Water turbine regulation control method and system based on passivity theory

Abstract

The invention discloses a water turbine regulation control method and system based on a passivity theory, and belongs to the technical field of power system automation and control. The method comprises the following steps: firstly, establishing a nonlinear dynamic model of the multi-machine power system comprising a synchronous generator, an excitation system and a water turbine speed regulation system comprising a surge chamber, then converting the nonlinear dynamic model into a port-Hamiltonian structure, and defining a total Hamiltonian function H (x) of the system, secondly, designing an interconnection matrix Jd, a damping matrix Rd and an expected Hamiltonian function Hd (x) of the water turbine adjusting system, enabling the interconnection matrix Jd, the damping matrix Rd and the expected Hamiltonian function Hd (x) to obtain a minimum value at an expected balance point xd, solving a nonlinear feedback control law based on a passive control method of interconnection and damping distribution, and achieving energy shaping and damping injection; finally, each generator set independently executes a control law based on a local measurement signal, distributed control is achieved, the hydraulic-mechanical-electrical coupling dynamic state is comprehensively considered, and the dynamic stability of the multi-machine power system under large disturbance is improved.

Description

Technical Field

[0001] This invention belongs to the field of power system automation and control technology, specifically relating to a turbine regulation and control method and system based on passive theory. Background Technology

[0002] With the large-scale integration of renewable energy and the intensification of load fluctuations, modern power systems face an increasing number of dynamic instability problems. Hydropower turbine generators, due to their rapid response capabilities, play a crucial role in system frequency regulation and power balance. However, traditional hydropower turbine speed control systems in long water diversion pipeline systems are often equipped with surge chambers to mitigate water hammer effects and pressure fluctuations. While the introduction of surge chambers improves hydraulic stability, it also increases the system's order and nonlinear dynamic characteristics, making it difficult for traditional linear control methods, such as PID controllers, to maintain good performance under large disturbances.

[0003] Currently, mainstream excitation and speed control typically adopt IEEE standard models, such as the ST1A excitation system combined with the PSS1A power system stabilizer, and PID speed controllers based on static and transient slip. These methods are based on linearized model design and perform well under small disturbances, but may become unstable or slow to respond under large disturbances, such as short-circuit faults, line tripping, and sudden load changes.

[0004] In recent years, nonlinear control theory has been widely applied to power system stability control. Among them, interconnected and damped passive control has attracted much attention because it can maintain the system's energy structure and ensure global asymptotic stability using Lyapunov functions. Interconnected and damped passive control enhances system robustness by reconstructing the port-Hamiltonian (pH) structure of the closed-loop system to achieve energy shaping and damping injection.

[0005] In the existing technology, some studies have applied passive control with interconnection and damping assignment to the excitation control of synchronous generators or simple turbine systems. However, the dynamic model of complex turbines with surge chambers has not been fully considered, and the coordinated passive control of speed regulation and excitation in multi-machine systems has not been realized. In addition, most control strategies rely on centralized communication, which is difficult to meet the requirements of decentralization and high reliability in actual engineering.

[0006] Therefore, there is an urgent need for a distributed passive controller that can comprehensively consider the dynamic coupling of hydraulic, mechanical and electrical systems and is applicable to turbines with surge chambers, in order to improve the dynamic stability of multi-machine power systems under large disturbances. This invention proposes a turbine regulation and control method based on passive theory, aiming to overcome the shortcomings of existing technologies and provide strong technical support for the stable operation of power systems. Summary of the Invention

[0007] The technical problem to be solved by the present invention is a turbine regulation and control method and system based on passive theory, which can comprehensively consider the dynamic coupling of hydraulic, mechanical and electrical systems and improve the dynamic stability of multi-machine power systems under large disturbances.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A method and system for regulating and controlling a hydro turbine based on passive turbine theory includes the following steps: S1. Establish a nonlinear dynamic model of a multi-machine power system including a synchronous generator, an excitation system, and a turbine speed regulation system with a surge chamber. S2, the nonlinear dynamic model of the multi-machine power system is transformed into a port-Hamilton structure, and the total Hamiltonian function H(x) of the system is defined; S3, Design the interconnection matrix of the turbine regulating system J d Damping matrix R d and the expected Hamiltonian function H d (x), so that the turbine regulating system is at the desired equilibrium point x. d The minimum value is obtained at this location; S4, based on the passive control method of interconnection and damping allocation, solves the nonlinear feedback control law to realize energy shaping and damping injection; S5, each generator set independently executes the nonlinear feedback control law based on local measurement signals to achieve decentralized control.

[0009] In S1, the nonlinear dynamic model of the multi-machine power system includes models of hydraulic turbines, mechanical and electrical subsystems. Its complete dynamics are described by an eleventh-order model, specifically including: Dynamic model of water diversion pipe flow: (1); In equation (1), This refers to the flow rate of the water intake pipe. For the water level in the surge tank, The water hammer time constant of the water inlet pipe, The friction damping coefficient of the water inlet pipe; Dynamic model of water level in surge tank: (2); In equation (2), The flow rate entering the turbine, The time constant of the pressure regulating chamber section; Dynamic model of flow rate at the turbine front: (3); In equation (3), For the water turbine head, The time constant for water hammer at the front of the turbine. This refers to the friction damping coefficient of the front section of the water turbine; Dynamic model of turbine head: (4); In equation (4), For still water head, , , The hydraulic efficiency coefficient; Dynamic model of guide vane opening servo mechanism: (5); In equation (5), For guide vane opening, The speed controller outputs a control signal. The time constant of the servo mechanism; Dynamic model of generator rotor angular velocity: (6); In equation (6), The angular velocity of the generator rotor. For the mechanical power of the water turbine, For the electromagnetic power of the generator, The inertial time constant, The damping coefficient is... Used as reference angular velocity; Angle of attack dynamic model: (7); In equation (7), For the generator's angle of attack; d-axis transient potential dynamic model: (8); In equation (8), The transient potential along the d-axis is... Let d be the open-circuit transient time constant. For d-axis synchronous reactance, For d-axis transient reactance, The armature current is the d-axis current. This is the excitation voltage; q-axis transient potential dynamic model: (9); In equation (9), The transient potential along the q-axis. Let be the q-axis open-circuit transient time constant. For q-axis synchronous reactance, For q-axis transient reactance, This is the q-axis armature current; d-axis armature current dynamic model: (10); In equation (10), This refers to the voltage at the d-axis terminal. For armature resistance, For q-axis flux linkage, Indicates the armature inductance along the d-axis; q-axis armature current dynamic model: (11); In equation (11), This is the voltage at the q-axis terminals. For the d-axis flux linkage, This represents the q-axis armature inductance.

[0010] Based on the original 11th-order model, using state variables , , Defined by constants It does not include the time derivative, that is, it has no... Item, which means It is not an independent dynamic state; its value is entirely determined in real time by other states. If it is not a dynamic state, remove it from the state vector; 11-dimensional state vector: (12); 10-dimensional state vector: (13); In removal After that, any need to use In the equation, (14); Equation (14) is adopted: to replace .

[0011] In S2, the total Hamiltonian function H(x) is: H(x) = H t +H m +H e (15); In equation (15), H t H represents the energy of a water turbine. m H represents mechanical energy. e It represents electrical energy.

[0012] The turbine regulating system has two operating modes: an open-loop operating mode and a closed-loop operating mode. The open-loop system refers to a turbine regulating system without automatic regulation components, that is, it only includes the turbine and the generator. The closed-loop system refers to the turbine regulating system, which is a closed-loop system formed by adding the excitation and speed governor to the open-loop system, together with the turbine and the generator.

[0013] S3, based on the steady-state operation requirements of the turbine regulating system, designs the desired Hamiltonian function H. d (x): (16); In equation (16), It is a state vector. It is the desired equilibrium point of the turbine regulation system in the power system, also known as the steady-state vector. Let i be the inertia matrix, i = col(i d i q i f i D i Q ), i d and i q i represents the direct-axis and quadrature-axis currents of the stator, respectively. f Indicates the excitation current, i D and i Q These represent the rotor damping winding currents, respectively; col represents the column vector; T represents the transpose operation.

[0014] Design desired interconnect matrix J d and damping matrix R d This is to achieve a reasonable distribution and damping injection of system energy; The damping matrix is ​​as follows: R d =diag(r 1i ,…,r 10i (17); In equation (17), r ji r is the adjustment parameter for the damping strength injected into the j-th state variable by the controller. ji >0, j=1,…,10, diag represents a diagonal matrix; Interconnection matrix J d as follows: (18); In equation (18), the parameter k 1i It is a design constant, parameter k 1i ≠0.

[0015] The core of the passive control method based on interconnection and damping allocation is to solve the following matching equation: (19); In equation (19), It is the dynamics of an open-loop system; The desired dynamics of the turbine regulating system is given by u, which is the control law to be solved. This is achieved by applying the desired J... d R d H d Substituting these values ​​and matching them with the equations of the open-loop turbine control system, the control input u can be solved. In the dynamics of the open-loop system, J(x) is the open-loop interconnect matrix, which is an antisymmetric matrix, i.e., J(x) = -J(x). T R(x) is the open-loop damping matrix, which is a symmetric positive semi-definite matrix, i.e., R(x) = R(x). T ≥0, H is an open-loop Hamiltonian function. Let g(x) be the gradient of the open-loop Hamiltonian function with respect to the state vector, g(x) be the input matrix, and ξ(x) be the external perturbation. The control law calculated by the passive control method based on interconnection and damping distribution consists of two explicit nonlinear feedback expressions: Water turbine governor control law u yi Feedback is provided based on rotor speed deviation and electrical condition deviation; generator excitation system control law v fi Feedback is based on excitation-related state deviations.

[0016] The S4 nonlinear feedback control law contains analytical expressions for two control inputs: the turbine governor control law and the generator excitation system control law. Among them, the turbine governor control law u yi : (20); In equation (20), u yi It is the control signal applied to the turbine governor. It is the 4th state variable in the system state vector. yes The expected steady-state value, It is the 5th state variable in the system state vector. yes The expected steady-state value, This is a gain parameter used to adjust the feedback strength based on the current deviation. The damping matrix R d The diagonal elements in the equation represent the expected damping coefficients on the fourth state variable. generator excitation system control law v fi : (twenty one); In equation (21), v fi It is the control input applied to the generator excitation system, namely the excitation voltage, x 8i It is the 8th state variable, x d8i It is x 8i The expected steady-state value, r fi r is the gain parameter. 8i The damping matrix R d The diagonal elements in the array represent the state x. 8i The expected damping coefficient.

[0017] System modeling unit used to establish a nonlinear dynamic model of a multi-machine power system including a synchronous generator, an excitation system, and a turbine speed regulation system with a surge chamber; Port-Hamilton units are used to transform the nonlinear dynamic model of the multi-machine power system into a port-Hamilton structure, defining the total Hamiltonian function H(x) of the system. Interconnection matrix J for designing turbine regulating systems d Damping matrix R d and the expected Hamiltonian function H d (x), such that it is at the desired equilibrium point x. d A controller design unit that obtains the minimum value at a given location; This is a control law calculation unit for solving nonlinear feedback control laws using a passive control method based on interconnection and damping allocation, realizing energy shaping and damping injection. A distributed control unit used to enable each generator set to independently execute control laws based on local measurement signals, thereby achieving distributed control.

[0018] The control system includes a passive controller based on interconnection and damping distribution. The controller is a nonlinear controller, comprising: Its input consists of all state variables obtained in real time from the controlled object, and its output consists of two control signals u. yi and v fi The controller output u yi As a reference signal input to the guide vane servo mechanism of the turbine, the controller outputs v fi It is input to the generator's excitation system as a reference signal.

[0019] The main beneficial effects of this invention are as follows: 1) Overcoming the limitations of linearization and significantly improving robustness under large disturbance scenarios: Traditional control methods, such as PID controllers and control strategies based on IEEE standard models, are all designed using linearized models under small disturbances. When faced with large disturbances such as short-circuit faults, line tripping, and sudden load changes, the linearization assumption fails, easily leading to control instability and slow response. This invention establishes a complete nonlinear dynamic model, fully encompassing the hydraulic-mechanical-electrical coupling characteristics of the synchronous generator, excitation system, and turbine speed regulation system with a surge tank. The model dimension is upgraded from the traditional simplified model to 11th order, which can be optimized to 10th order to balance accuracy and computational efficiency, comprehensively characterizing key dynamic processes such as the intake pipe flow rate, surge tank water level, turbine head, and generator transient electromotive force. Based on this, a nonlinear feedback control law is designed based on passive theory, eliminating the need for linearization assumptions under small disturbances. It can accurately track system dynamic changes under large disturbance scenarios, effectively suppressing water hammer effects, voltage fluctuations, and frequency shifts, thus improving control robustness compared to traditional methods.

[0020] 2) Based on the energy shaping mechanism, ensure the global asymptotic stability of the system: Traditional control methods often rely on local parameter tuning, which makes it difficult to guarantee the global stability of the system and carries the risk of local stability but global instability. This invention innovatively adopts a port-Hamilton (pH) structure transformation and interconnection damping allocation strategy. By defining the total Hamiltonian function of the system, the dynamic characteristics of the system are transformed into an energy flow process; then, by designing the desired Hamiltonian function, interconnection matrix, and damping matrix, energy shaping and damping enhancement are achieved.

[0021] 3) Adopting a distributed control architecture reduces the difficulty and cost of engineering deployment: Existing multi-generator system control strategies largely rely on centralized communication, requiring the establishment of real-time data exchange links between the central controller and each generator unit. This not only increases communication latency but also poses a single point of failure risk; if the central controller or communication link fails, the entire system control collapses. The distributed control mode designed in this invention allows each generator unit to independently execute control laws based on local measurement signals, eliminating the need for inter-unit communication or central coordination. This architecture offers two core advantages: first, it significantly simplifies engineering deployment, eliminating the need for complex communication network construction and reducing hardware costs; second, it improves system reliability, ensuring that a failure in the control module of a single generator unit does not affect the operation of other units. 4) Precise and coordinated control of the hydraulic-mechanical-electrical subsystems to optimize energy utilization efficiency: Hydropower turbine systems with surge tanks exhibit strong hydraulic-mechanical-electrical coupling characteristics. Traditional control methods often isolate the regulation of each subsystem, easily leading to problems such as frequency overshoot when suppressing water hammer or neglecting voltage stability when adjusting frequency. This invention achieves precise energy distribution and damping injection across multiple subsystems through the coordinated design of an interconnection matrix and a damping matrix Rd. For example, the damping matrix can set damping strengths for 10 state variables, focusing on strengthening the damping of water hammer-sensitive and frequency-stabilizing components; the interconnection matrix optimizes energy interaction between subsystems through parameter optimization, preventing hydraulic disturbances from being transmitted to the electrical side or electrical fluctuations from exacerbating hydraulic oscillations.

[0022] 5) Compatible with existing equipment, possessing high engineering practicality and promotional value: This invention, while innovating technologically, fully considers engineering compatibility: on the one hand, the control law calculation relies only on conventional local measurement signals, requiring no additional special measurement equipment; on the other hand, the control output can be directly adapted to existing turbine guide vane servo mechanisms and generator excitation systems, without requiring large-scale modifications to the unit hardware. Furthermore, the model design supports flexible switching between 11th and 10th order—the 11th order model is suitable for complex power grids with high dynamic accuracy requirements, while the 10th order model reduces computational complexity, adapting to embedded control hardware in small and medium-sized hydropower stations, thus accommodating different scenario needs and laying the foundation for large-scale application.

[0023] In summary, this invention, through three core innovations—nonlinear modeling, energy shaping, and decentralized control—not only solves the technical pain points of traditional methods such as "instability under large disturbances and poor global stability," but also overcomes the engineering challenges of complex and costly deployment of existing nonlinear control systems. It provides an efficient and reliable technical solution for the safe and stable operation of multi-unit power systems, and is particularly suitable for large hydropower unit clusters with high proportions of renewable energy access and including voltage regulating rooms, with significant economic value and social benefits. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a flowchart of the method of the present invention.

[0025] Figure 2 This is a schematic diagram of the passive controller based on interconnection and damping distribution according to the present invention.

[0026] Figure 3 This is a system structure block diagram of the present invention. Detailed Implementation

[0027] Example 1: like Figure 1 As shown, a turbine regulation and control method based on passive theory includes the following steps: S1. Establish a nonlinear dynamic model of a multi-machine power system including a synchronous generator, an excitation system, and a turbine speed regulation system with a surge chamber. S2, the nonlinear dynamic model of the multi-machine power system is transformed into a port-Hamilton structure, and the total Hamiltonian function H(x) of the system is defined; S3, Design the interconnection matrix of the turbine regulating system J d Damping matrix R d and the expected Hamiltonian function H d (x), so that the turbine regulating system is at the desired equilibrium point x. d The minimum value is obtained at this location; S4, based on the passive control method of interconnection and damping allocation, solves the nonlinear feedback control law to realize energy shaping and damping injection; S5, each generator set independently executes the nonlinear feedback control law based on local measurement signals to achieve decentralized control.

[0028] Preferably, in S1, the nonlinear dynamic model of the multi-machine power system includes models of hydraulic turbines, mechanical and electrical subsystems, and its complete dynamics are described by an eleventh-order model, specifically including: Dynamic model of water diversion pipe flow: (1); In equation (1), This refers to the flow rate of the water intake pipe. For the water level in the surge tank, The water hammer time constant of the water inlet pipe, The friction damping coefficient of the water inlet pipe; Dynamic model of water level in surge tank: (2); In equation (2), The flow rate entering the turbine, The time constant of the pressure regulating chamber section; Dynamic model of flow rate at the turbine front: (3); In equation (3), For the water turbine head, The time constant for water hammer at the front of the turbine. This refers to the friction damping coefficient of the front section of the water turbine; Dynamic model of turbine head: (4); In equation (4), For still water head, , , The hydraulic efficiency coefficient; Dynamic model of guide vane opening servo mechanism: (5); In equation (5), For guide vane opening, The speed controller outputs a control signal. The time constant of the servo mechanism; Dynamic model of generator rotor angular velocity: (6); In equation (6), The angular velocity of the generator rotor. For the mechanical power of the water turbine, For the electromagnetic power of the generator, The inertial time constant, The damping coefficient is... Used as reference angular velocity; Angle of attack dynamic model: (7); In equation (7), For the generator's angle of attack; d-axis transient potential dynamic model: (8); In equation (8), The transient potential along the d-axis is... Let d be the open-circuit transient time constant. For d-axis synchronous reactance, For d-axis transient reactance, The armature current is the d-axis current. This is the excitation voltage; q-axis transient potential dynamic model: (9); In equation (9), The transient potential along the q-axis. Let be the q-axis open-circuit transient time constant. For q-axis synchronous reactance, For q-axis transient reactance, This is the q-axis armature current; d-axis armature current dynamic model: (10); In equation (10), This refers to the voltage at the d-axis terminals. For armature resistance, For q-axis flux linkage, Indicates the armature inductance along the d-axis; q-axis armature current dynamic model: (11); In equation (11), This is the voltage at the q-axis terminals. For d-axis flux linkage, Indicates the q-axis armature inductance; Based on the original 11th-order model, using other state vectors , , Defined by constants It does not include the time derivative, that is, it has no... Item, which means It is not an independent dynamic state; its value is entirely determined in real time by other states. If it is not a dynamic state, remove it from the state vector; The original state vector is 11-dimensional: (12); Simplified state vector is 10-dimensional: (13); In removal After that, any need to use In the equation, (14); Equation (14) is adopted. to replace .

[0029] In S2, the total Hamiltonian function H(x) is: H(x) = H t +H m +H e (15); In equation (15), H t H represents the energy of a water turbine. m H represents mechanical energy. e It represents electrical energy.

[0030] Preferably, the turbine regulating system has two operating modes: an open-loop operating mode and a closed-loop operating mode. The open-loop system refers to a turbine regulating system without automatic regulation components, that is, it only includes a turbine and a generator. The closed-loop system refers to a turbine regulating system that incorporates an exciter and a speed governor into the open-loop system, forming a closed-loop system with the turbine and generator.

[0031] Preferably, in step S3, the desired Hamiltonian function H is designed based on the steady-state operation requirements of the turbine regulating system. d (x) (16); In equation (16), It is a state vector. It is the desired equilibrium point of the turbine regulation system in the power system, also known as the steady-state vector. Let i be the inertia matrix, i = col(i d i q i f i D i Q ), i d and i q i represents the direct-axis and quadrature-axis currents of the stator, respectively. f Indicates the excitation current, i D and i Q These represent the rotor damping winding currents, respectively; col represents the column vector; T represents the transpose operation.

[0032] Design desired interconnect matrix J d and damping matrix R d This is to achieve a reasonable distribution and damping injection of system energy; The damping matrix is ​​as follows: R d =diag(r 1i ,…,r 10i (17); In equation (17), r ji r is the adjustment parameter for the damping strength injected into the j-th state variable by the controller. ji >0, j=1,…,10, diag represents a diagonal matrix; Interconnection matrix J d as follows: (18); In equation (18), the parameter k 1i It is a design constant, parameter k 1i ≠0.

[0033] Preferably, the core of the passive control method based on interconnection and damping allocation is to solve the following matching equation: (19); In equation (19), the left side represents the dynamics of the system without automatic regulation, the right side represents the desired closed-loop system dynamics, and u is the control law to be solved; by using the desired J d R d H d Substituting these values ​​and matching them with the open-loop system equations, the control input u can be solved. In the dynamics of the open-loop system, J(x) is the open-loop interconnect matrix, which is an antisymmetric matrix, i.e., J(x) = -J(x). TR(x) is the open-loop damping matrix, which is a symmetric positive semi-definite matrix, i.e., R(x) = R(x). T ≥0, H is an open-loop Hamiltonian function. Let g(x) be the gradient of the open-loop Hamiltonian function with respect to the state vector, g(x) be the input matrix, and ξ(x) be the external perturbation. The control law calculated by the passive control method based on interconnection and damping distribution consists of two explicit nonlinear feedback expressions: Water turbine governor control law u yi Feedback is provided based on rotor speed deviation and electrical condition deviation; generator excitation system control law v fi Feedback is based on excitation-related state deviations.

[0034] The S4 nonlinear feedback control law contains analytical expressions for two control inputs: the control input of the turbine speed regulation system and the control input of the generator excitation system. Among them, the turbine governor control law u yi : (20); In equation (20), u yi It is the control signal applied to the turbine governor. It is the 4th state variable in the system state vector. yes The expected steady-state value, It is the 5th state variable in the system state vector. yes The expected steady-state value, This is a gain parameter used to adjust the feedback strength based on the current deviation. The damping matrix R d The diagonal elements in the equation represent the expected damping coefficients on the fourth state variable. generator excitation system control law v fi : (twenty one); In equation (21), v fi It is the control input applied to the generator excitation system, namely the excitation voltage, x 8i It is the 8th state variable, x d8i It is x 8i The expected steady-state value, r fi r is the gain parameter. 8i The damping matrix R d The diagonal elements in the array represent the state x. 8i The expected damping coefficient on; Preferably, in S5, the core of the distributed control of each generator set lies in the fact that the design of its controller relies entirely on locally measurable state signals, rather than on remote information from other units or buses in the power grid. All input signals required to calculate uyi and vfi come from the sensors or local calculations of the i-th unit itself. When all units independently execute their respective control laws, they work together on the power grid. Each unit strives to stabilize its own state at the desired value. Due to the coupling of the power grid, if one unit increases its output, the system frequency will rise. This will be detected by the local speed sensors of other units, causing the rotor angular velocity to deviate from the set value, thereby triggering the controllers of other units to reduce their output.

[0035] Preferably, such as Figure 3 As shown, a turbine regulation and control system for a turbine regulation and control method is characterized by comprising: System modeling unit used to establish a nonlinear dynamic model of a multi-machine power system including a synchronous generator, an excitation system, and a turbine speed regulation system with a surge chamber; Port-Hamilton units are used to transform the nonlinear dynamic model of the multi-machine power system into a port-Hamilton structure, defining the total Hamiltonian function H(x) of the system. Interconnection matrix J for designing turbine regulating systems d Damping matrix R d and the expected Hamiltonian function H d (x), such that it is at the desired equilibrium point x. d A controller design unit that obtains the minimum value at a given location; This is a control law calculation unit for solving nonlinear feedback control laws using a passive control method based on interconnection and damping allocation, realizing energy shaping and damping injection. A distributed control unit used to enable each generator set to independently execute control laws based on local measurement signals, thereby achieving distributed control.

[0036] Preferably, the control system includes a passive controller based on interconnection and damping distribution. The controller is a nonlinear controller, comprising: Its input consists of all state variables obtained in real time from the controlled object, and its output consists of two control signals u. yi and v fi The controller output u yi As a reference signal input to the guide vane servo mechanism of the turbine, the controller outputs v fi It is input to the generator's excitation system as a reference signal.

[0037] Preferably, such as Figure 2As shown, the passive controller based on interconnection and damping distribution is a nonlinear state feedback controller. Its inputs are all state variables obtained in real time from the controlled object, including speed, current-related quantities, transient electromotive force, and assumption x8i, etc. The controller first calculates the deviation between the critical state and its expected value (e.g., speed deviation, current deviation); then, it performs calculations using explicit analytical formulas, the calculation process relying on a set of preset design parameters: k 2i ,x 4i ,x 5i and expected value x di The output consists of two control signals u. yi and v fi The controller output u yi As a reference signal input to the guide vane servo mechanism of the turbine, the controller outputs v fi The excitation system of the generator is used as a reference signal input. The feedback path involves collecting signals from various parts of the controlled object, performing necessary signal processing and state estimation, forming a complete state vector, and sending it back to the controller. This embodies the essence of closed-loop feedback control.

[0038] Example 2: An electronic device is provided, including: one or more processors and a memory, wherein one or more programs are stored in the memory, and when the one or more programs are executed by the one or more processors, the one or more processors implement the steps of the water turbine regulation and control method.

[0039] Example 3: A computer-readable storage medium is provided, on which a computer program is stored, wherein when the program is executed by a processor, the steps of a water turbine regulation and control method are implemented.

Claims

1. A method for regulating and controlling a hydraulic turbine based on the passivity theory, characterized in that comprising the steps of: S1, establishing a multi-machine power system nonlinear dynamic model containing synchronous generators, excitation systems and governing systems of hydraulic turbine with surge chamber; S2, converting the multi-machine power system nonlinear dynamic model into a port-Hamilton structure, and defining a total Hamiltonian function H(x) of the system; S3, design a connection matrix J of the hydro-turbine governing system d , a damping matrix R d , and a desired Hamiltonian function H d (x) such that the hydro-turbine governing system attains a minimum at a desired equilibrium point x d . S4, solving a nonlinear feedback control law based on the interconnection and damping assignment passivity-based control method, and realizing energy shaping and damping injection; S5, each generator group independently executing the nonlinear feedback control law based on local measurement signals, and realizing decentralized control.

2. A method for regulating and controlling a hydraulic turbine based on the passivity theory according to claim 1, characterized in that: In the S1, the multi-machine power system nonlinear dynamic model includes hydraulic turbine, mechanical and electrical subsystem models, and the complete dynamics thereof are described by an eleven-order model, specifically including: a draft tube flow dynamic model: （1）； In formula (1), is the flow of the draft tube, is the water level of the surge tank, is the water hammer time constant of the draft tube, is the frictional damping coefficient of the draft tube; a surge chamber water level dynamic model: （2）； In formula (2), Qin is the flow into the hydraulic turbine, T is the time constant of the pressure regulating section. a water turbine front section flow dynamic model: （3）； In formula (3), is the net water head of the water turbine, is the water hammer time constant of the front section of the water turbine, is the friction damping coefficient of the front section of the water turbine; a water turbine net head dynamic model: （4）； In formula (4), is the static water head, , , is the hydraulic efficiency coefficient; a guide vane opening servo mechanism dynamic model: （5）； In formula (5), is the guide vane opening, is the governor output control signal, is the servo mechanism time constant; a generator rotor angular velocity dynamic model: （6）； In formula (6), is the generator rotor angular velocity, is the water turbine mechanical power, is the generator electromagnetic power, is the inertia time constant, is the damping coefficient, is the reference angular velocity; an attack angle dynamic model: （7）； In formula (7), is the angle of attack of the generator; a d-axis transient potential dynamic model: （8）； In formula (8), is the d-axis transient potential, is the d-axis open-circuit transient time constant, is the d-axis synchronous reactance, is the d-axis transient reactance, is the d-axis armature current, is the field voltage; a q-axis transient potential dynamic model: （9）； In formula (9), is the q-axis transient voltage, is the q-axis open-circuit transient time constant, is the q-axis synchronous reactance, is the q-axis transient reactance, is the q-axis armature current; a d-axis armature current dynamic model: （10）； In formula (10), is a d-axis machine terminal voltage, is an armature resistance, is a q-axis flux linkage, represents a d-axis armature inductance; a q-axis armature current dynamic model: （11）； In formula (11), is the q-axis machine terminal voltage, is the d-axis flux linkage, denotes the q-axis armature inductance.

3. A method for regulating and controlling a hydraulic turbine based on the passivity theory according to claim 2, characterized in that: Based on the original 11th order model, the state variable , , and constants are defined without time derivatives, i.e. without terms, which means is not an independent dynamic state, its value is fully determined by other states in real time; since is not a dynamic state, it is removed from the state vector; an 11-dimensional state vector: （12）； a 10-dimensional state vector: （13）； After removal of the equations, （14）； Equation (14) is used instead of .​ 4. The method for regulating and controlling a hydraulic turbine based on the passivity theory according to claim 3, characterized in that: In the S2, the total Hamiltonian function H(x) is: H(x) = H t + H m + H e (15); In Equation (15), H t represents the energy of the water turbine, H m represents the mechanical energy, H e represents the electrical energy.

5. The method for regulating and controlling the water turbine based on the passivity theory according to claim 1, characterized by the fact that: S3. According to the steady-state operation requirements of the hydraulic turbine governing system, design the desired Hamilton function H d (x) （16）； in formula (16), is a state vector, is a desired equilibrium point of the hydro-turbine governing system in the power system, also called a steady-state vector, is an inertia matrix, i = col(i d , i q , i f , i D , i Q ), i d and i q represent the direct-axis and quadrature-axis currents of the stator, i f represents the field current, i D and i Q represent the rotor damper winding currents, col represents a column vector; T represents a transposition operation.

6. The method of claim 5, wherein: Designing the desired interconnection matrix J d and the damping matrix R d to achieve a proper distribution of system energy and damping injection; wherein the damping matrix is as follows: R d = diag(r 1i ,…,r 10i ) (17); In formula (17), r ji is a regulating parameter of the controller to inject damping strength on the jth state variable, r ji > 0, j = 1,..., 10, diag represents a diagonal matrix; Interconnection matrix J d As follows: （18）； In formula (18), the parameter k 1i is a design constant, and the parameter k 1i ≠ 0.

7. The method of claim 1, wherein the method is a method of regulating a hydraulic turbine based on the passivity theory. The core of the interconnection and damping assignment passivity-based control method is to solve the following matching equation: （19）； In formula (19), is the dynamics of the hydraulic turbine and generator; is the desired water turbine regulation system dynamics, u is the control law to be solved; by substituting the desired J d , R d , H d into the open-loop system equation, i.e. the control input u can be solved; in the dynamics of the open-loop system, J(x) is the open-loop interconnection matrix, which is an anti-symmetric matrix, i.e. J(x) = -J(x) T , R(x) is the open-loop damping matrix, which is a symmetric semi-positive definite matrix, i.e. R(x) = R(x) T ≥ 0, H is the open-loop Hamiltonian function, is the gradient of the open-loop Hamiltonian function with respect to the state vector, g(x) is the input matrix, and ξ(x) is the external disturbance; The control law calculated by the interconnection and damping assignment passivity-based control method is two explicit nonlinear feedback expressions: Hydraulic turbine governor control law u yi : feedback based on rotor speed deviation and electrical state deviation; Generator excitation system control law v fi : feedback based on excitation related state deviation.

8. The method of claim 7, wherein the method is a method of regulating a hydraulic turbine based on the passivity theory. The nonlinear feedback control law in the S4 includes analytical expressions of two control inputs: a water turbine governor control law and a generator excitation system control law; Wherein, the water turbine governor control law u yi : （20）； In equation (20), u yi It is the control signal applied to the turbine governor. It is the 4th state variable in the system state vector. yes The expected steady-state value, It is the 5th state variable in the system state vector. yes The expected steady-state value, This is a gain parameter used to adjust the feedback strength based on the current deviation. The damping matrix R d The diagonal elements in the equation represent the expected damping coefficients on the fourth state variable. Generator excitation system control law v fi : （21）； In formula (21), v fi is the control input applied to the generator excitation system, i.e. the excitation voltage, x 8i is the 8th state variable, x d8i is the desired steady state value of x 8i , r fi is the gain parameter, r 8i is the diagonal element in the damping matrix R d representing the desired damping coefficient at the state x 8i .

9. A hydraulic turbine governing control system for carrying out the hydraulic turbine governing control method according to any one of claims 1 to 8, characterized by comprising: a system modeling unit for establishing a multi-machine power system nonlinear dynamic model containing synchronous generators, excitation systems and governing systems of hydraulic turbine with surge chamber; a port-Hamilton unit for converting the multi-machine power system nonlinear dynamic model into a port-Hamilton structure, and defining a total Hamiltonian function H(x) of the system; Interconnection matrix J for designing a governor system of a hydraulic turbine d , a damping matrix R d , and a desired Hamiltonian function H d (x) that takes a minimum value at a desired equilibrium point x d , a controller design unit a control law calculation unit for solving a nonlinear feedback control law based on the interconnection and damping assignment passivity-based control method, and realizing energy shaping and damping injection; a decentralized control unit for each generator group independently executing the control law based on local measurement signals, and realizing decentralized control.

10. The hydraulic turbine regulating control system according to claim 9, characterized in that: the control system contains an interconnection and damping assignment passivity-based controller, the controller is a nonlinear controller, comprising: Its input is all state variables acquired from the controlled object in real time, and its output is two control signals u yi and v fi . The u yi output by the controller is input as a reference signal to the guide vane servo mechanism of the hydraulic turbine, and the v fi output by the controller is input as a reference signal to the excitation system of the generator.

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