A master-slave type self-balancing control system and control method for feedwater pumps in thermal power units

Abstract

This invention relates to a master-slave type feedwater pump command self-balancing control system and control method for thermal power units, including a PID module, a command self-balancing calculation module, individual control modules for each feedwater pump, and corresponding bias modules and addition modules. The PID module calculates the average output command of all actuators; the command self-balancing calculation module receives the average output command and, combined with the actuator status, manual command, and automatic bias value, dynamically calculates the reference output command for the actuators in automatic mode; the bias module sets a bias value for each actuator based on its status; the addition module superimposes the reference output command and the bias value to obtain the final control command for the actuators in automatic mode; this achieves multi-pump output rebalancing after bias adjustment in automatic mode or output changes in manual mode, eliminating the lag and system disturbance problems of traditional PID control triggered by feedwater flow deviation.

Description

Technical Field

[0001] This invention relates to a master-slave type feedwater pump command self-balancing control system and control method for thermal power units. Background Technology

[0002] Currently, the feedwater control system of thermal power units lacks a universal design method to achieve a self-balancing function that ensures the total feedwater pump output remains constant when the bias value of any feedwater pump command changes in automatic control mode or the output value of a feedwater pump changes in manual mode. This function works without requiring PID closed-loop calculation and adjustment of the feedwater flow rate. While some control systems can achieve this through manufacturer-developed integrated modules, functional portability between different control systems is not possible. Units lacking this self-balancing function must rely on the change in feedwater flow caused by a single feedwater pump's output change in automatic mode. The PID controller then calculates the feedwater flow deviation and outputs the corresponding change, which in turn alters the feedwater pump commands in other automatic modes, thus achieving a balance where the total feedwater pump output remains constant (i.e., the feedwater flow remains constant). The adjustment process (change in feedwater pump bias under single automatic mode → change in feedwater pump output command → change in feedwater volume → PID calculation of feedwater flow → change in feedwater pump command under automatic mode → change in feedwater volume, PID closed-loop adjustment to make feedwater volume consistent with set feedwater volume) has two defects compared with the adjustment process that can realize command self-balancing (change in feedwater pump bias under single automatic mode → change in output of command self-balancing calculation module → change in feedwater pump command under automatic mode): (1) The change in feedwater volume caused by the change in feedwater pump output triggers the PID to calculate the feedwater volume deviation and output it, which brings unnecessary disturbance to the water supply system and increases the risk of feedwater fluctuation; (2) It significantly increases the process steps of feedwater pump command adjustment, increases the adjustment time of feedwater pump, and significantly reduces timeliness and stability. In order to address these shortcomings, this invention will implement the above command self-balancing function design based on the functional modules that are available in currently widely used control systems. Summary of the Invention

[0003] In view of the above situation and to overcome the shortcomings of the existing technology, the purpose of this invention is to provide a master-slave type feedwater pump command self-balancing control system and control method for thermal power units. The system achieves multi-pump output rebalancing after offset adjustment in automatic mode or output change in manual mode through a command self-balancing module (non-PID closed loop), eliminating the lag and system disturbance problems of traditional PID regulation triggered by feedwater deviation.

[0004] The technical solution solved by this invention is:

[0005] A master-slave type feedwater pump command self-balancing control system for thermal power units is used for the coordinated control of multiple feedwater pumps in a thermal power plant. It includes a PID module, a command self-balancing calculation module, individual control modules for each feedwater pump, and corresponding bias and addition modules for each feedwater pump's control module. The signal output of the PID module is connected to the input of the command self-balancing calculation module. The output of the command self-balancing calculation module is sequentially connected to the individual control modules of each feedwater pump through their respective bias and addition modules.

[0006] PID module: Used to calculate the average output command of all feedwater pumps;

[0007] Command self-balancing calculation module: Receives the average command output from the PID module, and combines it with the manual / automatic operation status of each water pump, the water pump output command in manual mode, and the water pump bias value in automatic mode to calculate the self-balancing command and dynamically output the reference output command of a single water pump in automatic mode.

[0008] The bias module corresponding to each water supply pump control module: set for each water supply pump, used to track or set the bias value according to the status of the water supply pump;

[0009] The addition module corresponding to each water supply pump control module is used to superimpose the reference output command with the bias value as the final control command for the automatic state of the water supply pump.

[0010] Each water pump's control module: In manual mode, its output command is determined by the input parameters generated through the module's interactive interface; in automatic mode, it receives and outputs the output value of the addition module, which is the sum of the single unit's reference command and bias value, and sends it to the water pump regulator terminal for execution.

[0011] A master-slave type self-balancing control method for feedwater pumps, used for multi-actuator collaborative control, includes the following steps:

[0012] S1. Calculate the average output command of all actuators using the PID module;

[0013] S2. Receive the average output command through the command self-balancing calculation module, and dynamically calculate the reference output command of the automatic state actuator by combining the actuator's state (manual / automatic), manual command and automatic bias value.

[0014] S3. The bias module is set for each actuator, and the bias value is tracked or set according to the actuator status.

[0015] S4. The reference output command is superimposed on the bias value by the addition module to serve as the final control command of the automatic state actuator;

[0016] When the bias value of any automatic actuator changes or the output value of any manual actuator changes, the instruction self-balancing module recalculates the reference output instruction in real time, so that other automatic actuators adjust synchronously to keep the total output constant.

[0017] Preferably, the reference output command of the self-balancing module is calculated in the following way: If the water pump is in automatic mode, the reference output command = [PID output × total number of water pumps - Σ (bias value of water pump in automatic mode) - Σ (output value of water pump in manual mode)] / number of water pumps in automatic mode.

[0018] All water pumps are in manual mode, with the baseline output command equal to the PID output.

[0019] Preferably, in step S4, when the bias value of any automatic actuator changes or the output value of a manual actuator changes, the instruction self-balancing calculation module recalculates the reference output instruction, so that the final control instructions of other automatic actuators are adjusted synchronously to keep the total output unchanged, and there is no need to use PID closed-loop adjustment.

[0020] Preferably, the actuator is a feedwater pump of a thermal power unit, and the system or method is used for the coordinated control of multiple feedwater pumps in a thermal power unit.

[0021] In the feedwater control system of thermal power units, there are situations where two or more feedwater pumps jointly regulate the feedwater flow. Based on the operating mode of the feedwater pumps, feedwater control can be divided into three modes: First, all feedwater pumps operate in automatic mode. The feedwater regulation PID (hereinafter simplified as upper-level PID) will autonomously calculate based on the deviation between the actual feedwater flow and the set feedwater flow. The output command of a single feedwater pump is the sum of the output of the upper-level PID and the output of the pump's instruction bias module. The instruction output of this instruction bias module is determined by the input parameters received and generated by the module's interactive interface. Increasing or decreasing the output command of this pump will affect its output, ultimately achieving a balance where the upper-level PID regulation command remains unchanged. The objectives are as follows: First, the total output of all pumps remains constant. Second, all feedwater pumps operate in manual mode, with the upper-level PID controller exiting autonomous calculation and tracking the average value of all feedwater pump commands. The output commands of each feedwater pump are determined by the input parameters received and generated by the interactive interface of each pump control module. The output of each feedwater pump's command bias module tracks the difference between the pump's output command and the upper-level PID command. Third, some feedwater pumps operate in automatic mode, while others operate in manual mode. Under this condition, the operating mode of the upper-level PID controller, the operating mode of a single feedwater pump in automatic mode, and the operating mode of the bias module are the same as in Method 1. The operating mode of a single feedwater pump in manual mode and the operating mode of the bias module are the same as in Method 2. This invention provides the water supply system with anti-interference self-balancing capability when the output bias of the water pump is adjusted in automatic mode or the output changes in manual mode. Moreover, it can achieve a new water pump output balance state without the need for closed-loop control of the water supply PID, which can reduce the risk of water supply fluctuations and the dependence on the quality of PID closed-loop regulation. It also reduces the transition time to reach a new water supply balance state after the output bias of the water pump is adjusted in automatic mode or the output changes in manual mode, thereby reducing the risk of secondary oscillations induced by prolonged unstable operating conditions.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] (1) PID-dedependent balancing mechanism

[0024] It is the first to achieve multi-pump output rebalancing after bias adjustment through a command self-balancing module (non-PID closed loop), eliminating the lag and system disturbance of traditional PID regulation triggered by water supply deviation.

[0025] (2) State adaptive bias tracking

[0026] The bias module automatically switches the tracking mode according to the pump status, ensuring that the output command does not jump when switching between manual and automatic modes, thus improving system stability.

[0027] (3) Generalized modular architecture

[0028] It adopts a combination of standardized functional modules (PID, self-balancing calculation, bias and addition modules) to support flexible expansion of different numbers of water pumps and realize cross-control system portability. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of module connections according to an embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of the connection of the instruction self-balancing calculation module in an embodiment of the present invention.

[0031] Figure 3 This is a schematic diagram of the PID module's TS0 and TP0 pin calculation module in an embodiment of the present invention.

[0032] Figure 4 This is a schematic diagram of the bias module connection in an embodiment of the present invention. Detailed Implementation

[0033] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0034] like Figure 1-4 As shown, this invention discloses a master-slave type feedwater pump command self-balancing control system for thermal power units, used for coordinated control of multiple feedwater pumps in a thermal power plant. It includes a PID module, a command self-balancing calculation module, individual control modules for each feedwater pump, and bias and addition modules corresponding to each feedwater pump's control module. The signal output terminal of the PID module is connected to the input terminal of the command self-balancing calculation module. The output terminal of the command self-balancing calculation module is sequentially connected to the control module of each feedwater pump through the bias and addition modules corresponding to each feedwater pump's control module. Wherein:

[0035] PID module: used to calculate the average output command of all water supply pumps; that is, based on the deviation between the set water supply and the actual water supply, the PID module calculates the average output command of all water supply pumps. When all water supply pumps are in manual mode, the PID module tracks the average output command of all water supply pumps manually set.

[0036] The hardware portion of this module utilizes existing technology. For example, the PID module employs the "PIDI" module from the NT6000 control system manufactured by Nanjing Keyuan Smart Technology Group Co., Ltd. The specific pin correspondences of the PID module in subsequent steps are as follows:

[0037] PID module PV SP TS0 TP0 OUT_PID "PIDI" module PV SP SElT Trak Op

[0038] Command self-balancing calculation module: Receives the average command output from the PID module, and combines it with the manual / automatic operation status of each water pump, the water pump output command in manual mode, and the water pump bias value in automatic mode to calculate the self-balancing command and dynamically output the reference output command of a single water pump in automatic mode.

[0039] The bias module corresponding to each water supply pump control module: set for each water supply pump, used to track or set the bias value according to the status of the water supply pump;

[0040] Specifically, in the manual mode of the corresponding water pump, the bias module tracks the difference between the output command of the water pump and the reference command of the output of a single water pump in the automatic mode (i.e., the output value of the command self-balancing calculation module); in the automatic mode of the corresponding water pump, the output value of the bias module is determined by the input parameters received and generated by the interactive interface of the module, and the corresponding water pump output command is the sum of the reference command of a single water pump and the output value of the bias block. This method can ensure that the output value of the bias module remains unchanged and the output command of the water pump remains unchanged during the manual and automatic switching process.

[0041] The hardware portion of this module utilizes existing technology. For example, the bias module employs the "TRAK" module from the NT6000 control system manufactured by Nanjing Keyuan Smart Technology Group Co., Ltd. The specific pin correspondences of the bias module in subsequent steps are as follows:

[0042] Bias module TS1~TSN TP1~TPN OUT_B_1~OUT_B_N "TRAK" module S T Op

[0043] The addition module corresponding to each water supply pump control module is used to superimpose the reference output command with the bias value as the final control command for the automatic state of the water supply pump.

[0044] The hardware portion of this module utilizes existing technology. For example, the addition module employs the "ADD" module from the NT6000 control system manufactured by Nanjing Keyuan Smart Technology Group Co., Ltd. The specific pin correspondences of the addition module in subsequent steps are as follows:

[0045] Addition module Enter 1 Enter 2 Output "ADD" module IN1 IN2 OUT

[0046] Each water pump's control module: In manual mode, its output command is determined by the input parameters generated through the module's interactive interface; in automatic mode, it receives and outputs the output value of the addition module, which is the sum of the single unit's reference command and bias value, and sends it to the water pump regulator terminal for execution.

[0047] The hardware portion of this module utilizes existing technology. For example, the control module for each water pump uses the "MSA" module from the NT6000 control system manufactured by Nanjing Keyuan Smart Technology Group Co., Ltd. The specific pin correspondences of the control modules in subsequent steps are as follows:

[0048] Control module IN1~INN OUT_MA_1~OUT_MA_N S_MA_1~S_MA_N "MSA" module PV Op NotA

[0049] A master-slave type water pump command self-balancing control method for multi-actuator collaborative control includes the following steps: S1. Calculate the average output command of all actuators through a PID module; S2. Receive the average output command through a command self-balancing calculation module, and dynamically calculate the reference output command of the automatic state actuator by combining the actuator's state (manual / automatic), manual command, and automatic bias value; S3. Set the bias value for each actuator through a bias module, tracking or setting the bias value according to the actuator's state; S4. Superimpose the reference output command and the bias value through an addition module to obtain the final control command for the automatic state actuator; wherein, when the bias value of any automatic state actuator changes or the output value of a manual state actuator changes, the command self-balancing module recalculates the reference output command in real time, so that other automatic state actuators adjust synchronously to maintain a constant total output.

[0050] The calculation of the TS0 and TP0 pins of the PID module is as follows: Figure 3 As shown, TS0=1 when all water pumps are in manual mode, otherwise TS0=0; the TP0 pin is connected to the average value of the control commands output by all water pumps. When TS0=1, i.e., the tracking command is valid, OUT_PID outputs the signal connected to the TP0 pin; otherwise, it outputs the command automatically calculated by the PID based on the numerical deviation input from the PV and SP pins. The meaning of the PID module output value is: the average command of the output of all water pumps.

[0051] The reference output command (BA_OUT) of the self-balancing module is calculated as follows: When all water pumps are in automatic mode, the reference output command (BA_OUT) = [PID output × total number of water pumps - Σ (bias value of water pumps in automatic mode) - Σ (output value of water pumps in manual mode)] / number of water pumps in automatic mode;

[0052] All water pumps are in manual mode, and the reference output command is equal to the PID output.

[0053] In step S4, when the bias value of any automatic actuator changes or the output value of any manual actuator changes, the instruction self-balancing calculation module recalculates the reference output command, so that the final control command of other automatic actuators is adjusted synchronously to keep the total output constant, and there is no need to use PID closed-loop adjustment.

[0054] The actuator is a feedwater pump of a thermal power unit, and the system or method is used for the coordinated control of multiple feedwater pumps in a thermal power unit.

[0055] The instruction self-balancing module, bias module, and addition module adopt a standardized functional module architecture, which supports flexible expansion with different numbers of actuators.

[0056] like Figure 1 As shown, the PID module has four sets of input signals and one set of output signals relevant to this application. Input signals 1 and 2 are connected to the PV and SP pins, respectively, representing the actual water supply and the set water supply. Input signals 3 and 4 are connected to the TS0 and TP0 pins, respectively, representing the PID tracking command and tracking value. The output signal is connected to the OUT_PID pin, which is connected to the BA_IN input pin of the command self-balancing calculation module BALANCE, representing the input signal for command self-balancing calculation.

[0057] The instruction self-balancing calculation module receives the instruction from the PID controller, calculates the self-balancing instruction based on the manual and automatic operation status of the water pump, and outputs it to the BA_OUT pin. The BA_OUT pin is connected to an input terminal of the adder module corresponding to each water pump.

[0058] Taking water pump 1 as an example, the bias module, addition module and single water pump control module corresponding to each water pump are explained.

[0059] The bias module (B_1) has two sets of input signals and one set of output signals. The input signals are connected to the TS1 and TP1 pins, respectively, representing the tracking command and tracking value of the bias module. The output signal is connected to the OUT_B_1 pin, representing one component of the control command input to the water pump 1.

[0060] The addition module adds the output of module B_1 and the output of the instruction self-balancing calculation module, and uses it as the input control instruction for water pump 1.

[0061] The single water pump control module selects to receive control commands input from the IN1 pin or input parameters received and generated through the module's interactive interface as output control commands, depending on its automatic or manual status. At the same time, its manual or automatic status is output as a second set of output signals from the S_MA_1 pin.

[0062] Instruction self-balancing calculation module, such as Figure 2 As shown, the setup steps are as follows:

[0063] Step 3-1: Module ① is used for signal selection. When S_MA_1=1, module ① outputs the OUT_MA_1 pin value; otherwise, it outputs the OUT_B_1 pin value. The function implemented is as follows: When water pump 1 is in manual mode (S_MA_1=1), module ① outputs the water pump 1 output control command (OUT_MA_1); otherwise, it outputs the output value of the bias module corresponding to the water pump 1 control module (OUT_B_1). Modules ② and ③ are built in the same way (if the number of water pumps is greater than 3, the module number is sequentially increased).

[0064] Step 3-2: Build module ④ and add the outputs of modules ①-③ (if the number of water pumps is greater than 3, the module number will be sequentially increased);

[0065] Step 3-3: Build module ⑤ and output the inverted value of S_MA_1. The function is to invert the manual / automatic state of water pump 1 and output the result. That is, when water pump 1 is in manual state ((S_MA_1=1)), module ⑤ outputs 0; modules ⑥ and ⑦ are built in the same way (if the number of water pumps is greater than 3, the module number is sequentially increased).

[0066] Steps 3-4: Build module ⑧, which multiplies the output of the PID module by the total number of water pumps before sending it out. The function is to calculate the total output command of all water pumps.

[0067] Steps 3-5: Construct module ⑨, subtract the output of module ⑧ from the output of module ④, and achieve the following function: output the total reference command for the water pump output in automatic mode;

[0068] Steps 3-6: Construct module ⑩, and sum the outputs of modules ⑤-⑦ (if the number of water pumps is greater than 3, the module numbers will be sequentially increased). The function achieved is to calculate the number of water pumps in automatic mode.

[0069] Steps 3-7: Build module ⑪, compare the output of module ⑩ with 0.1 and take the larger value. The function is to calculate the number of water pumps in automatic mode, while preventing the denominator from being zero during division.

[0070] Steps 3-8: Build module ⑫ and input the manual status signal of each water pump. If all input terminals are 1, that is, all water pumps are in manual mode, module ⑫ outputs 1; otherwise, it outputs 0.

[0071] Steps 3-9: Construct module ⑬, and divide the output of module ⑨ (the total reference command for the output of the water pumps in automatic mode) by the output of module ⑪ (the number of water pumps in automatic mode). The function achieved is to calculate the reference command for the output of a single water pump in automatic mode.

[0072] Step 3-10: Build module 14 and select the signal channel sent to the BA_OUT pin. When module 12 is set to 1, module 14 outputs the value of BA_IN to BA_OUT; otherwise, it sends the output value of module 13 to BA_OUT. The function implemented is as follows: when all water pumps are in manual mode, the instruction self-balancing calculation module directly outputs its input signal (BA_IN); when at least one water pump is in automatic mode, the instruction self-balancing calculation module outputs the calculated baseline command for the output of a single water pump in automatic mode.

[0073] Taking water pump 1 as an example, the function of the bias module B_1 corresponding to a single water pump is as follows:

[0074] When TS_1=1, the bias module is in tracking mode, and TP_1 is output at the OUT_B_1 terminal. When TS_1=0, the bias module does not track, and the signal at the OUT_B_1 terminal is determined by the input parameters received and generated through the interactive interface of the module.

[0075] Taking water pump 1 as an example, the connection diagram of TS_1 and TP_1 in the bias module B_1 corresponding to a single water pump is as follows: Figure 4 As shown, the implementation process is as follows:

[0076] When S_MA_1=1, TS_1 is 1; otherwise, it is 0. TP_1 is the output of OUT_MA_1 minus the output of BA_OUT. The function implemented is as follows: when water pump 1 is in manual mode, the bias module tracks the difference between the output of the water pump 1 control module and the output of the instruction self-balancing calculation module; when water pump 1 is in automatic mode, the output value of the bias module is determined by the input parameters received and generated through the module's interactive interface.

[0077] For the addition module, taking water pump 1 as an example, the function of addition module 1 for a single water pump is to add the output of the bias module and the output of the instruction self-balancing calculation module, and send the sum to the input terminal IN1 of the control module of water pump 1. The manual and automatic states of a single water pump control module are determined by the input of the module's interactive interface. When switched to manual mode, the output control command (OUT_MA_1) of water pump 1 is determined by the input parameters received and generated by the interactive interface of the module, and the manual state (S_MA_1) output of water pump 1 is 1. When switched to automatic mode, the output control command of water pump 1 is the input value at the IN1 terminal, and the manual state (S_MA_1) output of water pump 1 is 0.

[0078] Taking the feedwater control system of a 300MW subcritical thermal power unit as an example:

[0079] This unit is a subcritical drum boiler, equipped with three electrically controlled variable-speed feedwater pumps. At 80% rated load or above, all three pumps operate together to regulate the feedwater flow, thereby controlling the drum water level. Each feedwater pump control module corresponds to an offset module. Without the self-balancing function described in the patent, if the offset output of a single feedwater pump in automatic mode is modified via the human-machine interface, the pump's speed changes rapidly, causing fluctuations in the total feedwater flow and drum water level. Under the closed-loop regulation of the drum water level PID controller, the average feedwater pump speed command received by the three pumps changes. After a period of closed-loop adjustment, the drum water level returns to a stable state. After optimization, under the same operating conditions, the offset output of a single feedwater pump in automatic mode is modified in the same way. The main parameters of the system's dynamic process before and after optimization are compared as follows:

[0080] Table 1 Comparison of parameters before and after design of the self-balancing function of the water supply system

[0081] Maximum fluctuation range of water supply flow Maximum fluctuation range of steam drum water level Time required for the water level in the steam drum to stabilize Before optimization 56t / h 24mm 3min15s After optimization 25t / h 9mm 1min

[0082] The data shows that the optimized system has significantly reduced the time required to reach the desired temperature, and the maximum fluctuation range of feedwater flow and steam drum water level is less than 50% of that of the original system. The stability of the feedwater control loop has been significantly improved, making it practical and easy to implement and promote in engineering projects.

Claims

1. A master-slave type feedwater pump command self-balancing control system for thermal power units, used for coordinated control of multiple feedwater pumps in a thermal power plant, characterized in that, This includes a PID module, a command self-balancing calculation module, individual control modules for each feedwater pump, and corresponding bias and addition modules for each feedwater pump's control module. The signal output of the PID module is connected to the input of the command self-balancing calculation module. The output of the command self-balancing calculation module is connected to the individual control modules of each feedwater pump via their respective bias and addition modules. PID module: Used to calculate the average output command of all feedwater pumps; Command self-balancing calculation module: Receives the average command output from the PID module, and combines it with the manual / automatic operation status of each water pump, the water pump output command in manual mode, and the water pump bias value in automatic mode to calculate the self-balancing command and dynamically output the reference output command of a single water pump in automatic mode. The bias module corresponding to each water supply pump control module: set for each water supply pump, used to track or set the bias value according to the status of the water supply pump; The addition module corresponding to each water supply pump control module is used to superimpose the reference output command with the bias value as the final control command for the automatic state of the water supply pump. Each water pump's control module: In manual mode, its output command is determined by the input parameters generated through the module's interactive interface; in automatic mode, it receives and outputs the output value of the addition module, which is the sum of the single unit's reference command and bias value, and sends it to the water pump regulator terminal for execution.

2. A master-slave type self-balancing control method for feedwater pumps, used for multi-actuator collaborative control, characterized in that, Includes the following steps: S1. Calculate the average output command of all actuators through the PID module; S2. Receive the average output command through the command self-balancing calculation module, and dynamically calculate the reference output command of the automatic state actuator by combining the actuator status, manual command, and automatic bias value; S3. Set the bias value for each actuator through the bias module, and track or set the bias value according to the actuator status. S4. The reference output command is superimposed on the bias value by the addition module to serve as the final control command for the automatic state actuator; wherein, when the bias value of any automatic state actuator changes or the output value of the manual state actuator changes, the command self-balancing calculation module recalculates the reference output command in real time, so that other automatic state actuators adjust synchronously to keep the total output constant. The reference output command of the self-balancing calculation module is calculated in the following way: When all water pumps are in automatic mode, the reference output command = [PID output × total number of water pumps - Σ (bias value of water pumps in automatic mode) - Σ (output value of water pumps in manual mode)] / number of water pumps in automatic mode; When all water pumps are in manual mode, the reference output command is equal to the PID output.

3. The master-slave type feedwater pump command self-balancing control method according to claim 2, characterized in that, In step S4, when the bias value of any automatic actuator changes or the output value of any manual actuator changes, the instruction self-balancing calculation module recalculates the reference output command, so that the final control command of other automatic actuators is adjusted synchronously to keep the total output constant, and there is no need to use PID closed-loop adjustment.

4. The master-slave feedwater pump command self-balancing control method according to claim 2 or 3, characterized in that, The actuator is a feedwater pump for a thermal power unit.

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