Method and system for suppressing power drift of water turbine in opening mode

Abstract

The invention provides a method and a system for suppressing power drift in an opening mode of a water turbine, and the method comprises the steps: adding a PID algorithm on an existing speed regulator of the water turbine, so as to generate a closed-loop controller for adjusting a guide vane of the water turbine; when the water turbine is in the opening operation mode, the difference value between the target issuing power value and the actual power value of the water turbine is calculated in real time, and the difference value is input into the closed-loop controller; a guide vane opening adjusting value is calculated according to the difference value through a closed-loop controller, and a guide vane opening instruction is generated according to the adjusting value; and detecting an actual power value after the water turbine executes the guide vane opening instruction, and circularly performing difference calculation and guide vane opening adjustment based on a PID algorithm according to the updated actual power value until the adjusted difference approaches zero. According to the method, closed-loop adjustment is conducted on the guide vane of the water turbine through the PID algorithm, the output value of the water turbine in the opening mode can be controlled to be maintained at the issuing value, and power deviation is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydroelectric power generation control, and in particular to a method and system for suppressing power drift of a hydraulic turbine in an opening mode. BACKGROUND

[0002] At present, in the process of regulating the output power of a radial flow hydraulic turbine, the power of the hydraulic turbine is greatly affected by factors such as water head fluctuation and water hammer effect of the water conduit. According to the hydraulic turbine power formula P = 9.81 x n x H x Q, in the opening mode, although the flow Q increases with the increase of the opening, the instantaneous drop of the water head H will cause a drop in the power, and then an increase after the flow stabilizes, resulting in a large difference between the actual output of the hydraulic turbine and the issued value.

[0003] Therefore, how to suppress power drift and regulate the output value of the hydraulic turbine in the opening mode to maintain the issued value has become a problem to be solved. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art to some extent.

[0005] To this end, a first object of the present application is to provide a method for suppressing power drift of a hydraulic turbine in an opening mode, which can effectively solve the problem that the actual output of a hydroelectric unit in the opening mode operation is inconsistent with the issued value due to power consensus, effectively control the unit output, and reduce the deviation of daily plan examination.

[0006] A second object of the present application is to provide a system for suppressing power drift of a hydraulic turbine in an opening mode.

[0007] A third object of the present application is to provide an electronic device.

[0008] A fourth object of the present application is to provide a computer readable storage medium.

[0009] To achieve the above objects, a first aspect of the present application provides a method for suppressing power drift of a hydraulic turbine in an opening mode, comprising the following steps: adding a PID algorithm to an existing speed regulator of the hydraulic turbine to generate a closed-loop controller for regulating guide vanes of the hydraulic turbine; calculating the difference between the target issued power value and the actual power value of the hydraulic turbine in real time when the hydraulic turbine is in an opening operation mode, and inputting the difference into the closed-loop controller; calculating a guide vane opening adjustment value for the difference by the closed-loop controller, and generating a guide vane opening instruction according to the adjustment value; The actual power value of the water turbine after executing the guide vane opening degree instruction is detected, and the difference value calculation and the guide vane opening degree adjustment based on the PID algorithm are circularly performed according to the updated actual power value until the adjusted difference value approaches zero.

[0010] Optionally, after the closed-loop controller for adjusting the guide vane of the water turbine is generated, the method further comprises: determining parameters of the closed-loop controller based on the working site condition of the water turbine, wherein the parameters of the closed-loop controller comprise a proportional coefficient, an integral coefficient and a differential coefficient; and obtaining the initial guide vane opening degree value in the initial guide vane opening degree instruction.

[0011] Optionally, the guide vane opening degree adjustment value is calculated by the following formula: Adjustment value = Kp × difference value + Ki × (integral of the difference value) + Kd × (derivative of the difference value) Wherein, Kp is the proportional coefficient, Ki is the integral coefficient, and Kd is the differential coefficient.

[0012] Optionally, the integral of the difference value is the sum of all the difference values from the first round of guide vane opening degree adjustment to the current round of guide vane opening degree adjustment.

[0013] Optionally, the real-time calculation of the difference value between the target issued power value and the actual power value of the water turbine comprises: subtracting the actual power value from the target issued power value, wherein the positive and negative signs of the obtained power difference value reflect the change state of the integral part.

[0014] Optionally, the calculation of the guide vane opening degree adjustment value for the difference value by the closed-loop controller and the generation of the guide vane opening degree instruction according to the adjustment value comprise: multiplying the difference value by the proportional coefficient to obtain a proportional part, and multiplying the difference value by the integral coefficient to obtain an integral part; calculating the sum of the proportional part and the integral part as the guide vane opening degree adjustment value, and adding the guide vane opening degree initial value and the guide vane opening degree adjustment value to obtain the guide vane opening degree value in the current guide vane opening degree instruction.

[0015] Optionally, the circular calculation of the difference value and the guide vane opening degree adjustment based on the PID algorithm according to the updated actual power value comprises: subtracting the updated actual power value from the target issued power value to obtain the difference value of the current adjustment, and calculating the integral of the difference value in combination with the difference value of the current adjustment; multiplying the difference value of the current adjustment by the proportional coefficient to obtain a proportional part, and multiplying the integral of the difference value by the integral coefficient to obtain an integral part; calculating the sum of the proportional part and the integral part as the guide vane opening degree adjustment value of the current adjustment, and adding the guide vane opening degree value in the last round of adjustment and the guide vane opening degree adjustment value of the current adjustment to obtain the guide vane opening degree value in the current guide vane opening degree instruction.

[0016] To achieve the above object, the second aspect of the present application further provides a system for suppressing power drift in the opening mode of a hydraulic turbine, comprising the following modules: An additional module is configured to add a PID algorithm to an existing governor of the hydraulic turbine to generate a closed-loop controller for adjusting the guide vanes of the hydraulic turbine. A calculation module is configured to calculate the difference between the target output power value and the actual output power value of the hydraulic turbine in real time when the hydraulic turbine is in the opening mode, and input the difference into the closed-loop controller. A generation module is configured to calculate the guide vane opening adjustment value for the difference by the closed-loop controller, and generate the guide vane opening instruction according to the adjustment value. A cycle module is configured to detect the actual output power value after the hydraulic turbine executes the guide vane opening instruction, and cyclically calculate the difference and adjust the guide vane opening based on the PID algorithm according to the updated actual output power value until the adjusted difference approaches zero.

[0017] To achieve the above object, the third aspect of the present application further provides an electronic device, comprising: at least one processor; and A memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for suppressing power drift in the opening mode of a hydraulic turbine as described in any one of the above first aspect.

[0018] To achieve the above object, the fourth aspect of the present application further provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the method for suppressing power drift in the opening mode of a hydraulic turbine as described in any one of the above first aspect.

[0019] The technical scheme provided by the embodiment of the application brings at least the following beneficial effects: the application adds a closed-loop controller for regulating the guide vane on the speed regulator of the hydraulic turbine unit, when the actual output value of the unit is inconsistent with the issued value, the difference between the actual output value and the issued value is calculated, and the guide vane opening is adjusted by the closed-loop controller according to the difference. The adjustment value issued by the closed-loop controller is sent to the guide vane opening command for fine adjustment, and the difference is adjusted to zero through continuous circulation. Thus, the application continuously measures the power difference, and adjusts the difference to be close to zero through the closed-loop adjustment based on the PID algorithm, so that the actual output value of the hydraulic turbine unit in the opening mode is maintained at the issued value, which can effectively control the unit output, reduce the power deviation, and ensure the normal and stable operation of the hydraulic turbine unit. Moreover, the application can add the algorithm on the existing equipment of the unit through software upgrading, without changing the hardware such as the hydraulic actuator. For a large number of old units that have been put into operation and only have the opening mode in hardware, the performance of the unit can be improved at low cost and high benefit, and the power control quality can be significantly improved without large-scale hardware modification, and the cost of power drift suppression is reduced.

[0020] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following description and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above and / or additional aspects and advantages of the application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which: Figure 1 A flow chart of a method for suppressing power drift in the opening mode of a hydraulic turbine according to an embodiment of the application; Figure 2 A structural schematic diagram of a system for suppressing power drift in the opening mode of a hydraulic turbine according to an embodiment of the application. DETAILED DESCRIPTION

[0022] Embodiments of the application are described in detail below with reference to the accompanying drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below are exemplary and are intended to explain the application, and cannot be understood as a limitation of the application.

[0023] A method and system for suppressing power drift in the opening mode of a hydraulic turbine according to an embodiment of the application are described below with reference to the accompanying drawings.

[0024] Figure 1 A flow chart of a method for suppressing power drift in the opening mode of a hydraulic turbine according to an embodiment of the application is shown in Figure 1 The method comprises the following steps: Step S101, a PID algorithm is added to the existing governor of the water turbine to generate a closed-loop controller for regulating the guide vane of the water turbine.

[0025] Specifically, the application introduces a closed-loop controller capable of regulating the guide vane of the unit in the opening mode of the water turbine. The closed-loop controller regulates the opening of the guide vane by executing the PID algorithm.

[0026] In this application, the PID algorithm can be added to the existing governor of the unit by software upgrade to realize the construction of the closed-loop controller without changing the hardware such as the hydraulic actuator of the unit. For a large number of old units that have been put into operation and only have the opening mode in hardware, the performance can be improved at low cost and high benefit. It is beneficial to significantly improve the power control quality without large-scale hardware modification.

[0027] In an embodiment of the application, after the closed-loop controller for regulating the guide vane of the water turbine is generated, it further includes: based on the working site condition of the water turbine, determining the parameters of the closed-loop controller, wherein the parameters of the closed-loop controller include the proportional coefficient, the integral coefficient and the differential coefficient; obtaining the initial value of the guide vane opening in the initial guide vane opening instruction.

[0028] Specifically, the parameters of the closed-loop controller and the initial parameters required for PID regulation are set. For the parameters of the closed-loop controller, i.e. the proportional coefficient, the integral coefficient and the differential coefficient, they need to be adjusted and set on site. After the closed-loop controller is added, based on various factors such as the working environment and task requirements of the water turbine site, the appropriate parameters are determined by continuous adjustment on site. And the target issued power value of the water turbine is obtained, which is set based on actual needs.

[0029] Step S102, when the water turbine is in the opening mode, the difference between the target issued power value and the actual power value of the water turbine is calculated in real time, and the difference is input to the closed-loop controller.

[0030] Specifically, during the operation of the water turbine unit in the opening mode, the actual output (i.e. the actual power value output externally) of the water turbine is detected in real time. When the actual output of the unit is inconsistent with the issued value, the difference between the actual output and the target issued value received by the unit is calculated, and the calculated difference is applied to the closed-loop controller for subsequent PID regulation.

[0031] Step S103, the guide vane opening adjustment value is calculated by the closed-loop controller for the difference, and the guide vane opening instruction is generated according to the adjustment value.

[0032] Specifically, the closed-loop controller performs PID operation according to the current calculated difference value, and issues the calculated adjustment value to the guide vane opening degree instruction to finely adjust the guide vane opening degree.

[0033] In an embodiment of the present application, the guide vane opening degree adjustment value can be calculated by the following formula: Adjustment value = Kp x difference value + Ki x (integral of difference value) + Kd x (derivative of difference value) Wherein, Kp is a proportional coefficient, Ki is an integral coefficient, and Kd is a derivative coefficient.

[0034] Wherein, the integral of the difference value is the cumulative sum of all difference values from the first guide vane opening degree adjustment cycle to the current guide vane opening degree adjustment process. That is, in order to simplify the calculation process, the integral of the difference value is approximated as the cumulative sum of the difference values in each adjustment process, and the integral of the difference value in the first adjustment process is 0 in the initial state.

[0035] It can be understood that this step is the first adjustment process performed in the PID closed-loop control, and the first adjustment process will be described in detail below with a specific embodiment.

[0036] In an embodiment of the present application, the guide vane opening degree adjustment value is calculated by the closed-loop controller according to the difference value, and the guide vane opening degree instruction is generated according to the adjustment value, including: multiplying the difference value by the proportional coefficient to obtain the proportional part, and multiplying the difference value by the integral coefficient to obtain the integral part; calculating the sum of the proportional part and the integral part as the guide vane opening degree adjustment value, and adding the initial guide vane opening degree value to the guide vane opening degree adjustment value to obtain the guide vane opening degree value in the current guide vane opening degree instruction.

[0037] For example, it is assumed that the target issued power value is 100 MW, due to changes in water head and other reasons, a deviation occurs, the initial actual power value of the unit is 98 MW, the initial guide vane opening degree value in the initial guide vane opening degree instruction of the unit is 50%, and the controller parameters are set to a proportional coefficient Kp = 0.5 and an integral coefficient Ki = 0.1 after on-site debugging and setting.

[0038] In the PID closed-loop control process, it is assumed that the calculation and adjustment are performed once every 1 second, i.e. the adjustment period is 1 second every round, then in the first second, i.e. the first adjustment process, the difference value (Error, abbreviated as E) is calculated by the following formula: E1 = target value - actual value = 100 - 98 = 2 (MW).

[0039] Then, the integral term (Integral, abbreviated as I) is calculated. Since it is the first time to calculate, the integral is 0. Therefore, I1 = Ki x (E1) = 0.1 x 2 = 0.2.

[0040] Recalculate the adjustment value (Output, referred to as U). Among them, the proportional part: P1=Kp×E1=0.5×2=1.0; integral part: I1=0.2. Then the total adjustment value: U1=P1+I1=1.0+0.2=1.2.

[0041] Further, generate a new guide vane opening instruction by the following formula: new opening = initial opening + adjustment value = 50% + 1.2% = 51.2%. Control the unit to execute the new guide vane opening instruction again, and the system adjusts the guide vane opening to 51.2% after execution. Due to the increase in opening, the water inflow increases, and the actual power of the unit begins to rise.

[0042] Step S104, detect the actual power value after the water turbine executes the guide vane opening instruction, and perform difference calculation and guide vane opening adjustment based on the PID algorithm according to the updated actual power value until the adjusted difference approaches zero.

[0043] Specifically, detect the actual power value after the water turbine executes the guide vane opening instruction generated by the last round of adjustment, and perform difference calculation and guide vane opening adjustment based on the PID algorithm according to the updated actual power value, that is, according to the detected actual power value after the water turbine executes the guide vane opening instruction generated by the last round of adjustment, perform steps S102 to S104 to perform PID closed-loop control of the guide vane opening until the adjusted difference approaches zero.

[0044] Continue to refer to the example of the first round of adjustment process, and the following detailed description of several rounds of adjustment processes after the first round of adjustment process is described with a specific embodiment.

[0045] In an embodiment, the difference calculation and the guide vane opening adjustment based on the PID algorithm according to the updated actual power value include: subtracting the target issued power value from the updated actual power value to obtain the difference of the current round of adjustment, and calculating the integral of the difference value combined with the difference of the current round of adjustment; multiplying the difference of the current round of adjustment by the proportional coefficient to obtain the proportional part, and multiplying the integral of the difference value by the integral coefficient to obtain the integral part; calculating the sum of the proportional part and the integral part as the guide vane opening adjustment value of the current round of adjustment, and adding the guide vane opening value in the last round of adjustment to the guide vane opening adjustment value of the current round of adjustment to obtain the guide vane opening value in the guide vane opening instruction of the current round.

[0046] Based on the above example of the first round of adjustment process, it is assumed that the actual power of the unit rises to 99.5 MW after executing the first round of adjustment instruction, then the updated difference is calculated by the following formula: E2=100-99.5=0.5 MW, and by comparing the updated difference with the initially calculated difference, it can be seen that the difference is reduced by the last round of adjustment.

[0047] Then, the integral term is calculated. As mentioned above, since the integral of the difference in the present application is calculated by accumulation, I2=Ki× (E1 + E2) =0.1×(2+0.5) =0.25.

[0048] The adjustment value is calculated again. The proportional part is P2=Kp×E2=0.5× 0.5=0.25; the integral part is I2=0.25. The total adjustment value is U2=P2+I2=0.25+0.25=0.5.

[0049] The new guide vane opening instruction in the current adjustment process is generated by the following formula: new opening = last second opening + adjustment value = 51.2% + 0.5% = 51.7%. The unit executes the new guide vane opening instruction, and the guide vane opening of the unit increases to 51.7% after execution. The actual power of the unit continues to approach the target value.

[0050] Further, in the third round of adjustment process, it is assumed that the actual power of the unit rises to 100.1 MW, i.e. slightly overshoots. The difference is calculated by the following formula: E3 =100-100.1=-0.1 (MW), and the difference becomes negative.

[0051] Then, the integral term is calculated. As mentioned above, since the integral of the difference in the present application is calculated by accumulation, I2=Ki× (E1 + E2) =0.1×(2+0.5) =0.25.

[0052] The adjustment value is calculated again. The proportional part is P3=Kp×E3=0.5× (-0.1)=-0.05. The proportional part is negative, indicating that the present application needs to reduce the opening. The integral part is I3=0.24. The total adjustment value is U3=P3+ I3=-0.05+ 0.24=0.19. It can be seen from the total adjustment value that the total adjustment value is still positive in the current adjustment process, but it has been greatly reduced compared with the previous adjustment.

[0053] The new guide vane opening instruction is generated by the following formula: new opening =51.7% + 0.19% = 51.89%. It can be seen from the newly calculated opening value in the current round that the opening is increasing more and more slowly.

[0054] Further, the adjustment process in the above example is repeated by the closed-loop controller at a very high frequency (much higher than 1 second / time) in actual application. After several iterations, the system will tend to be stable. In this state, the difference (E) will be infinitely close to 0. Because the proportional part depends on the difference for calculation, the proportional part (P) is also close to 0. The integral part (I) will stabilize at a fixed value, which is the compensation amount necessary to offset the fixed factors (such as water head changes) that cause power drift. The guide vane opening command will stabilize at the initial opening + the final integral compensation value.

[0055] Therefore, the proportional (P) part of the embodiment of the application is responsible for rapid response, and the integral (I) part is responsible for fine calibration to ultimately eliminate steady-state error and achieve accurate control of the difference between the target issued power value and the actual power value to 0.

[0056] That is, the proportional part in the closed-loop controller is the main loop, which is the opening loop for rapid response and is responsible for rapid and large-range positioning of the actuator to ensure basic response speed. The integral part in the closed-loop controller is the slave loop, which is the power loop for accurate correction. The slave loop is a "fine tuning" or "calibration" loop and only conditionally intervenes when a persistent power deviation is detected (for example, the power deviation can be detected by generally setting a power deviation dead zone). The difference is close to 0, and the load is maintained at the issued value, dynamically resisting disturbances such as water head changes, and finally firmly locking the unit output at the issued value, thereby reducing the examination deviation of the hydraulic turbine in the daily plan.

[0057] In summary, the method for suppressing power drift in the guide vane mode of the hydraulic turbine of the embodiment of the application adds a closed-loop controller for regulating the guide vane on the governor of the hydraulic turbine unit. When the actual output value of the unit is inconsistent with the issued value, the difference between the actual output value and the issued value is calculated, and the guide vane opening is adjusted by the closed-loop controller based on PID. The adjustment value of the closed-loop controller is issued to the guide vane opening command for fine tuning, and the difference is adjusted to zero through continuous loop adjustment. Therefore, the method continuously measures the power difference and adjusts the difference to close to zero based on the closed-loop adjustment of the PID algorithm, controls the actual output value of the hydraulic turbine unit in the opening mode to maintain the issued value, effectively controls the unit output, reduces the power deviation, and ensures the normal and stable operation of the hydraulic turbine unit. Moreover, the method can add the algorithm on the existing equipment of the unit through software upgrade without changing the hardware such as the hydraulic actuator. For a large number of old units that have been put into operation and only have the opening mode in hardware, the method can improve the performance of the unit at low cost and high benefit, significantly improve the power control quality without large-scale hardware modification, and reduce the cost of power drift suppression.

[0058] In order to realize the above-mentioned embodiment, the application further provides a system for suppressing power drift in the opening mode of a hydraulic turbine, Figure 2 A structural schematic diagram of a system for suppressing power drift in the opening mode of a hydraulic turbine is provided for the embodiment of the application, as shown in the figure, the system comprises: Figure 2 An additional module 100 is used to add a PID algorithm to the existing speed regulator of the hydraulic turbine to generate a closed-loop controller for adjusting the guide vane of the hydraulic turbine.

[0059] A calculation module 200 is used to calculate the difference between the target issued power value and the actual power value of the hydraulic turbine in real time when the hydraulic turbine is in the opening operation mode, and input the difference to the closed-loop controller.

[0060] A generation module 300 is used to calculate the guide vane opening adjustment value for the difference through the closed-loop controller, and generate the guide vane opening instruction according to the adjustment value.

[0061] A cycle module 400 is used to detect the actual power value after the hydraulic turbine executes the guide vane opening instruction, and cyclically calculate the difference and adjust the guide vane opening based on the PID algorithm according to the updated actual power value until the adjusted difference approaches zero.

[0062] It should be noted that the above-mentioned explanation of the embodiment of the method for suppressing power drift in the opening mode of a hydraulic turbine is also applicable to the system of the embodiment, which will not be described here.

[0063] In summary, the system for suppressing power drift in the opening mode of a hydraulic turbine of the embodiment of the application adds a closed-loop controller for adjusting the guide vane to the speed regulator of the hydraulic turbine unit, calculates the difference between the actual output value and the issued value when the actual output value of the unit is inconsistent with the issued value, and adjusts the guide vane opening based on the PID algorithm through the closed-loop controller. The adjustment value is issued to the guide vane opening instruction for fine tuning, and the difference is adjusted to zero through continuous cyclic adjustment. Therefore, the system continuously measures the power difference, and adjusts the difference to zero based on the closed-loop adjustment of the PID algorithm, so that the actual output value of the hydraulic turbine unit in the opening mode is maintained at the issued value, which can effectively control the output of the unit, reduce the power deviation, and ensure the normal and stable operation of the hydraulic turbine unit.

[0064] In order to realize the above-mentioned embodiment, the application further provides an electronic device, comprising: at least one processor; and The memory is in communication connection with the at least one processor, and the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for suppressing power drift in the opening mode of a hydraulic turbine as described in any one of the above-mentioned first aspects.

[0065] ​To achieve the above-mentioned embodiments, the application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the method for inhibiting power drift in a water turbine opening mode according to any one of the above-mentioned embodiments of the first aspect.

[0066] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0067] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0068] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing the specified logic functions or processes, and the preferred embodiments of the application also include additional implementation examples, in which the functions can be performed in different orders, including according to the functions involved, in substantially simultaneous manner, or in reverse order, which should be understood by those skilled in the art to which the embodiments of the application belong.

[0069] The logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be considered as a sequence of executable instructions, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a product of the manufacturing and / or processing. The computer-readable medium can include, but is not limited to, the following: an electronic connection (an electronic device having one or more wires), a portable computer diskette (a magnetic device), a RAM (random access memory), a ROM (read-only memory), an EPROM (erasable programmable ROM) or Flash memory, an optical fiber device, and a portable CD ROM. Additionally, the computer-readable medium can be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via, for example, an optical scanner, then compiled, interpreted, or otherwise processed, and stored in a computer memory in order to be executed.

[0070] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. As such, in some embodiments, the steps or methods can be implemented in a combination of hardware and software. If implemented in hardware, as in another embodiment, any of the above techniques can be implemented with or without the use of a programmable data processing apparatus, using any of the following technologies: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0071] Those of skill in the art would understand that information and signals can be represented using any of a variety of technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that can be referenced throughout the above description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0072] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0073] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for suppressing power drift in a turbine operating mode, characterized in that, Includes the following steps: A PID algorithm is added to the existing governor of the water turbine to generate a closed-loop controller for adjusting the guide vanes of the water turbine. When the turbine is in the open operation mode, the difference between the target output power value and the actual power value of the turbine is calculated in real time, and the difference is input to the closed-loop controller. The closed-loop controller calculates the guide vane opening adjustment value based on the difference and generates a guide vane opening command based on the adjustment value. The actual power value of the turbine after executing the guide vane opening command is detected, and the difference is calculated and the guide vane opening is adjusted cyclically based on the updated actual power value until the adjusted difference approaches zero.

2. The method according to claim 1, characterized in that, After generating the closed-loop controller for adjusting the guide vanes of the turbine, the method further includes: Based on the working conditions of the turbine, the parameters of the closed-loop controller are determined, including the proportional coefficient, integral coefficient, and derivative coefficient. Obtain the initial guide vane opening value from the initial guide vane opening command.

3. The method according to claim 2, characterized in that, The guide vane opening adjustment value is calculated using the following formula: Adjustment value = Kp × difference + Ki × (integral of the difference) + Kd × (derivative of the difference) Where Kp is the proportional coefficient, Ki is the integral coefficient, and Kd is the differential coefficient.

4. The method according to claim 3, characterized in that, The integral of the difference is the sum of all differences from the first guide vane opening adjustment cycle to the current guide vane opening adjustment cycle.

5. The method according to claim 2, characterized in that, The real-time calculation of the difference between the target output power value and the actual power value of the turbine includes: The target power value is subtracted from the actual power value, and the sign of the power difference reflects the change in the integral part.

6. The method according to claim 2, characterized in that, The step of calculating the guide vane opening adjustment value based on the difference using the closed-loop controller, and generating a guide vane opening command based on the adjustment value, includes: Multiply the difference by the proportionality coefficient to obtain the proportional part, and multiply the difference by the integral coefficient to obtain the integral part; The sum of the proportional portion and the integral portion is calculated as the guide vane opening adjustment value, and the initial guide vane opening value is added to the guide vane opening adjustment value to obtain the guide vane opening value in the current round of guide vane opening command.

7. The method according to claim 4, characterized in that, The step of iteratively calculating the difference based on the updated actual power value and adjusting the guide vane opening based on the PID algorithm includes: Subtract the target power value from the updated actual power value to obtain the difference in this round of adjustment, and calculate the integral of the difference in combination with the difference in this round of adjustment; Multiply the difference in this round of adjustment by the proportional coefficient to obtain the proportional part, and multiply the integral of the difference by the integral coefficient to obtain the integral part; The sum of the proportional portion and the integral portion is calculated as the guide vane opening adjustment value for this round of adjustment. The guide vane opening value from the previous round of adjustment is added to the guide vane opening adjustment value for this round of adjustment to obtain the guide vane opening value in the guide vane opening command for this round.

8. A power drift suppression system for a turbine operating at a certain opening mode, characterized in that, Includes the following modules: An additional module is added to the existing governor of the water turbine to add a PID algorithm to generate a closed-loop controller for adjusting the guide vanes of the water turbine. The calculation module is used to calculate the difference between the target output power value and the actual power value of the turbine in real time when the turbine is in the open operation mode, and input the difference value to the closed-loop controller. The generation module is used to calculate the guide vane opening adjustment value based on the difference through the closed-loop controller, and generate a guide vane opening command based on the adjustment value; The loop module is used to detect the actual power value after the turbine executes the guide vane opening command, and to perform difference calculation and guide vane opening adjustment based on PID algorithm according to the updated actual power value until the adjusted difference approaches zero.

9. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform a method for suppressing power drift in the turbine opening mode as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for suppressing power drift in the turbine opening mode as described in any one of claims 1-7.

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