Rotating speed control method, system and equipment of hydroelectric generating set adjusting system

Abstract

The invention belongs to the field of hydroelectric generation, and particularly relates to a rotating speed control method, system and equipment of a hydroelectric generating set adjusting system.The method comprises the steps that a system control model in a rotating speed control mode is obtained through a servomotor model, a water turbine model, a first-order rotating speed control model and a rigid water hammer model of a water diversion system; a performance output vector is obtained by considering system input disturbance and a control signal, an augmentation model is obtained by combining the state space model of the adjusting system, a sliding mode surface and a controller are designed according to the augmentation model, and a linear matrix inequality is established according to the state space model of the system and the performance output vector; and the positive definite matrix is substituted into the controller to obtain a solution controller, and the rotating speed is adjusted through the solution controller. Compared with a traditional PID control model, the sliding mode controller design is optimized by adopting the H-infinity performance index, the method can adapt to a more complex environment, and the stability of the system is improved.

Description

Technical Field

[0001] The present invention belongs to the field of hydropower generation, and particularly relates to a speed control method, system and device for a regulating system of a hydropower unit. Background Art

[0002] With the continuous growth of global energy demand and the improvement of environmental protection awareness, hydropower generation, as a clean and renewable energy source, has received extensive attention from countries around the world. Hydropower units play a key role in the power system, and their operating efficiency and stability directly affect the safety and economy of the power grid. Therefore, it is crucial to control the speed of hydropower units, which is related to the stability and operating efficiency of hydropower units.

[0003] In related technologies, for the speed control of hydropower units, the classical proportional-integral-differential (PID) control strategy is mainly adopted. By comparing the actual speed with the given speed, the parameters of the PID controller are continuously adjusted to make the output speed closer to the given speed.

[0004] In view of the above related technologies, hydropower units have the characteristics of high nonlinearity, time-variation and multi-variables, and are often affected by load fluctuations, parameter uncertainties and external disturbances. When dealing with these complexities, traditional PID control methods often have difficulty obtaining ideal control effects, manifested as problems such as slow dynamic response, large steady-state error and poor robustness. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a speed control method, system and device for a regulating system of a hydropower unit, which can stably control the speed under the influence of complex environments and external disturbances, and improve the dynamic and steady-state performance of the hydropower unit.

[0006] A speed control method for a regulating system of a hydropower unit includes:

[0007] Obtaining a servomotor model and a water turbine model of the hydropower unit in the speed control mode;

[0008] Obtaining a first-order speed control model of the generator and a rigid water hammer model of the water diversion system;

[0009] According to the servomotor model, the water turbine model, the first-order speed control model and the rigid water hammer model of the water diversion system, obtaining a system control model in the speed control mode;

[0010] According to the system control model, obtaining a state space model of the regulating system of the hydropower unit;

[0011] Obtaining system input disturbances and control signals;

[0012] Obtain a performance output vector based on the system input disturbance and the control signal;

[0013] Based on the performance output vector and the regulation system state - space model, obtain an augmented model of the regulation system state - space model in the rotational speed mode;

[0014] Based on the augmented model, obtain a sliding mode surface, where the sliding mode surface includes a positive definite matrix and a control input matrix;

[0015] Based on the regulation system state - space model and the performance output vector, establish a linear matrix inequality;

[0016] Solve the linear matrix inequality to obtain a solved positive definite matrix;

[0017] Based on the sliding mode surface, obtain a controller;

[0018] Substitute the solved positive definite matrix into the controller to obtain a solved controller, and control the rotational speed of the hydro - generator unit regulation system through the solved controller.

[0019] Optionally, the servomotor model is expressed as:

[0020]

[0021] where, T y is the servomotor time constant, y is the relative value of the servomotor stroke deviation, u is the control input quantity, is the derivative of y;

[0022] The water turbine model is expressed as:

[0023]

[0024] where, m t represents the relative value of the water turbine torque deviation, q t represents the relative value of the unit flow deviation, x represents the relative value of the water turbine rotational speed deviation, e y 、e x 、e h represent the transfer coefficients of the water turbine torque to the guide vane opening, to the rotational speed, and to the working head respectively, e qy 、e qx 、e qh represent the transfer coefficients of the water turbine flow to the guide vane opening, to the rotational speed, and to the working head respectively.

[0025] Optionally, the rigid water - hammer model is expressed as:

[0026]

[0027] Among them, q is the relative value of the unit flow deviation, h is the relative value of the unit water pressure deviation, and T w represents the water flow inertia time constant of the pipeline;

[0028] The first-order rotational speed control model is expressed as:

[0029]

[0030] Among them, T a is the generator inertia time constant, m t represents the relative value of the turbine torque deviation, m g is the isolated network load disturbance, e n = e g - e x , is the derivative of x, e x is the transfer coefficient of the turbine torque to the rotational speed, e g is the inherent damping coefficient of the generator, e n is the equivalent damping coefficient.

[0031] Optionally, the system control model in the rotational speed control mode obtained according to the servomotor model, the turbine model, the first-order rotational speed control model, and the rigid water hammer model of the water diversion system includes:

[0032] Substitute the turbine model into the rigid water hammer model, and according to the servomotor model and the first-order rotational speed control model, obtain the system control model in the rotational speed control mode. The system control model is expressed as:

[0033]

[0034] Among them, u is the control input of the regulating system in the rotational speed mode, x c is the given target rotational speed, b p is the droop coefficient, T y is the servomotor time constant, y is the relative value of the servomotor stroke deviation, m t represents the relative value of the turbine torque deviation, q t represents the relative value of the unit flow deviation, e y , e x , e h respectively represent the transfer coefficients of the turbine torque to the guide vane opening, to the rotational speed, and to the working head, e qy , e qx , e qh respectively represent the transfer coefficients of the turbine flow to the guide vane opening, to the rotational speed, and to the working head, K I is proportional derivative, is I e,FThe derivative of, where x is the relative deviation value of the rotational speed, and I e,F is the deviation of the generator excitation current, The derivative of y, and T w is the water turbine time constant.

[0035] Optionally, the performance output vector is expressed as:

[0036] z F = C 1,F x F + D 11,F w F + D 12,F u;

[0037] Wherein, D 11,F = 0, x F is the system state vector, w F is the system input disturbance, u is the control input quantity, and q 1,F to q 4,F are the weighting coefficients with respect to the system state, and r F is the weighting coefficient of the control input.

[0038] Optionally, according to the augmented model, a sliding mode surface is obtained. The sliding mode surface includes a positive definite matrix to be determined and a control input matrix, and includes:

[0039] The sliding mode surface is expressed as:

[0040]

[0041] Wherein, S F is the sliding mode surface, P F is the positive definite matrix, and the control input matrix T is the transpose matrix.

[0042] Optionally, the linear matrix inequality includes:

[0043]

[0044] Wherein, M F = A F X F + B' 2,F W F +(A F X F + B' 2,F W F ) T B 1Σ,F = [B 1,F B' 2,F , D 11Σ,F = [D 11,F D12,F , D 21,F = D 22,F = 0, r F is the weighted coefficient of the control input, f c is the given rotational speed, w F = m g , u FCM is the control signal under the current control mode, I is the unit diagonal matrix, is H ∞ norm value, γ F0 is the given upper bound of the H ∞ norm, C 1,F and D 12,F are both weighted matrices, e y , e x , e h respectively represent the transfer coefficients of the turbine torque to the guide vane opening, to the rotational speed, and to the working head, e qy , e qx , e qh respectively represent the transfer coefficients of the turbine flow rate to the guide vane opening, to the rotational speed, and to the working head, T y is the servomotor time constant, b p is the regulation coefficient, T a is the generator inertia time constant, T is the transpose matrix, K I is the proportional derivative.

[0045] A rotational speed control system for a hydroelectric generating unit, comprising:

[0046] A first acquisition module, configured to acquire the servomotor model and the turbine model of the hydroelectric generating unit in the rotational speed control mode;

[0047] A second acquisition module, configured to acquire the first-order rotational speed control model of the generator and the rigid water hammer model of the water conveyance system;

[0048] A system control module, configured to obtain the system control model in the rotational speed control mode according to the servomotor model, the turbine model, the first-order rotational speed control model, and the rigid water hammer model of the water conveyance system;

[0049] A regulation system state space module, configured to obtain the regulation system state space model of the hydroelectric generating unit according to the system control model;

[0050] A third acquisition module, configured to acquire the system input disturbance and the control signal;

[0051] A perturbation module for obtaining a performance output vector according to the system input perturbation and the control signal;

[0052] An augmented control module for obtaining an augmented model of the regulated system state space model in the speed control mode according to the performance output vector and the regulated system state space model;

[0053] A sliding mode surface construction module for obtaining a sliding mode surface according to the augmented model, where the sliding mode surface includes a positive definite matrix and a control input matrix;

[0054] A linear matrix inequality construction module for establishing a linear matrix inequality according to the regulated system state space model and the performance output vector;

[0055] A solving module for solving the linear matrix inequality to obtain a solved positive definite matrix;

[0056] A controller construction module for obtaining a controller according to the sliding mode surface;

[0057] A control module for substituting the solved positive definite matrix into the controller to obtain a solved controller, and controlling the speed of the hydro-generator unit regulation system through the solved controller.

[0058] A terminal device includes a memory and a processor. The memory stores a computer program that can run on the processor. When the processor loads and executes the computer program, a speed control method for a hydro-generator unit regulation system is adopted.

[0059] A computer-readable storage medium stores a computer program. When the computer program is loaded and executed by a processor, a speed control method for a hydro-generator unit regulation system is adopted.

[0060] The beneficial effects of the present invention are:

[0061] 1. Through the servomotor model, the turbine model, the first-order speed control model, and the rigid water hammer model of the water conveyance system, a system control model in the speed control mode is obtained, and a regulated system state space model is obtained. Then, considering obtaining the system input perturbation and the control signal, a performance output vector is obtained, and combined with the regulated system state space model, an augmented model is obtained. According to the augmented model, a sliding mode surface is designed, and a controller is designed. According to the system state space model and the performance output vector, a linear matrix inequality is established, and the solved positive definite matrix is obtained by solving and substituted into the controller to obtain a solved controller, and the speed is adjusted through the solved controller. Compared with the traditional PID control model, the present application adopts an H ∞ performance index to optimize the design of the sliding mode controller, which can adapt to a more complex environment and improve the stability of the system.

[0062] 2. The non - linear switching control u in the sliding - mode controller F,n The saturation function sat(S F , ψ F ) of the boundary - layer coefficient ψ F is used to limit the switching rate near the sliding - mode surface to reduce the chattering phenomenon. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 is a schematic flow chart of the rotational - speed control method for a hydro - generator unit regulation system according to the present invention;

[0064] Figure 2 is a block - diagram of the regulation system model under the rotational - speed control mode of the present invention;

[0065] Figure 3 is a schematic diagram of the robust H ∞ sliding - mode controller under the rotational - speed control mode of the present invention;

[0066] Figure 4 is a schematic diagram of the rotational - speed given - step response simulation according to the present invention

[0067] Figure 5 is a schematic diagram of the rotational - speed simulation result under the condition of H = H min , Y = 40% according to the present invention;

[0068] Figure 6 is a schematic diagram of the rotational - speed simulation result under the condition of H = H r , Y = 40% according to the present invention;

[0069] Figure 7 is a schematic diagram of the rotational - speed simulation result under the condition of H = H max , Y = 40% according to the present invention;

[0070] Figure 8 is a schematic diagram of the RSMC control effect under different time constants according to the present invention;

[0071] Figure 9 is a schematic diagram of the PID control effect under different time constants according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0072] A rotational - speed control method for a hydro - generator unit regulation system, as Figure 1 shown, the present invention includes:

[0073] S1. Obtain the servomotor model and the water - turbine model of the hydro - generator unit under the rotational - speed control mode.

[0074] The core of the hydro - generator unit regulation system is the water - turbine and generator models, as Figure 2The block diagram of the regulation system model under the shown rotational speed control mode. This model adopts a water turbine model with six transfer coefficients and a first-order generator model. The inputs of the model include the generator terminal load disturbance m g and the control signal input u of the governor, and the output of the model is the rotational speed feedback signal f.

[0075] Specifically, the rotational speed control mode is the main control strategy adopted when the hydroelectric generating unit is operating in an isolated grid. At this time, the servomotor model of the regulating system of the hydroelectric generating unit is described as:

[0076]

[0077] where, T y is the servomotor time constant, y is the relative value of the servomotor stroke deviation, u is the control input quantity, is the derivative of y.

[0078] The water turbine model adopts a six-coefficient model, which is expressed as:

[0079]

[0080] where, m t represents the relative value of the water turbine torque deviation, q t represents the relative value of the unit flow deviation, e y 、e x 、e h respectively represent the transfer coefficients of the water turbine torque to the guide vane opening, to the rotational speed, and to the working head, and e qy 、e qx 、e qh respectively represent the transfer coefficients of the water turbine flow to the guide vane opening, to the rotational speed, and to the working head.

[0081] S2. Obtain the first-order rotational speed control model of the generator and the rigid water hammer model of the water diversion system.

[0082] Specifically, under small fluctuations, when the hydropower station has a straight pipeline and the pipeline length is less than 800 m, when ignoring the elasticity of the pipe wall and water body and the frictional resistance of the flow. The water diversion system is described by the change in water pressure caused by the change in water flow at the head of the spiral case and the end of the penstock, that is, the basic equation of rigid water hammer, and its model is:

[0083]

[0084] where, q is the relative value of the unit flow deviation, h is the relative value of the unit water pressure deviation, T w represents the water flow inertia time constant of the pipeline.

[0085] The generator adopts a first-order mathematical model, which is expressed as:

[0086]

[0087] Among them, T a is the generator inertia time constant, m t represents the relative value of the turbine torque deviation, m g is the isolated network load disturbance, e n = e g - e x , is the derivative of x, e x is the transfer coefficient of the turbine torque to the rotational speed, e g is the inherent damping coefficient of the generator, e n is the equivalent damping coefficient.

[0088] S3. According to the servomotor model, the turbine model, the first-order rotational speed control model, and the rigid water hammer model of the water diversion system, the system control model under the rotational speed control mode is obtained.

[0089] Specifically, the rotational speed control mode is the main control strategy adopted when the hydroelectric generating unit is in isolated network operation. A turbine model, a servomotor model, and the corresponding first-order generator model under the rotational speed control mode with six transfer coefficients are introduced. The turbine model is substituted into the rigid water hammer model, and according to the servomotor model and the first-order rotational speed control model, the system control model under the rotational speed control mode is obtained. The system control model is expressed as:

[0090]

[0091] Among them, u is the control input of the regulating system under the rotational speed mode, x c is the given target rotational speed, b p is the droop coefficient, T y is the servomotor time constant, y is the relative value of the servomotor stroke deviation (which can be converted into the relative value of the turbine guide vane opening deviation), m t represents the relative value of the turbine torque deviation, q t represents the relative value of the unit flow deviation, e y , e x , e h respectively represent the transfer coefficients of the turbine torque to the guide vane opening, to the rotational speed, and to the working head, e qy , e qx , e qh respectively represent the transfer coefficients of the turbine flow to the guide vane opening, to the rotational speed, and to the working head, K I is the proportional derivative, is the derivative of I e,F is the relative deviation value of the rotational speed, Ie,F is the deviation of the generator excitation current, is the derivative of y, T w is the water turbine time constant.

[0092] Then substitute into the linear water turbine model described by six transfer coefficients, and the above model can deduce the following differential equation:

[0093]

[0094] S4. According to the system control model, obtain the regulation system state space model of the hydro-generating unit.

[0095] Specifically, in the speed control mode, the load change m of the isolated network carried by the unit g is regarded as a kind of disturbance of the system, then the state space equation of the hydro-generating unit regulation system under this control mode is deduced as:

[0096]

[0097] where, C 2,F =, D 21,F = D 22,F = 0, w F = m g .

[0098] S5. Obtain the system input disturbance and control signal.

[0099] Specifically, the system input disturbance is the load change m g , and the control signal is u.

[0100] S6. According to the system input disturbance and control signal, obtain the performance output vector.

[0101] Specifically, the performance output vector is expressed as:

[0102] z F = C 1,F x F + D 11,F w F + D 12,F u;

[0103] where, D 11,F = 0, x F is the system state vector, w F is the system input disturbance, u is the control input quantity, q 1,F to q 4,F is the weighting coefficient about the system state, r F is the weighting coefficient of the control input.

[0104] S7. Based on the performance output vector and the regulation system state - space model, obtain the augmented model of the regulation system state - space model in the speed mode.

[0105] Specifically, based on the state - space model, consider the system input perturbation m g and the control signal u, and add a corresponding set of performance output vectors z F , and the augmented model of the regulation system in the speed mode is obtained as:

[0106]

[0107] where the control input matrix B' 2,F and the other three weighting matrices C 1,F , D 11,F and D 12,F are defined as follows respectively:

[0108] D 11,F = 0

[0109] q i,F (i = 1, …, 4) and r F are weight parameters.

[0110] Specifically, the assignment of D 11,F = 0 means that this matrix has no influence on the performance output vector. However, for the sake of presenting a complete expression, D 11,F is still retained. If this matrix has an influence on the performance output vector, then it is assigned other values.

[0111] S8. Based on the augmented model, obtain the sliding surface, which includes an undetermined positive - definite matrix and a control input matrix.

[0112] Design a robust H ∞ sliding - mode controller based on the augmented model. Its sliding surface with respect to the positive - definite matrix P F is defined as:

[0113]

[0114] where S F is the sliding surface, P F is the positive - definite matrix, and the control input matrix T is the transpose matrix. Among them, is an undetermined positive - definite matrix. The mathematical expression of the controller designed according to this sliding surface is:

[0115] u = u F,eq + u F,n

[0116] Among them, the equivalent control u F,eq is:

[0117]

[0118] the non - linear switching control u F,n is:

[0119]

[0120] Among them: δ f,F is the upper bound of the norm of the input system disturbance m g under the speed control model, that is, ||m g || ≤ δ f,F ; ε 0,F is the sliding mode control gain; sat(S F , ψ F ) is the saturation function, and ψ F in it is the boundary layer coefficient of this function.

[0121] S9. According to the system state - space model and the performance output vector, establish a linear matrix inequality.

[0122] Specifically, the linear matrix inequality includes:

[0123]

[0124] Among them, M F = A F X F + B' 2,F W F +(A F X F + B' 2,F W F ) T , B 1Σ,F = [B 1,F B' 2,F , D 11Σ,F = [D 11,F D 12,F ,

[0125]

[0126] D 21,F = D 22,F = 0, r F

[0127] is the weighting coefficient of the control input, f c is the given speed, w F = m g , uFCM is the control signal under the current control mode, I is the unit diagonal matrix, is H ∞ norm value, γ F0 is the given H ∞ norm upper bound, C 1,F and D 12,F are both weighting matrices, e y 、e x 、e h respectively represent the transfer coefficient of the turbine torque to the guide vane opening, the transfer coefficient to the rotational speed, and the transfer coefficient to the working head, e qy 、e qx 、e qh respectively represent the transfer coefficient of the turbine flow rate to the guide vane opening, the transfer coefficient to the rotational speed, and the transfer coefficient to the working head, T y is the servomotor time constant, b p is the regulation coefficient, T a is the generator inertia time constant, T is the transpose matrix, K I is proportional differential.

[0128] S10. Solve the linear matrix inequality to obtain a positive definite matrix.

[0129] Specifically, for the design of the positive definite matrix P F in the sliding mode surface, it is completed by solving the linear matrix inequality: If there exist a positive definite symmetric matrix X F 、W F and a positive constant γ F0 , solve the following linear matrix inequality, then the sliding mode of the sliding mode control system is H ∞ performance, and at this time the positive definite matrix in the sliding mode surface

[0130] Specifically, the positive definite matrix obtained by solving the linear matrix inequality is the positive definite matrix obtained by solving the linear matrix inequality.

[0131] S11. Obtain the controller according to the sliding mode surface.

[0132] Specifically, substitute the solved linear matrix inequality into the controller to obtain the solved controller.

[0133] S12. Substitute the solved positive definite matrix into the controller to obtain the solved controller, and control the rotational speed of the hydroelectric unit regulation system through the solved controller.

[0134] In this embodiment, the main operating parameters of the model are selected under the typical working conditions of a working head of 195m and a guide vane opening of 60%. The corresponding turbine transfer coefficients include: e x =-1.1020, ey = 1.3637, e h = 1.2958, e qx = -0.3018, e qy = 1.1289, e qh = 0.4819.

[0135] A rotational speed control mode-based robust H Figure 3 sliding mode controller (RSMC) as shown is designed. Among them, the positive definite matrix P ∞ is obtained by solving the linear matrix inequality (LMI). F

[0136] From the design process of the robust H ∞ sliding mode controller in the above islanded grid mode, it can be seen that the positive definite matrix P F involves the weighted parameters q i,F (i = 1, 2, 3, 4) and r F during the solving process. In addition, the control gain ε 0,F of the sliding mode controller and the boundary layer coefficient ∈ F also have a certain impact on the control performance. In order to achieve the optimal control in the rotational speed mode and simultaneously minimize the control process cost, an optimization algorithm is used to optimize the parameters of q i,F (i =

[0137] 1, 2, 3, 4), r F , ε 0,F , ∈ F , and the optimization framework is defined as:

[0138]

[0139] Among them, e F (t) = f(t) - f c (t); The definitions of f F,1 (m F,1 ) and f F,2 (m F,2 ) are:

[0140]

[0141] Here, Δ is the change in the target during the control process, σ F,1 is the proportion of the maximum allowable reverse overshoot in the change of the control target, σ F,2 is the proportion of the maximum overshoot in the change of the control target, m F,1 , m F,2 are the reverse overshoot and overshoot of the system output signal respectively, ε1 = 10 -3 , e F (t) is the tracking error, f F,1 and fF,2 is the penalty function, and the optimization range of all parameters is [0.01, 10]. The optimal parameters of the robust sliding mode controller are obtained by using the optimization algorithm, and the specific values are: q 1,F = 8.3886, q 2,F = 0.001, q 3,F = 2.4541, q 4,F = 2.7908, r F = 1.4489; The positive definite matrix P F obtained accordingly is:

[0142]

[0143] In addition, the boundary layer coefficient ψ P of the saturation function and the control gain ε 0,P in the nonlinear switching control have the final optimized values of 6.7322 and 8.1324 respectively. This design significantly improves the robustness and dynamic performance of the control system.

[0144] To verify the effectiveness of the controller, a step response simulation of the speed reference signal is carried out, such as Figure 4 the speed reference step response simulation shown. The step increment is 0.15 Hz, corresponding to 0.3% of the rated speed. The simulation compares two types of controllers: the optimal PID controller (OPID) and the proposed RSMC controller. The simulation results show that although the OPID controller significantly improves the system performance, there is still a certain degree of system overshoot. In contrast, the proposed RSMC controller exhibits better dynamic performance.

[0145] To further verify the adaptability of the controller under different operating conditions, such as Figures 5 - 7 the speed simulation under different typical operating conditions shown. The simulation results show that the RSMC controller can achieve shorter adjustment time and rise time under various operating conditions, and the overshoot and reverse overshoot are controlled within the ideal range. While the OPID controller has a longer adjustment time under the 40% opening condition, which may not meet the further accuracy requirements of the performance.

[0146] As Figures 8 - 9 the speed reference response curves under different time constants shown, the influence of the time constant on the system performance is further studied. The results show that the RSMC controller can maintain good dynamic performance and robustness under various time constant configurations, demonstrating strong adaptability.

[0147] The comprehensive simulation results show that the RSMC controller can significantly improve the dynamic response performance and system stability of hydropower units in the isolated grid operation mode. Its control strategy has excellent robustness and adaptability under frequent load fluctuations and complex operating conditions, and is applicable to the speed control in the regulation system of hydropower units.

[0148] A speed control system for a hydropower unit regulation system, comprising:

[0149] A first acquisition module for acquiring the servomotor model and the turbine model of the hydropower unit in the speed control mode;

[0150] A second acquisition module for acquiring the first-order speed control model of the generator and the rigid water hammer model of the water diversion system;

[0151] A system control module for obtaining the system control model in the speed control mode according to the servomotor model, the turbine model, the first-order speed control model and the rigid water hammer model of the water diversion system;

[0152] A regulation system state space module for obtaining the regulation system state space model of the hydropower unit according to the system control model;

[0153] A third acquisition module for acquiring the system input disturbance and the control signal;

[0154] A disturbance module for obtaining the performance output vector according to the system input disturbance and the control signal;

[0155] An augmented control module for obtaining the augmented model of the regulation system state space model in the speed mode according to the performance output vector and the regulation system state space model;

[0156] A sliding mode surface construction module for obtaining the sliding mode surface according to the augmented model, and the sliding mode surface includes a positive definite matrix and a control input matrix;

[0157] A linear matrix inequality construction module for establishing a linear matrix inequality according to the regulation system state space model and the performance output vector;

[0158] A solving module for solving the linear matrix inequality to obtain the solved positive definite matrix;

[0159] A controller construction module for obtaining the controller according to the sliding mode surface;

[0160] A control module for substituting the solved positive definite matrix into the controller to obtain the solved controller, and controlling the speed of the hydropower unit regulation system through the solved controller.

[0161] An embodiment of the present application also discloses a terminal device, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor loads and executes the computer program, a speed control method for a hydroelectric unit regulation system is adopted.

[0162] Among them, the terminal device can be a computer device such as a desktop computer, a laptop computer, or a cloud server. Moreover, the terminal device includes but is not limited to a processor and a memory. For example, the terminal device may further include input / output devices, network access devices, and a bus, etc.

[0163] Among them, the processor can adopt a central processing unit (CPU). Of course, according to actual usage, other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. can also be adopted. The general-purpose processor can adopt a microprocessor or any conventional processor, etc. The present application does not limit this.

[0164] Among them, the memory can be an internal storage unit of the terminal device. For example, the hard disk or memory of the terminal device, or it can also be an external storage device of the terminal device. For example, a plug-in hard disk, a smart media card (SMC), a secure digital card (SD), or a flash card (FC), etc. equipped on the terminal device. Moreover, the memory can also be a combination of the internal storage unit and the external storage device of the terminal device. The memory is used to store the computer program and other programs and data required by the terminal device. The memory can also be used to temporarily store the data that has been output or will be output. The present application does not limit this.

[0165] Among them, through this terminal device, the speed control method for a hydroelectric unit regulation system in the above embodiment is stored in the memory of the terminal device, and is loaded and executed on the processor of the terminal device, which is convenient for use.

[0166] An embodiment of the present application also discloses a computer-readable storage medium. And the computer-readable storage medium stores a computer program. Among them, when the computer program is executed by the processor, a speed control method for a hydroelectric unit regulation system in the above embodiment is adopted.

[0167] Among them, the computer program can be stored in a computer-readable medium. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some middleware form, etc. The computer-readable medium includes any entity or device, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the computer-readable medium includes but is not limited to the above components.

[0168] Among them, through this computer-readable storage medium, the speed control method of a hydroelectric generating unit regulation system in the above embodiment is stored in the computer-readable storage medium, and is loaded and executed on the processor to facilitate the storage and application of the above method.

[0169] Those of ordinary skill in the art should understand that: The discussion of any of the above embodiments is only exemplary and is not intended to imply that the protection scope of the present application is limited to these examples; Under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other variations in different aspects of one or more embodiments in the present application as above. For the sake of brevity, they are not provided in detail.

[0170] One or more embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the present application. Therefore, any omission, modification, equivalent substitution, improvement, etc. made within the spirit and principle of one or more embodiments of the present application shall be included in the protection scope of the present application.

Claims

1. A speed control method for a hydropower unit regulating system, characterized in that: include: Obtain the relay model and turbine model of the hydropower unit in the speed control mode; Obtain the first-order speed control model of the generator and the rigid water hammer model of the water diversion system; According to the relay model, turbine model, first-order speed control model and rigid water hammer model of the water diversion system, the system control model under speed control mode is obtained; According to the system control model, a state space model of the regulation system of the hydropower unit is obtained; Obtain system input disturbance and control signal; Obtaining a performance output vector according to the system input disturbance and the control signal; According to the performance output vector and the state space model of the regulating system, an augmented model of the state space model of the regulating system in the speed mode is obtained; According to the augmented model, a sliding surface is obtained, wherein the sliding surface includes a positive definite matrix and a control input matrix; Establishing a linear matrix inequality according to the state space model of the regulation system and the performance output vector; Solve the linear matrix inequality to obtain the solved positive definite matrix; According to the sliding surface, a controller is obtained; Substitute the solved positive definite matrix into the controller to obtain a solved controller, and control the rotation speed of the hydropower unit regulating system through the solved controller.

2. A speed control method for a hydroelectric generator unit regulating system as claimed in claim 1, characterized in that: The relay model is expressed as: Among them, T y is the relay time constant, y is the relative value of the relay stroke deviation, u is the control input, is the reciprocal of y; The turbine model is expressed as: Among them, m t Indicates the relative value of turbine torque deviation, q t represents the relative value of the unit flow deviation, x represents the relative value of the turbine speed deviation, e y 、e x 、e h They are respectively expressed as the transfer coefficient of turbine torque to guide vane opening, the transfer coefficient to speed, and the transfer coefficient to working water head, e qy 、e qx 、e qh They respectively represent the transfer coefficient of turbine flow to guide vane opening, the transfer coefficient to speed, and the transfer coefficient to working water head.

3. A speed control method for a hydroelectric generator unit regulating system as claimed in claim 1, characterized in that: The rigid water hammer model is expressed as: Among them, q is the relative value of the unit flow deviation, h is the relative value of the unit water pressure deviation, T w Represents the inertia time constant of water flow in the pipe; The first-order speed control model is expressed as: Among them, T a is the generator inertia time constant, m t Indicates the relative value of turbine torque deviation, m g is the isolated grid load disturbance, e n =e g -e x , is the derivative of x, e x is the transfer coefficient of turbine torque to speed, e g is the inherent damping coefficient of the generator, e n is the equivalent damping coefficient.

4. A speed control method for a hydroelectric generator unit regulating system as claimed in claim 1, characterized in that: According to the relay model, the turbine model, the first-order speed control model and the rigid water hammer model of the water diversion system, the system control model under the speed control mode is obtained, which includes: Substitute the turbine model into the rigid water hammer model, and according to the relay model and the first-order speed control model, obtain the system control model under the speed control mode. The system control model is expressed as: Among them, u is the control input of the regulation system in speed mode, x c is the given target speed, b p Adjust to the difference coefficient, T y is the relay time constant, y is the relative value of the relay stroke deviation, m t Indicates the relative value of turbine torque deviation, q t Indicates the relative value of the unit flow deviation, e y 、e x 、e h They are respectively expressed as the transfer coefficient of turbine torque to guide vane opening, the transfer coefficient to speed, and the transfer coefficient to working water head, e qy 、e qx 、e qh They represent the transfer coefficient of turbine flow to guide vane opening, transfer coefficient to speed and transfer coefficient to working water head respectively, K I is the proportional differential, For I e,F The derivative of x is the relative speed deviation, I e,F is the deviation of the generator excitation current, is the derivative of y, T w is the turbine time constant.

5. A speed control method for a hydroelectric generator unit regulating system as claimed in claim 1, characterized in that: The performance output vector is expressed as: z F =C 1,F x F +D 11,F w F +D 12,F u; in, D 11,F =0,x F is the system state vector, w F is the system input disturbance, u is the control input, q 1,F to q 4,F is the weighting coefficient for the system state, r F is the weighting coefficient of the control input.

6. A speed control method for a hydroelectric generator unit regulating system as claimed in claim 1, characterized in that: According to the augmented model, a sliding surface is obtained, and the sliding surface includes a to-be-determined positive definite matrix and a control input matrix, including: The sliding surface is expressed as: Among them, S F is the sliding surface, P F is a positive definite matrix, controlling the input matrix T is the transposed matrix.

7. A method for controlling the rotation speed of a hydroelectric generator unit regulating system as claimed in claim 1, characterized in that: The linear matrix inequality includes: Among them, M F = A F X F + B' 2,F W F +(A F X F + B' 2,F W F ) T , B 1Σ,F = [B 1,F B' 2,F , D 11Σ,F = [D 11,F D 12,F , D 21,F =D 22,F =0, r F is the weighting coefficient of the control input, f c is a given speed, w F =m g ,u FCM is the control signal in the current control mode, I is the unit diagonal matrix, H ∞ Norm value, γ F0 For a given H ∞ Norm upper bound, C 1,F and D 12,F are weighted matrices, e y 、e x 、e h They are respectively expressed as the transfer coefficient of turbine torque to guide vane opening, the transfer coefficient to speed, and the transfer coefficient to working water head, e qy 、e qx 、e qh They represent the transfer coefficient of turbine flow to guide vane opening, speed and working head, respectively. y is the relay time constant, b p is the adjustment coefficient, T a is the generator inertia time constant, T is the transposed matrix, K I is the proportional differential.

8. A speed control system for a hydroelectric unit regulating system, characterized in that: include: A first acquisition module is used to acquire a servomotor model and a turbine model of a hydropower unit in a speed control mode; The second acquisition module is used to acquire the first-order speed control model of the generator and the rigid water hammer model of the water diversion system; A system control module, used for obtaining a system control model under a speed control mode according to a servomotor model, a turbine model, a first-order speed control model, and a rigid water hammer model of a water diversion system; A regulating system state space module is used to obtain a regulating system state space model of the hydropower unit according to the system control model; The third acquisition module is used to obtain system input disturbance and control signal; A disturbance module, used for obtaining a performance output vector according to the system input disturbance and a control signal; An augmented control module, used for obtaining an augmented model of the state space model of the regulating system in a speed mode according to the performance output vector and the state space model of the regulating system; A sliding surface construction module, used for obtaining a sliding surface according to the augmented model, wherein the sliding surface includes a positive definite matrix and a control input matrix; A linear matrix inequality building module, used for building a linear matrix inequality according to the state space model of the regulation system and the performance output vector; A solving module, used to solve linear matrix inequalities and obtain a positive definite matrix; A controller building module, used for obtaining a controller according to the sliding surface; The control module is used to substitute the solved positive definite matrix into the controller to obtain a solved controller, and the speed of the hydropower unit regulating system is controlled by the solved controller.

9. A terminal device, comprising a memory and a processor, characterized in that: The memory stores a computer program that can be run on the processor, and when the processor loads and executes the computer program, the method according to any one of claims 1 to 7 is adopted.

10. A computer-readable storage medium having a computer program stored therein, characterized in that: When the computer program is loaded and executed by a processor, the method according to any one of claims 1 to 7 is adopted.

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