Load disturbance adaptability control method and device for pumped storage unit

Abstract

The invention belongs to the field of pumped storage unit control, and particularly discloses a pumped storage unit load disturbance adaptability control method and device, and the method comprises the steps: considering the load disturbance based on the basic operation data of a pumped storage unit adjusting system, and building a state-space equation of the pumped storage unit adjusting system; constructing a load disturbance observer in combination with the state-space equation, and obtaining observed load disturbance; determining reference model output based on a preset ideal reference model of the pumped storage unit adjusting system, and acquiring adaptive PID control parameters of the pumped storage unit adjusting system by taking minimization of a tracking error between the actual system output and the reference model output as a target; and the observed load disturbance and the self-adaptive PID control parameters are jointly compensated to the control output quantity of the pumped storage unit adjusting system. According to the application, the system frequency change caused by external load disturbance and nonlinear dynamics in the system can be relieved, so that the supporting capability of the pumped storage unit to the power grid is remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of pumped storage unit control, and more specifically, to a method and device for adaptive control of load disturbances of a pumped storage unit. Background Art

[0002] With the large-scale integration of renewable energy into the grid, the demand for flexible regulation in power systems is growing. In this context, pumped-storage power plants, as a mature and efficient large-scale energy storage technology, play an irreplaceable role in grid frequency regulation, load balancing, and emergency backup, and are a key technical path for optimizing energy system structure. Furthermore, to further improve their dynamic regulation performance and enhance unit control flexibility, the optimization and control of unit regulation systems has become a key research topic in the pumped-storage field.

[0003] The regulation system of a pumped-storage unit exhibits strong nonlinear characteristics, resulting in complex interactions between various state variables in the unit due to the hydro-mechanical-electrical coupling. Currently, pumped-storage units generally utilize PID control strategies based on fixed regulation parameters. However, the complex and volatile power grid operating environment often forces pumped-storage units to operate under wide load conditions. In this context, PID control methods based on fixed regulation parameters are no longer able to meet the grid's demand for more efficient and precise regulation of pumped-storage units. There is an urgent need to explore more advanced control strategies to improve the adaptability and regulation capabilities of pumped-storage units in the power grid.

[0004] Existing research on intelligent control methods for pumped-storage unit regulation systems often requires extensive online computations, and the control structures are often complex, making it difficult to meet the practical engineering requirements of actual system sampling times. To further enhance the engineering adaptability of advanced control strategies and improve the frequency and load regulation performance of pumped-storage units, research on adaptive control optimization for pumped-storage unit regulation systems is urgently needed. Summary of the Invention

[0005] In view of the defects of the prior art, the purpose of this application is to provide a method and device for adaptive control of load disturbances of a pumped storage unit, aiming to solve the problem that the existing pumped storage unit regulation system is unable to adaptively control load disturbances.

[0006] To achieve the above objectives, in a first aspect, the present application provides a method for adaptively controlling load disturbances of a pumped storage unit, comprising: Based on the basic operating data of the pumped storage unit regulation system, the state space equation of the pumped storage unit regulation system is established considering the load disturbance; Constructing a load disturbance observer in combination with the state space equation to obtain the observed load disturbance; Determining a reference model output based on a preset ideal reference model of the pumped-storage unit regulation system, and obtaining PID control parameters of the adaptive pumped-storage unit regulation system with the goal of minimizing the tracking error between the actual system output and the reference model output; wherein the ideal reference model is set according to the rated operating conditions of the pumped-storage unit; The observed load disturbance and the adaptive PID control parameters are jointly compensated to the control output of the pumped storage unit regulation system to achieve adaptive control of the pumped storage unit load disturbance.

[0007] In a possible implementation, the pumped storage unit regulation system includes: a water pump turbine, a water diversion system, a servomotor, and a servomotor controller; The basic operating data includes: equations characterizing the nonlinear output characteristics of the pump-turbine, the continuity equation and momentum equation of the water diversion system, the control equation of the relay, and the unit motion equation; the unit motion equation takes load disturbance into account.

[0008] In a possible implementation, the motion equation of the unit is:

[0009] in, is the equivalent unit inertia time constant, m t is the relative value of the deviation of the equivalent output torque of the unit, m g is the relative value of the equivalent load moment deviation, e g is the equivalent generator load self-regulation coefficient, x is the relative value of the speed deviation, t Indicates time.

[0010] In one possible implementation, the state space equation is:

[0011] in, x is the relative value of speed deviation; y is the relative value of the guide vane opening deviation; h is the relative value of the unit head deviation; Indicates the control quantity output of the unit integral link; Indicates the control quantity output of the unit’s differential link; e y is the transmission coefficient of turbine torque to guide vane opening; e x is the turbine torque to speed transfer coefficient; e h is the transmission coefficient of turbine torque to working head;e g is the equivalent generator load self-regulation coefficient; e qy is the transfer coefficient of turbine flow to guide vane opening; e qx is the turbine flow to speed transfer coefficient; e qh is the transfer coefficient of turbine flow to working head; m g is the relative value of equivalent load moment deviation; 、 、 Respectively represent the proportional, integral and differential coefficients of the PID regulator; Indicates the unit speed command value; is the equivalent unit inertia time constant, is the differential filter time constant; is the reaction time constant of the speed governor main relay; is the unit water flow inertia time constant.

[0012] In one possible implementation, a load disturbance observer is constructed in combination with the state-space equation to obtain the observed load disturbance, including: On the basis of the state space equation, the randomness of the lumped load disturbance at the moment is considered and the state equation is described as:

[0013] in, is the system state quantity, including unit speed, guide vane opening, head change and control quantity output, is the measurable system output, To control the output, represents the observable output matrix; represents the output matrix, represents the uncertainty of the system internal parameters, represents the control input, is the known state matrix, represents the control input matrix; represents the perturbation coefficient matrix, Represents the state-related uncertainty and external disturbance The state interference vector, and m g Related; Get the lumped load disturbance estimation error : ;in, for , is the load disturbance estimate; Based on Lyapunov stability theory, load disturbance observer is designed : ;in, is the time-varying observer gain matrix, represents the perturbation coefficient matrix, ; Combined load disturbance observer Solve so that When the exponential converges to zero , which is regarded as the observed load disturbance.

[0014] In one possible implementation, the adaptive PID control parameters are obtained by the following steps: The ideal reference model of the pumped storage unit regulation system is:

[0015] in, is the ideal reference model system state, u m ( t ) is the ideal reference model control quantity, is the ideal reference model system output, is the Hurwitz matrix, and are the input and output matrices of the ideal reference model respectively; Output of the pumped storage unit regulation system y p ( t ) and the ideal reference model output y m ( t ) tracking error for:

[0016] A quadratic performance index function is constructed to minimize the tracking error and obtain the adaptive PID control parameters that make the closed-loop pumped storage unit regulation system globally stable: , Represent the proportional, integral and differential coefficients of the adaptive PID regulator respectively.

[0017] In one possible implementation, the adaptive control of the load disturbance of the pumped storage unit includes:

[0018] Where, is the control output after compensation, is the adaptive PID control parameter, which is, B f is the feedforward compensation coefficient, is the load disturbance estimate.

[0019] In a second aspect, the present application provides a pumped storage unit load disturbance adaptive control device, comprising: A state equation establishment module is used to establish the state space equation of the pumped storage unit regulation system based on the basic operating data of the pumped storage unit regulation system and taking into account the load disturbance; A load disturbance observation module, configured to construct a load disturbance observer in combination with the state-space equation to obtain an observed load disturbance; a PID parameter acquisition module, configured to determine a reference model output based on a preset ideal reference model of the pumped-storage unit regulation system, and to acquire PID control parameters of the adaptive pumped-storage unit regulation system with the goal of minimizing the tracking error between the actual system output and the reference model output; wherein the ideal reference model is set according to the rated operating conditions of the pumped-storage unit; The adaptive control module is used to compensate the observed load disturbance and the adaptive PID control parameters to the control output of the pumped storage unit regulation system, thereby realizing adaptive control of the pumped storage unit load disturbance.

[0020] In a possible implementation, the pumped storage unit regulation system includes: a water pump turbine, a water diversion system, a servomotor, and a servomotor controller; The basic operating data of the pumped storage unit regulation system used in the state equation establishment module include: equations characterizing the nonlinear output characteristics of the pump turbine, the continuity equation and momentum equation of the water diversion system, the control equation of the relay and the unit motion equation; the unit motion equation takes into account load disturbances.

[0021] In a third aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0023] In a fifth aspect, the present application provides a computer program product, which, when executed on a processor, enables the processor to execute the method described in the first aspect or any possible implementation of the first aspect.

[0024] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the existing technologies: The present application provides a method and device for adaptive control of load disturbances of a pumped storage unit. Based on the state estimation theory and the model reference adaptive control theory, a load disturbance adaptive controller for the pumped storage unit regulation system is designed. The state reconstruction is combined with the disturbance feedforward compensation. The ideal performance is approached by making full use of the system state information and the design feedback law, thereby realizing online adjustment of the system dynamic performance. The controller has a simple structure, high computational efficiency, and strong reliability. It overcomes the limitations of traditional fixed parameter control under different operating conditions and effectively expands the stable operation margin of the unit speed and regulation performance. Through simulation verification, the results show that under the load step condition of the pumped storage unit, the disturbance compensation-variable PI parameter adaptive controller provided by the present application can effectively smooth out the grid frequency fluctuation caused by the disturbance, which is of great significance to the flexibility regulation of the pumped storage unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is one of the flow charts of the method for adaptively controlling load disturbances of a pumped storage unit provided in an embodiment of the present application; Figure 2 This is the second flow chart of the load disturbance adaptive control method for a pumped storage unit provided in an embodiment of the present application; Figure 3 Schematic diagram of flow characteristic curves of a pumped storage unit at different opening degrees provided by an embodiment of the present application; Figure 4 Schematic diagram of torque characteristic curve of the pumped storage unit at different opening degrees provided by the embodiment of the present application; Figure 5 This is a schematic diagram comparing the actual value of the random load disturbance and the observed estimated value provided by the embodiment of the present application; Figure 6 This is a schematic diagram of system frequency deviation under load step conditions provided in an embodiment of the present application; Figure 7 Schematic diagram of the dynamic trajectory of adaptive PI parameters based on optimal state tracking provided by an embodiment of the present application; Figure 8 This is an architectural diagram of a load disturbance adaptive control device for a pumped storage unit provided in an embodiment of the present application; Figure 9 This is an electronic device architecture diagram provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0027] The term "and / or" as used herein describes an association between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. The symbol " / " as used herein indicates that the related objects are in an "or" relationship, for example, A / B means either A or B.

[0028] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0029] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0030] In response to the above requirements and previous deficiencies, this application proposes a load disturbance adaptive control method for a pumped storage unit regulation system, which solves the problems existing in the above-mentioned prior art.

[0031] Figure 1 A flow chart of a method for adaptively controlling load disturbances of a pumped storage unit provided in an embodiment of the present application; Figure 1 As shown, the following steps are included: Step S101, based on basic operating data of the pumped storage unit regulation system, a state space equation of the pumped storage unit regulation system is established taking into account load disturbance; Specifically, the pumped storage unit regulation system includes: a water pump turbine, a water diversion system, a servo and a servo controller; The basic operating data includes: equations characterizing the nonlinear output characteristics of the pump-turbine, the continuity equation and momentum equation of the water diversion system, the control equation of the relay, and the unit motion equation; the unit motion equation takes load disturbance into account.

[0032] Step S102: constructing a load disturbance observer in combination with the state space equation to obtain an observed load disturbance.

[0033] Step S103, determining the reference model output based on a preset ideal reference model of the pumped-storage unit regulation system, and obtaining the PID control parameters of the adaptive pumped-storage unit regulation system with the goal of minimizing the tracking error between the actual system output and the reference model output; wherein the ideal reference model is set according to the rated operating conditions of the pumped-storage unit.

[0034] Step S104 , the observed load disturbance and the adaptive PID control parameters are jointly compensated to the control output of the pumped storage unit regulation system, so as to realize adaptive control of the pumped storage unit load disturbance.

[0035] In a more specific embodiment, the technical solution adopted in this application is: a method for adaptively controlling load disturbances in a pumped storage unit regulation system, such as Figure 2 As shown, the following steps are included: Step 1: In actual operation, the internal flow and dynamic characteristics of a pump-turbine are very complex, and the various state variables exhibit strong nonlinear coupling characteristics, making it difficult to establish an accurate model using numerical methods. Currently, modeling based on the comprehensive characteristic curve measured by model tests is a common method for accurately characterizing the nonlinear output characteristics of a pump-turbine. The steady-state relationship between flow, torque, guide vane opening, speed, and head, that is, the expression that characterizes the nonlinear output characteristics of a pump-turbine, is as follows:

[0036] Where, Y 、 N 、 H are the unit opening, speed and water head respectively; N 11 、 Q 11 、 M 11 are the unit speed, unit flow and unit torque of the unit respectively; M t and Q p Divided into unit output torque and flow; D 1 is the nominal diameter of the pump turbine runner. m t is the relative value of turbine torque deviation; q t is the relative value of turbine flow deviation; x is the relative value of the speed deviation, h t is the relative value of turbine head deviation; y is the relative value of the guide vane opening deviation; e y is the transmission coefficient of turbine torque to guide vane opening; ex is the turbine torque to speed transfer coefficient; e h is the transmission coefficient of turbine torque to working head; e qy is the transfer coefficient of turbine flow to guide vane opening; e qx is the turbine flow to speed transfer coefficient; e qh is the transfer coefficient of turbine flow to working head.

[0037] The continuity equation and momentum equation of the transient flow inside the water diversion system pipeline are as follows:

[0038] Where, Indicates the distance from the pipeline study section to the reference starting point; H ( l , t )and Q ( l , t ) respectively represent t Time pipeline section Head and flow at A 、 D and Respectively represent the cross-sectional area, diameter and hydraulic friction coefficient of the pipe; g and c represent the acceleration of gravity and the speed of water shock wave respectively.

[0039] Furthermore, the servomotor and the servomotor controller constitute the unit speed governor. The unit speed governor usually adopts a parallel PID control strategy, and its control law and servo system equation, that is, the control equation of the servomotor, are:

[0040] Where, Respectively represent the proportional, integral and differential coefficients of the PID regulator; T n is the differential filter time constant; Indicates the speed command value of the unit. The actual speed value minus the initial value is the relative speed deviation value. Indicates the control output of the PID regulator; k 0 represents the open-loop gain coefficient of the servo system; T y and T yB are the reaction time constants of the main servomotor and the auxiliary servomotor of the speed regulator, respectively. s represents the complex frequency domain; The transfer function that represents the controller output law and the random group speed change, The transfer function that represents the change of the relay action with the control law; Indicates the relative value of the unit speed deviation.

[0041] The unit motion equation considering the generator response and load changes can be expressed as:

[0042] Where, T a is the equivalent unit inertia time constant, m t is the relative deviation value of the unit output torque, m g is the relative value of the equivalent load torque deviation, which corresponds to the load disturbance of the pumped storage unit regulation system. e g is the equivalent generator load self-regulation coefficient.

[0043] Step 2: Combine the above unit dynamic equations to obtain the linearized state space equation expression of the unit's regulation system considering load disturbance:

[0044] in, Indicates the control quantity output of the unit integral link; Indicates the control quantity output of the unit's differential link.

[0045] Further considering the randomness of the lumped disturbance at the torque, the above control system can be written as follows:

[0046] in, is the system state quantity, including unit speed, guide vane opening, head change and control quantity output, etc. Defined as a measurable output, m ≤ n −1, To control the output, represents the uncertainty of the system internal parameters, represents the control input, Represents the state-related uncertainty and external disturbance The unknown nonlinear dynamics of , i.e., the state disturbance vector, and m g Related, is the known state matrix, and the remaining coefficient matrices are:

[0047] in, represents the control input matrix; represents the perturbation coefficient matrix; represents the observable output matrix; represents the output matrix; Represents the identity matrix.

[0048] Step 3: Define the state disturbance vector for , the disturbance estimator is , then the lumped load disturbance estimation error is:

[0049] Based on Lyapunov stability theory, the reaching law of the designed observer is as follows:

[0050] Where, is the time-varying observer gain matrix, which must satisfy Ensure that the observer converges.

[0051] To avoid dependence on state derivatives , introduce auxiliary variables , ,and l ( x ), the realizable form of the disturbance estimator is obtained:

[0052] Further combined with the pumped storage unit regulation system, if the aggregate disturbance Satisfy the assumption , is a finite constant, and the observer gain matrix satisfy , define the Lyapunov function of the perturbation estimation error:

[0053] right V Taking the derivative along the system trajectory, combined with the observer equation and the assumption of no a priori disturbance, we can obtain:

[0054] By the positivity condition , there is a minimum eigenvalue , such that:

[0055] According to the comparison lemma, the error dynamics satisfies the inequality:

[0056] It shows that the estimation error exponentially converges to zero and the designed observer meets the convergence conditions.

[0057] The disturbance estimator equation is introduced into the state space equation of the regulation system to derive the state estimation expression of the lumped disturbance of the load of the unit regulation system. The observed disturbance estimation value is superimposed on the original system control output and combined with the PI control to realize the feedforward compensation of the system frequency / unit speed to the load disturbance:

[0058] In the formula B f is the feedforward compensation coefficient.

[0059] It can be understood that the above feedforward compensation can enable the system control to resist external load interference and improve the control performance of the system.

[0060] Step 4: Define the reference model with ideal speed regulation performance of the pumped storage unit as follows:

[0061] in, is the reference model system state, u m ( t ) is the reference model control quantity, Output for the reference model system, is the Hurwitz matrix, and are the reference model input and output matrices respectively.

[0062] It should be noted that the above-mentioned ideal reference model is set with reference to the rated operating point of the system. When the system operates according to the rated operating point, the system can be expressed linearly. When the system operating state deviates from the ideal reference model, the nonlinear dynamic effect of the system is obvious, and the nonlinear state disturbance of the unit should be considered at this time.

[0063] The actual system output y p ( t ) and reference model output y m ( t ) can be expressed as:

[0064] Construct a quadratic performance indicator function for tracking error minimization calculation:

[0065] in, , is the speed regulator PID control parameter vector, is the adjustment coefficient, which is used to suppress parameter over-adjustment.

[0066] To make the energy index function Minimization, using the gradient descent method, the parameter update direction should be adjusted along the negative gradient direction of the performance index, that is:

[0067] Where, is the adaptive gain matrix, is the sensitivity derivative vector, is the adjustment rate.

[0068] Ignoring the regularization term, the parameter update dynamics can be simplified as: .

[0069] Further partial derivatives of the speed regulator control parameters are obtained, and the adaptive sensitivity differential equation is obtained as follows:

[0070] Combined output equation , we get the control parameter update law:

[0071] Similarly, to illustrate the closed-loop stability of the adaptive variable parameter control method of the regulation system, the Lyapunov function is constructed as follows:

[0072] in is the parameter error vector.

[0073] When the reference model meets the convergence and control order matching conditions, there are ideal parameters: , so that the closed-loop system dynamics can be expressed as:

[0074] Represents the basis function; combined with the PI parameter dynamic update law:

[0075] Obtain the Lyapunov function V Time derivative along the system trajectory:

[0076] because A m is the Hurwitz matrix, , and when When , the second item satisfies:

[0077] By comparison lemma: , the tracking error converges to zero, that is, the closed-loop system is globally stable.

[0078] The update law shows that the parameter adjustment rate is determined by the tracking error amplitude, sensitivity derivative, and adaptive gain. The controller parameters are optimized online by solving the sensitivity differential equation of the abstract energy storage unit regulating the system state in real time.

[0079] Step 5: Apply the PI parameter update law based on model reference adaptation and the real-time compensation of disturbance observation to the control output of the regulation system, and obtain the adaptive control quantity of the pumped storage unit load disturbance:

[0080] Where, It is the dynamic variable of PID parameter, that is, the adaptive PID parameter.

[0081] It can be understood that compensating the system control output by referring to the adaptive PI parameter update law can maintain the system dynamics in a linear change state, allowing the system to resist disturbances caused by nonlinear changes and further improve the control performance of the system.

[0082] Specific data preparation: The flow and torque characteristic curves of the pump turbine are obtained through model tests, such as Figure 3 and Figure 4 As shown in the figure, where the legend indicates different openings, a mathematical model of the regulation system is constructed based on the basic operating data of the pumped storage unit. The PI control law commonly used in pumped storage units is used as the research object, the linear characteristics of flow and torque are introduced, and the unit speed / frequency fluctuation is used as the output. Referring to the above scheme, the extended state space equation of the regulation system with load disturbance is constructed.

[0083] Based on state estimation theory and model reference adaptive control theory, an adaptive controller for the regulation system of pumped storage units was designed to suppress load disturbances. A real-time nonlinear disturbance observer was introduced to address external random disturbances in the system, feeding the observed values into the control variable output to effectively mitigate the adverse effects of external disturbances on the unit's regulation safety. The control parameter update law was solved based on the reconstructed state matrix, achieving ideal performance tracking of the controlled unit relative to the reference model's regulation state.

[0084] Taking the 500-second random load disturbance signal as an example, the comparison between the random disturbance observation value and the actual value is as follows: Figure 5 As shown. Figure 5 It can be seen that the designed real-time nonlinear disturbance observer can track the given signal quickly and accurately. This step provides an important guarantee for the control stability of the disturbance compensation system.

[0085] In order to verify the frequency suppression capability of the proposed control method, t =1s and t =50s when a load step disturbance of ±10% is applied. Figure 6 The dynamic response characteristics of a pumped-storage unit in terms of system frequency are demonstrated using three different control strategies: fixed PI parameters, disturbance compensation, and the proposed method. Experimental results show that the proposed method significantly outperforms traditional strategies in both dynamic performance and steady-state accuracy. Figure 7 The dynamic adjustment process of PI parameters under the above load disturbance is demonstrated.

[0086] A comprehensive comparison of the system frequency response characteristics of the three methods shows that: (1) in terms of maximum frequency deviation, the maximum deviation of the proposed method under positive and negative load step disturbances is smaller than that of the fixed PI control and disturbance compensation control, and the suppression effect is better; (2) in terms of dynamic recovery capability, the recovery time of the proposed method is reduced by 16.7% to 35.7% compared with the fixed PI control, showing a faster dynamic adjustment capability; (3) in terms of overshoot suppression capability, under the conditions of step disturbances at both ends, the fixed PI control scheme has a large positive overshoot, while the proposed method can effectively suppress this phenomenon, so that the system returns to steady state more smoothly.

[0087] Specifically, by t =1s system frequency response results show that: (1) under fixed PI control parameters, the system frequency has a large deviation, the maximum deviation reaches -0.027pu, and the time to recover to steady state is about 25s; (2) the maximum deviation of the disturbance compensation control method and the proposed method is significantly reduced (down to -0.020pu), which is 25.9% less than that of fixed PI control. In addition, the frequency recovery time is shortened to 20s. Further observation t =50s. It was found that after the first dynamic adjustment, the system frequency response performance of the proposed method was significantly improved in terms of maximum deviation, overshoot and adjustment time. The system frequency recovery time was reduced from 20s at the first disturbance to 10s, indicating the optimization effect of the proposed pumped storage unit speed control system control method on load disturbances.

[0088] Figure 8 This is a diagram of the architecture of a load disturbance adaptive control device for a pumped storage unit provided in an embodiment of the present application, such as Figure 8 As shown, including: A state equation establishing module 810 is used to establish a state space equation of the pumped storage unit regulation system based on basic operation data of the pumped storage unit regulation system and taking load disturbance into consideration; A load disturbance observation module 820 is configured to construct a load disturbance observer in combination with the state-space equation to obtain an observed load disturbance; A PID parameter acquisition module 830 is configured to determine a reference model output based on a preset ideal reference model of the pumped-storage unit regulation system, and to acquire PID control parameters of the adaptive pumped-storage unit regulation system with the goal of minimizing the tracking error between the actual system output and the reference model output; wherein the ideal reference model is set according to the rated operating conditions of the pumped-storage unit; The adaptive control module 840 is used to compensate the observed load disturbance and the adaptive PID control parameters to the control output of the pumped storage unit regulation system, thereby realizing adaptive control of the pumped storage unit load disturbance.

[0089] For example, the pumped storage unit regulation system includes: a water pump turbine, a water diversion system, a servomotor and a servomotor controller; Furthermore, the basic operating data of the pumped storage unit regulation system used by the state equation establishment module 810 include: data characterizing the nonlinear output characteristics of the pump turbine, the continuity equation and momentum equation of the water diversion system, the control equation of the relay, and the unit motion equation; the unit motion equation takes into account load disturbances.

[0090] It should be understood that the above-mentioned device is used to execute the method in the above-mentioned embodiment. The implementation principle and technical effect of the corresponding program module in the device are similar to those described in the above-mentioned method. The working process of the device can refer to the corresponding process in the above-mentioned method and will not be repeated here.

[0091] Based on the method in the above embodiment, the embodiment of the present application provides an electronic device, such as Figure 9 As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930, and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other via the communication bus 940. The processor 910 may call the logic instructions in the memory 930 to execute the method in the above embodiment.

[0092] In addition, the logic instructions in the aforementioned memory 930 can be implemented in the form of a software functional unit and, when sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0093] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0094] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0095] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0096] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage medium can be located in an ASIC.

[0097] The above embodiments can be implemented in whole or in part using software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions. When loaded and executed on a computer, the computer program instructions fully or partially produce the processes or functions described in the embodiments of this application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be magnetic media (e.g., floppy disk, hard disk, tape), optical media (e.g., DVD), or semiconductor media (e.g., solid-state drive (SSD)).

[0098] It will be understood that the various numerical numbers involved in the embodiments of the present application are merely distinctions for the convenience of description and are not intended to limit the scope of the embodiments of the present application.

[0099] It is easy for those skilled in the art to understand that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for adaptive control of load disturbance of a pumped storage unit, characterized in that: include: Based on the basic operating data of the pumped storage unit regulation system, the state space equation of the pumped storage unit regulation system is established considering the load disturbance; Constructing a load disturbance observer in combination with the state space equation to obtain the observed load disturbance; Determining a reference model output based on a preset ideal reference model of the pumped-storage unit regulation system, and obtaining PID control parameters of the adaptive pumped-storage unit regulation system with the goal of minimizing the tracking error between the actual system output and the reference model output; wherein the ideal reference model is set according to the rated operating conditions of the pumped-storage unit; The observed load disturbance and the adaptive PID control parameters are jointly compensated to the control output of the pumped storage unit regulation system to achieve adaptive control of the pumped storage unit load disturbance.

2. The method according to claim 1, characterized in that The pumped storage unit regulating system includes: a water pump turbine, a water diversion system, a servo and a servo controller; The basic operating data includes: equations characterizing the nonlinear output characteristics of the pump-turbine, the continuity equation and momentum equation of the water diversion system, the control equation of the relay, and the unit motion equation; the unit motion equation takes load disturbance into account.

3. The method according to claim 2, characterized in that The motion equation of the unit is: in, is the equivalent unit inertia time constant, m t is the relative value of the deviation of the equivalent output torque of the unit, m g is the relative value of the equivalent load moment deviation, e g is the equivalent generator load self-regulation coefficient, x is the relative value of the speed deviation, t Indicates time.

4. The method according to any one of claims 1 to 3, characterized in that The state space equation is: in, x is the relative value of speed deviation; y is the relative value of the guide vane opening deviation; h is the relative value of the unit head deviation; Indicates the control quantity output of the unit integral link; Indicates the control quantity output of the unit’s differential link; e y is the transmission coefficient of turbine torque to guide vane opening; e x is the turbine torque to speed transfer coefficient; e h is the transmission coefficient of turbine torque to working head; e g is the equivalent generator load self-regulation coefficient; e qy is the transfer coefficient of turbine flow to guide vane opening; e qx is the turbine flow to speed transfer coefficient; e qh is the transfer coefficient of turbine flow to working head; m g is the relative value of equivalent load moment deviation; 、 、 Respectively represent the proportional, integral and differential coefficients of the PID regulator; Indicates the unit speed command value; is the equivalent unit inertia time constant, is the differential filter time constant; is the reaction time constant of the speed governor main relay; is the unit water flow inertia time constant.

5. The method according to claim 1, wherein A load disturbance observer is constructed in combination with the state space equation to obtain the observed load disturbance, including: On the basis of the state space equation, the randomness of the lumped load disturbance at the moment is considered and the state equation is described as: in, is the system state quantity, including unit speed, guide vane opening, head change and control quantity output, is the measurable system output, To control the output, represents the observable output matrix; represents the output matrix, represents the uncertainty of the system internal parameters, represents the control input, is the known state matrix, represents the control input matrix; represents the perturbation coefficient matrix, Represents the state-related uncertainty and external disturbance The state interference vector, and m g Related; Get the lumped load disturbance estimation error : ;in, for , is the load disturbance estimate; Based on Lyapunov stability theory, load disturbance observer is designed : ;in, is the time-varying observer gain matrix, represents the perturbation coefficient matrix, ; Combined load disturbance observer Solve so that When the exponential converges to zero , which is regarded as the observed load disturbance.

6. The method according to claim 1, characterized in that The adaptive PID control parameters are obtained by the following steps: Output of the pumped storage unit regulation system y p ( t ) and the ideal reference model output y m ( t ) tracking error for: A quadratic performance index function is constructed to minimize the tracking error and obtain the adaptive PID control parameters that make the closed-loop pumped storage unit regulation system globally stable: , Represent the proportional, integral and differential coefficients of the adaptive PID regulator respectively.

7. The method according to claim 1, characterized in that The adaptive control of the load disturbance of the pumped storage unit includes: Where, is the control output after compensation, is the adaptive PID control parameter, which is, B f is the feedforward compensation coefficient, is the load disturbance estimate.

8. A pumped storage unit load disturbance adaptive control device, characterized in that: include: A state equation establishment module is used to establish the state space equation of the pumped storage unit regulation system based on the basic operating data of the pumped storage unit regulation system and taking into account the load disturbance; A load disturbance observation module, configured to construct a load disturbance observer in combination with the state-space equation to obtain an observed load disturbance; a PID parameter acquisition module, configured to determine a reference model output based on a preset ideal reference model of the pumped-storage unit regulation system, and to acquire PID control parameters of the adaptive pumped-storage unit regulation system with the goal of minimizing the tracking error between the actual system output and the reference model output; wherein the ideal reference model is set according to the rated operating conditions of the pumped-storage unit; The adaptive control module is used to compensate the observed load disturbance and the adaptive PID control parameters to the control output of the pumped storage unit regulation system, thereby realizing adaptive control of the pumped storage unit load disturbance.

9. The device according to claim 8, characterized in that The pumped storage unit regulating system includes: a water pump turbine, a water diversion system, a servo and a servo controller; The basic operating data of the pumped storage unit regulation system used in the state equation establishment module include: data characterizing the nonlinear output characteristics of the pump turbine, the continuity equation and momentum equation of the water diversion system, the control equation of the relay and the unit motion equation; the unit motion equation takes into account load disturbances.

10. An electronic device, characterized in that: include: at least one memory for storing a computer program; At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method according to any one of claims 1 to 7.

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