Water turbine governor simulation device and method

Abstract

The invention discloses a water turbine governor simulation device and method, and the device comprises a nonlinear water turbine model module which is configured to simulate the nonlinear characteristics of a water turbine based on water flow power, mechanical transmission and energy conversion; the PID speed regulator module is configured to generate a water turbine speed regulation instruction based on the operation state of the power system, the working condition of the water turbine and the disturbance condition; the servo motor module is configured to execute a water turbine speed regulation instruction on the nonlinear water turbine model module; and a rotor speed derivative input module configured to provide additional input signals to the non-linear hydraulic turbine model module. The system operation data can be effectively recorded and analyzed, and comprehensive support is provided for power system optimization.

Description

Technical Field

[0001] The present invention relates to the technical field of power system simulation, and in particular to a device and method for simulating a turbine governor. Background Art

[0002] In power systems, turbine governors are core equipment for ensuring stable operation of turbine generators and precisely controlling power generation. They adjust the water inflow by adjusting the opening of the turbine guide vanes, adjusting turbine speed and output power in real time to match power system load fluctuations. Their performance directly impacts the dynamic response of the turbine generator, power quality, and the stability of the entire power system.

[0003] As power systems become increasingly complex, the shortcomings of traditional turbine governor models have become increasingly prominent. Simulation accuracy is limited, and they often employ linearization assumptions, ignoring nonlinear factors in turbine operation, such as complex water flow characteristics, mechanical friction, and clearances. This results in large deviations between simulation results and actual results under complex operating conditions. Furthermore, dynamic response is poor. When the power system experiences major disturbances (such as short-circuit faults or sudden load changes), the response speed is slow, and turbine operating parameters cannot be adjusted in a timely manner, resulting in long system recovery times and even instability. Traditional turbine governor models have fixed parameters, making them difficult to adapt to different turbines and the changing power system environment. Simulation results degrade significantly when operating conditions or system structure change.

[0004] Although improved models have been developed to account for nonlinear factors, their structures are complex and computationally intensive, making them unsuitable for real-time simulation and online applications. Some simulation devices are also incomplete and lack the ability to effectively record and analyze system operating data, making them unable to provide comprehensive support for power system optimization. Therefore, a more accurate, efficient, and practical turbine governor simulation device is needed. Summary of the Invention

[0005] In order to solve the above problems, the present invention proposes a turbine governor simulation device and method, which can effectively record and analyze system operation data and provide comprehensive support for power system optimization.

[0006] The technical solution adopted in the present invention is as follows:

[0007] A hydraulic turbine governor simulation device, comprising:

[0008] A nonlinear turbine model module, configured to simulate the nonlinear characteristics of a turbine based on water flow dynamics, mechanical transmission, and energy conversion;

[0009] a PID speed regulator module configured to generate a turbine speed control command based on the power system operating state, turbine operating conditions, and disturbance conditions;

[0010] a servo motor module configured to execute a turbine speed control instruction to the nonlinear turbine model module;

[0011] The rotor speed derivative input module is configured to provide an additional input signal to the nonlinear turbine model module.

[0012] Furthermore, the nonlinear turbine model includes a hydrodynamics submodule, which is configured to establish a hydrodynamics model by combining the geometric shape of the turbine flow components and water flow parameters using a numerical simulation method.

[0013] Furthermore, the nonlinear turbine model includes a mechanical transmission submodule, which is configured to determine the rotational inertia and gear transmission ratio parameters of the shaft system based on the principle of mechanical dynamics and establish a mechanical transmission model using multi-body dynamics theory.

[0014] Furthermore, the nonlinear turbine model includes an energy conversion submodule, which is configured to establish an energy conversion model based on the principle of conservation of energy and in combination with the process of converting potential energy and kinetic energy of water flow into mechanical energy and electrical energy.

[0015] Furthermore, the PID governor module has a parameter adaptive adjustment function, which can automatically adjust the proportional, integral and differential parameters according to the power system operating status, turbine operating conditions and disturbance conditions:

[0016]

[0017] Among them, u(t) is the control output, K p is the proportionality coefficient, K i is the integral coefficient, K d is the differential coefficient, and e(t) is the deviation between the set value and the actual value.

[0018] Furthermore, the servo motor module is equipped with a position feedback device and a speed feedback device to provide real-time feedback of position and speed information.

[0019] Furthermore, the rotor speed derivative input module directly measures the rotor speed signal through a speed sensor, obtains the derivative of the generator rotor speed in the power system through signal processing, and then inputs it into the nonlinear turbine model module.

[0020] Furthermore, the nonlinear turbine model module, PID speed regulator module, servo motor module and rotor speed derivative input module are integrated into a package block, and the package block adopts a standardized electrical interface and communication protocol.

[0021] Furthermore, the turbine governor simulation device also includes a data recording and analysis module, which is configured to record the operating data of each module and perform statistics, trend analysis and fault diagnosis.

[0022] A method for simulating a turbine governor, comprising:

[0023] Based on water flow dynamics, mechanical transmission and energy conversion, a nonlinear turbine model is constructed to simulate the nonlinear characteristics of the turbine;

[0024] Based on the power system operating status, turbine operating conditions and disturbance conditions, the turbine speed control command is generated through the PID speed regulator module;

[0025] Executing turbine speed control instructions on the nonlinear turbine model through the servo motor module;

[0026] An additional input signal is provided to the nonlinear turbine model via the rotor speed derivative input block.

[0027] The beneficial effects of the present invention are:

[0028] 1. The present invention adopts a modular design, which makes the model have good scalability and maintainability. Users can modify, replace or add different sub-modules according to specific simulation requirements to adapt to the simulation of turbines of different types and specifications.

[0029] 2. The present invention is compatible with a variety of power system simulation software. By developing corresponding interface programs and data conversion modules, it can be used in different simulation software platforms, making it convenient for users to choose a suitable simulation environment according to their needs and habits.

[0030] 3. The turbine governor simulation device of the present invention has a simple structure, low cost, high efficiency, and is easy to control. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of a turbine speed governor simulation device according to embodiment 1 of the present invention.

[0032] Figure 2 This is a schematic diagram of a nonlinear turbine model module according to Example 1 of the present invention. DETAILED DESCRIPTION

[0033] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. That is, the embodiments described are only part of the embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0034] Example 1

[0035] like Figure 1As shown, this embodiment provides a turbine governor simulation device, comprising:

[0036] A nonlinear turbine model module, configured to simulate the nonlinear characteristics of a turbine based on water flow dynamics, mechanical transmission, and energy conversion;

[0037] a PID speed regulator module configured to generate a turbine speed control command based on the power system operating state, turbine operating conditions, and disturbance conditions;

[0038] a servo motor module configured to execute a turbine speed control instruction to the nonlinear turbine model module;

[0039] The rotor speed derivative input module is configured to provide an additional input signal to the nonlinear turbine model module to accelerate the system response.

[0040] Preferably, if Figure 2 As shown in Figure 1, the nonlinear turbine model includes a hydrodynamics submodule, a mechanical transmission submodule, and an energy conversion submodule. The hydrodynamics submodule is configured to establish a hydrodynamics model using numerical simulation methods, taking into account the geometry of the turbine flow components and the flow parameters. The mechanical transmission submodule is configured to determine the shafting moment of inertia and gear ratio parameters based on the principles of mechanical dynamics, and to establish a mechanical transmission model using multi-body dynamics theory. The energy conversion submodule is configured to establish an energy conversion model based on the principle of energy conservation, taking into account the process of converting the potential and kinetic energy of the water flow into mechanical and electrical energy.

[0041] Specifically, the mathematical models of the hydrodynamics submodule, mechanical transmission submodule, and energy conversion submodule can be determined separately according to the actual structure and operating parameters of the turbine; then, professional simulation software can be used to program and implement each submodule according to the modular design principle; finally, each submodule is tested and debugged individually to ensure the correctness of its function, and then jointly debugged and the parameters are adjusted to ensure that the entire nonlinear turbine model module can accurately simulate the nonlinear behavior of the turbine in actual operation.

[0042] Preferably, the PID speed regulator module has a parameter adaptive adjustment function, which can automatically adjust the proportional, integral and differential parameters according to the power system operation status, turbine operating conditions and disturbance conditions. Its control algorithm is:

[0043]

[0044] Among them, u(t) is the control output, K p is the proportionality coefficient, K i is the integral coefficient, K d is the differential coefficient, and e(t) is the deviation between the set value and the actual value.

[0045] Preferably, the servo motor module is equipped with a position feedback device and a speed feedback device to provide real-time feedback of position and speed information, thereby improving adjustment accuracy and stability.

[0046] Preferably, the rotor speed derivative input module directly measures the rotor speed signal via a speed sensor and obtains the derivative of the generator rotor speed in the power system through signal processing, which is then input into the nonlinear turbine model module. The rotor speed derivative input module has a filtering function to remove signal noise interference.

[0047] Preferably, the nonlinear turbine model module, the PID speed regulator module, the servo motor module and the rotor speed derivative input module are integrated into a package block, which uses a standardized electrical interface and communication protocol to facilitate connection and communication with other devices.

[0048] Preferably, the turbine governor simulation device of this embodiment further includes a data recording and analysis module, which is configured to record the operating data of each module and perform statistics, trend analysis and fault diagnosis.

[0049] In addition, the turbine governor simulation device of this embodiment is compatible with a variety of power system simulation software and can be applied on different platforms through interface programs and data conversion modules.

[0050] In summary, the modular design of the turbine governor simulation device in this embodiment makes the model highly scalable and maintainable. Users can modify, replace, or add submodules based on specific simulation requirements to accommodate turbine simulations of varying types and specifications. The device is compatible with a variety of power system simulation software. By developing corresponding interface programs and data conversion modules, it can be used across different simulation software platforms, allowing users to select the appropriate simulation environment based on their needs and preferences.

[0051] Example 2

[0052] This embodiment is based on embodiment 1:

[0053] This embodiment provides a method for simulating a hydraulic turbine governor, including:

[0054] Based on water flow dynamics, mechanical transmission and energy conversion, a nonlinear turbine model is constructed to simulate the nonlinear characteristics of the turbine;

[0055] Based on the power system operating status, turbine operating conditions and disturbance conditions, the turbine speed control command is generated through the PID speed regulator module;

[0056] Executing turbine speed control instructions on the nonlinear turbine model through the servo motor module;

[0057] An additional input signal is provided to the nonlinear turbine model via the rotor speed derivative input block.

[0058] Example 3

[0059] This embodiment is based on embodiment 2:

[0060] This embodiment provides a computer device including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the turbine governor simulation method of Embodiment 2. The computer program may be in source code form, object code form, an executable file, or some intermediate form.

[0061] Example 4

[0062] This embodiment is based on embodiment 2:

[0063] This embodiment provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the turbine governor simulation method of embodiment 2. The computer program may be in source code form, object code form, executable file, or some intermediate form. The storage medium includes: any entity or device capable of carrying computer program code, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content contained in the storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the storage medium does not include electric carrier signal and telecommunication signal.

[0064] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

Claims

1. A turbine governor simulation device, characterized in that: include: A nonlinear turbine model module is configured to simulate the nonlinear characteristics of a turbine based on water flow dynamics, mechanical transmission, and energy conversion; a PID speed regulator module configured to generate a turbine speed control command based on the power system operating state, turbine operating conditions, and disturbance conditions; a servo motor module configured to execute a turbine speed control instruction to the nonlinear turbine model module; The rotor speed derivative input module is configured to provide an additional input signal to the nonlinear turbine model module.

2. A turbine governor simulation device according to claim 1, characterized in that: The nonlinear turbine model includes a hydrodynamics submodule, which is configured to establish a hydrodynamics model by using a numerical simulation method in combination with the geometric shape of the turbine flow components and water flow parameters.

3. A hydraulic turbine governor simulation device according to claim 1, characterized in that: The nonlinear turbine model includes a mechanical transmission submodule, which is configured to determine the rotational inertia and gear transmission ratio parameters of the shaft system based on mechanical dynamics principles and establish a mechanical transmission model using multi-body dynamics theory.

4. A hydraulic turbine governor simulation device according to claim 1, characterized in that: The nonlinear turbine model includes an energy conversion submodule, which is configured to establish an energy conversion model based on the principle of conservation of energy and in combination with the process of converting potential energy and kinetic energy of water flow into mechanical energy and electrical energy.

5. A hydraulic turbine governor simulation device according to claim 1, characterized in that: The PID speed regulator module has a parameter adaptive adjustment function, which can automatically adjust the proportional, integral and differential parameters according to the power system operation status, turbine operating conditions and disturbance conditions: Among them, u(t) is the control output, K p is the proportionality coefficient, K i is the integral coefficient, K d is the differential coefficient, and e(t) is the deviation between the set value and the actual value.

6. A hydraulic turbine governor simulation device according to claim 1, characterized in that: The servo motor module is equipped with a position feedback device and a speed feedback device to feed back position and speed information in real time.

7. A hydraulic turbine governor simulation device according to claim 1, characterized in that: The rotor speed derivative input module directly measures the rotor speed signal through a speed sensor, obtains the derivative of the generator rotor speed in the power system through signal processing, and then inputs it into the nonlinear turbine model module.

8. A hydraulic turbine governor simulation device according to claim 1, characterized in that: The nonlinear turbine model module, the PID speed regulator module, the servo motor module and the rotor speed derivative input module are integrated into a package block, and the package block adopts a standardized electrical interface and communication protocol.

9. A hydraulic turbine governor simulation device according to claim 1, characterized in that: It also includes a data recording and analysis module, which is configured to record the operating data of each module and perform statistics, trend analysis and fault diagnosis.

10. A method for simulating a turbine governor, characterized in that: include: Based on water flow dynamics, mechanical transmission and energy conversion, a nonlinear turbine model is constructed to simulate the nonlinear characteristics of the turbine; Based on the power system operating status, turbine operating conditions and disturbance conditions, the turbine speed control command is generated through the PID speed regulator module; Executing turbine speed control instructions on the nonlinear turbine model through the servo motor module; An additional input signal is provided to the nonlinear turbine model via the rotor speed derivative input block.

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