includes a steam turbine speed controller, a steam valve opening PID controller, a steam valve controller, and an evaporator pressure controller;

[0012] The turbine speed controller is based on the total power P of the steam engine. qlj With load power P qfh Determine the target speed of the turbine and calculate the speed deviation Δω between the target speed and the actual speed of the turbine qlj , turbine speed deviation Δω qlj The total power of the steam engine P qlj and load power P qfh The relationship between can be expressed as the following inertia equation: Where t represents time, J qlj Indicates the turbine conversion factor, I qlj represents the moment of inertia of the steam turbine;

[0013] The steam valve opening PID controller converts the speed deviation control quantity output by the steam turbine speed controller into the steam valve opening control quantity u zhq , and determine the steam valve opening parameter K zqf ; Among them, the steam valve opening parameter K zqf and steam valve opening control quantity u zhq , the relationship between can be expressed as: Where ω0 refers to the fundamental oscillation frequency, k tsRefers to the opening gain coefficient, β zq It refers to the damping ratio of the medium;

[0014] The evaporator pressure controller determines the steam valve opening parameter K according to the steam valve opening PID controller. zqf Determine the steam quality m gas and the steam volume V gas , establish the water supply flow Q gs The water mass in the evaporator m water and the water volume V water The relationship is established, and the various parameters in the evaporator are collected through sensors, including the temperature variable ΔT after passing through the i-th cooling module of the evaporator. i , medium heat transfer coefficient U jz , the heat transfer area S of the i-th cooling module i , the total mass of water in the evaporator m water , the total mass of steam m gas , and establish the water supply flow Q gs The correlation model between steam pressure and water supply flow rate is used to determine the water supply flow rate adjustment;

[0015] For further optimization or specific implementation of the control system of the aforementioned icebreaker power system, the reaction output and load synchronization control module also includes a target power feedback control module, and the comprehensive control module obtains the evaporator outlet flow rate Q ck , coolant temperature deviation ΔT jz And output the reaction normalized target power P goal =k ck Q ck +k jz (ΔT jz +∫ΔT jz dt); where k ck is the flow conversion coefficient, the value is 1, k jz ∈(0,1) is the coolant temperature uniformity; the reaction controller continuously obtains the reaction normalized target power P goal , and according to the target power P goal The deviation from the actual power is used to reversely calculate the reactivity control variable and the speed variable of the control rod, and the control objective is to make the reaction normalized power close to the reaction normalized target power.

[0016] For further optimization or specific implementation of the aforementioned icebreaker power system control system, the reaction operation control method can be expressed as the following control model:

[0017]

[0018] For further optimization or specific implementation of the aforementioned icebreaker power system control system, the evaporator water level control method can be expressed as the following control model:

[0019]

[0020] Where h1(Q jz ,Q gs ) refers to the water level change caused by the sum of inflow and outflow, h2(Q jz ,Q gs ) refers to the water level change caused by thermal expansion and contraction, h3 refers to the water level change caused by the fluctuation of water supply flow, s refers to the Laplace operator, G1, G2, G3 refer to the Owen constant, τ2 refers to the water level delay time, τ1 refers to the water supply fluctuation time, T zd is the oscillation period.

[0021] For further optimization or specific implementation of the aforementioned icebreaker power system control system, the association model can be expressed as:

[0022]

[0023] Where P gas is the steam pressure, T gs is the water supply temperature, σ water refers to the specific heat capacity of water, Q ck refers to the evaporator outlet flow rate, ξ gas refers to the steam entropy value, ξ gs It refers to the water supply entropy value.

[0024] Its beneficial effects are:

[0025] This system is mainly used in icebreakers. Its main purpose is to further improve the dynamic response performance of the power system. On the basis of the current traditional single-loop feedback control, the output-specific hysteresis feedback characteristics are further reflected in the output regulation control process through compensation feedback, thereby improving the coordinated control of the control system, enhancing its ability to resist energy oscillations and various uncertainties, and enhancing the stability of the output. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the power output side of the icebreaker power system.

[0027] The reference numerals include:

[0028] Reaction generator 1, evaporative heat exchanger 2, hot steam turbine 3. DETAILED DESCRIPTION

[0029] The present invention is described in detail below in conjunction with specific embodiments.

[0030] The present application relates to a control system for optimizing the output control of an icebreaker power system, which is mainly used to optimize problems such as load lag and high difficulty in dynamic response control during the control process. By optimizing the control method of the existing control system and introducing a control method of a specific feedforward control signal, the response characteristics of the system are optimized, the system reaction speed is improved, uncertainty is reduced, and the control performance of the icebreaker system is further enhanced.

[0031] like Figure 1 As shown in Figure 1, the power output side of a common icebreaker power system is as follows: Figure 1 As shown, the present application is also implemented based on the aforementioned basic structure, and its main structure includes a reaction output and load synchronization control module, a heat exchange system water level control module, and a coupled power generation system output control module;

[0032] The reaction output and load synchronization control module includes a reaction temperature PID controller, a counter controller, and a reaction controller;

[0033] The reaction temperature PID controller is based on the actual temperature output value T ot With the set temperature value T ot0 The temperature deviation generates the control rod velocity v hb ;

[0034] The countercontroller is based on the velocity v of the control rod hb The variable determines the reactivity of the reaction ρ hd ,and G is the reactivity value, t is the reaction time;

[0035] The reaction controller obtains each group of slow precursor density ρ i (t) and its delayed share β i ; Operation reaction control, the reaction operation control mode can be expressed as the following control model:

[0036]

[0037] Where P is the normalized power of the reaction, λ i is the decay index of the i-th group of delayed neutron precursors, C in refers to the normalized delayed neutron precursor concentration, P0 is the full load power of the reaction, a f is the reaction coefficient of the fuel, a c is the reaction coefficient of the coolant, T f is the fuel temperature, T c is the temperature of the coolant in the chamber, Λ is the neutron lifetime, β is the total amount of delayed neutrons;

[0038] In particular, it also includes a target power feedback control module, and the comprehensive control module obtains the evaporator outlet flow rate Q ck, coolant temperature deviation ΔT jz And output the reaction normalized target power P goal =k ck Q ck +k jz (ΔT jz +∫ΔT jz dt); where k ck is the flow conversion coefficient, the value is 1, k jz ∈(0,1) is the coolant temperature uniformity; the reaction controller continuously obtains the reaction normalized target power P goal , and according to the target power P goal The deviation from the actual power is used to reversely calculate the reactivity control variable and the speed variable of the control rod, and the control objective is to make the reaction normalized power close to the reaction normalized target power.

[0039] It also includes a heat exchange system water level control module including a water level PID controller, a water supply PID controller, and an evaporator water level controller

[0040] The water level PID controller determines the water level control value according to the deviation between the actual water level and the set water level in the heat exchange system.

[0041] The water supply PID controller is based on the heat exchange medium flow rate Q in the heat exchange system jz With water supply flow Q gs The difference is used as a feedforward signal to control the water supply flow

[0042] The evaporator water level controller is based on the heat exchange medium flow rate Q jz , water supply flow Q gs The changes in the evaporator water level h are combined with the water supply parameters in the evaporator. zfq Control; the evaporator water level control method can be expressed as the following control model:

[0043]

[0044] Where h1(Q jz ,Q gs ) refers to the water level change caused by the sum of inflow and outflow, h2(Q jz ,Q gs ) refers to the water level change caused by thermal expansion and contraction, h3 refers to the water level change caused by the fluctuation of water supply flow, s refers to the Laplace operator, G1, G2, G3 refer to the Owen constant, τ2 refers to the water level delay time, τ1 refers to the water supply fluctuation time, T zd is the oscillation period;

[0045] The coupled power generation system output control module includes a steam turbine speed controller, a steam valve opening PID controller, a steam valve controller, and an evaporator pressure controller;

[0046] The turbine speed controller is based on the total power P of the steam engine. qlj With load power P qfh Determine the target speed of the turbine and calculate the speed deviation Δω between the target speed and the actual speed of the turbine qlj , turbine speed deviation Δω qlj The total power of the steam engine P qlj and load power P qfh The relationship between can be expressed as the following inertia equation: Where t represents time, J qlj Indicates the turbine conversion factor, I qlj represents the moment of inertia of the steam turbine;

[0047] The steam valve opening PID controller converts the speed deviation control quantity output by the steam turbine speed controller into the steam valve opening control quantity u zhq , and determine the steam valve opening parameter K zqf ; Among them, the steam valve opening parameter K zqf and steam valve opening control quantity u zhq , the relationship between can be expressed as: Where ω0 refers to the fundamental oscillation frequency, k ts Refers to the opening gain coefficient, β zq It refers to the damping ratio of the medium;

[0048] The evaporator pressure controller determines the steam valve opening parameter K according to the steam valve opening PID controller. zqf Determine the steam quality m gas and the steam volume V gas , establish the water supply flow Q gs The water mass in the evaporator m water and the water volume V water The relationship is established, and the various parameters in the evaporator are collected through sensors, including the temperature variable ΔT after passing through the i-th cooling module of the evaporator. i , medium heat transfer coefficient U jz , the heat transfer area S of the i-th cooling module i , the total mass of water in the evaporator m water , the total mass of steam m gas , and establish the water supply flow Q gs The correlation model between the steam pressure and the water supply flow rate is used to determine the water supply flow rate adjustment amount. The correlation model can be expressed as:

[0049]

[0050] Where P gas is the steam pressure, T gs is the water supply temperature, σ water refers to the specific heat capacity of water, Q ck refers to the evaporator outlet flow rate, ξ gas refers to the steam entropy value, ξ gs It refers to the entropy value of water supply;

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. An icebreaker power system control system, characterized in that: It includes reaction output and load synchronization control module, heat exchange system water level control module, and coupled power generation system output control module; The reaction output and load synchronization control module includes a reaction temperature PID controller, a reactivity controller, and a reaction controller; The reaction temperature PID controller is based on the actual temperature output value T ot With the set temperature value T ot0 The temperature deviation generates a reaction control rod velocity v hb The reactivity controller is based on the speed v of the reaction control rod hb The variable determines the reactivity of the reaction ρ hd ,and G is the reactivity value, t is the reaction time; the reaction controller obtains the slow precursor density ρ of each group i (t) and its delayed share β i ; Operational reaction control; Where P is the normalized power of the reaction, λ i is the decay index of the i-th group of delayed neutron precursors, C in refers to the normalized delayed neutron precursor concentration, P0 is the full load power of the reaction, a f is the reaction coefficient of the fuel, a c is the reaction coefficient of the coolant, T f is the fuel temperature, T c is the temperature of the coolant in the chamber, Λ is the neutron lifetime, β is the total amount of delayed neutrons; The water level control module of the heat exchange system includes a water level PID controller, a water supply PID controller, and an evaporator water level controller; The water level PID controller determines the water level control amount according to the deviation between the actual water level and the set water level in the heat exchange system; the water supply PID controller determines the water level control amount based on the heat exchange medium flow rate Q in the heat exchange system. jz With water supply flow Q gs The difference is used as a feedforward signal to control the water supply flow. The evaporator water level controller controls the heat exchange medium flow rate Q jz , water supply flow Q gs The changes in the evaporator water level h are combined with the water supply parameters in the evaporator. zfq To exercise control; The coupled power generation system output control module includes a steam turbine speed controller, a steam valve opening PID controller, a steam valve controller, and an evaporator pressure controller; The turbine speed controller is based on the total power P of the steam engine. qlj With load power P qfh Determine the target speed of the turbine and calculate the speed deviation Δω between the target speed and the actual speed of the turbine qlj , turbine speed deviation Δω qlj Total power of steam engine P qlj and load power P qfh The relationship between can be expressed as the following inertia equation: Where t represents time, J qlj Indicates the turbine conversion factor, I qlj represents the moment of inertia of the steam turbine; The steam valve opening PID controller converts the speed deviation control quantity output by the steam turbine speed controller into the steam valve opening control quantity u zhq , and determine the steam valve opening parameter K zqf ; Among them, the steam valve opening parameter K zqf and steam valve opening control quantity u zhq , the relationship between can be expressed as: Where ω0 refers to the fundamental oscillation frequency, k ts Refers to the opening gain coefficient, β zq It refers to the damping ratio of the medium; The evaporator pressure controller determines the steam valve opening parameter K according to the steam valve opening PID controller. zqf Determine the steam quality m gas and the steam volume V gas , establish the water supply flow Q gs and the water mass in the evaporator m water and the water volume V water The relationship is established, and the various parameters in the evaporator are collected through sensors, including the temperature variable ΔT after passing through the i-th cooling module of the evaporator. i , medium heat transfer coefficient U jz , the heat transfer area S of the i-th cooling module i , the total mass of water in the evaporator m water , the total mass of steam m gas , and establish the water supply flow Q gs The correlation model between water flow rate and steam pressure is used to determine the water supply flow rate adjustment amount.

2. The icebreaker power system control system according to claim 1, characterized in that: The reaction output and load synchronization control module also includes a target power feedback control module, and the comprehensive control module obtains the evaporator outlet flow rate Q ck , coolant temperature deviation ΔT jz And output the reaction normalized target power P goal =k ck Q ck +k jz (ΔT jz +∫ΔT jz dt); where k ck is the flow conversion coefficient, the value is 1, k jz ∈(0,1) is the coolant temperature uniformity; the reaction controller continuously obtains the reaction normalized target power P goal , and according to the target power P goal The deviation from the actual power is used to reversely calculate the reactivity control variable and the speed variable of the reaction control rod, and the control objective is to make the reaction normalized power close to the reaction normalized target power.

3. The icebreaker power system control system according to claim 1, characterized in that: The reaction operation control mode can be expressed as the following control model:

4. The icebreaker power system control system according to claim 1, characterized in that: The evaporator water level control method can be expressed as the following control model: Where h1(Q jz ,Q gs ) refers to the water level change caused by the sum of inflow and outflow, h2(Q jz ,Q gs ) refers to the water level change caused by thermal expansion and contraction, h3 refers to the water level change caused by the fluctuation of water supply flow, s refers to the Laplace operator, G1, G2, G3 refer to the Owen constant, τ2 refers to the water level delay time, τ1 refers to the water supply fluctuation time, T zd is the oscillation period.

5. The icebreaker power system control system according to claim 1, characterized in that: The association model can be expressed as: Where P gas is the vapor pressure, T gs is the water supply temperature, σ water refers to the specific heat capacity of water, Q ck refers to the evaporator outlet flow rate, ξ gas refers to the steam entropy value, ξ gs It refers to the water supply entropy value.

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