Feed-forward power closed-loop adjustment method and system based on triple compensation

Abstract

The invention relates to the technical field of water turbine governor control, and discloses a feed-forward power closed-loop regulation method and system based on triple compensation, and the method comprises the steps: determining whether to start a feed-forward link or not based on the actual operation state of a water-turbine generator set and the current operation mode of a water turbine governor; obtaining given power Pc issued by a hydropower station computer monitoring system, and judging whether the given power Pc is a constant value or not; if the given power Pc is a constant value, the feedforward link is terminated; if the given power Pc is progressively increased or decreased in a ramp function form, continuously executing a feed-forward link; after a feed-forward link is started, the change rate of given power Pc is constrained, a feed-forward compensation amount is generated through a triple correction parameter compensation method based on lead-lag-integral reciprocal, and then the feed-forward compensation amount is used for carrying out feed-forward compensation operation on output of a water turbine governor. According to the invention, the pertinence and accuracy of power adjustment can be improved through rate constraint and triple compensation.

Description

Technical Field

[0001] This invention relates to the field of turbine governor control technology, and in particular to a feedforward power closed-loop regulation method and system based on triple compensation. Background Technology

[0002] In power systems, turbine governors not only need to adjust the turbine frequency in real time to maintain grid frequency stability, but also need to achieve rapid synchronization during grid connection. At the same time, they need to flexibly increase or decrease the turbine output according to grid load demand. This is a key link in ensuring the safe and economical operation of the power system.

[0003] However, in actual industrial scenarios, the turbine governor is not a simple electromechanical control system, but a highly coupled system that deeply integrates hydraulic, mechanical, and electrical characteristics: the inertia of water flow in the hydraulic system will cause significant time delay in the regulation signal, the gaps in the mechanical transmission components will create control dead zones, and the nonlinear relationship between electrical control and hydraulic response will cause the system to exhibit non-minimum phase characteristics. These characteristics combined make the governor's control logic prone to problems such as slow dynamic response and regulation overshoot.

[0004] More importantly, the operation of the governor is also subject to multiple hard constraints: as an actuator, the stroke range of the relay directly determines the adjustment limit of the guide vane opening; exceeding this range will lead to mechanical damage to the equipment. Under extreme conditions such as unit load shedding, an excessively high rate of increase in speed may cause unit runaway accidents, while an excessively high rate of increase in water pressure may cause overpressure rupture of the water pipeline. The limitation on shutdown speed is to avoid the water hammer effect caused by the guide vanes closing too quickly. These complex characteristics and constraints are intertwined, which greatly increases the difficulty of optimizing the turbine governor control strategy. Especially in the context of the continuous increase in the proportion of new energy power generation and the continuous increase in the frequency and amplitude of grid load fluctuations, the existing control strategy is no longer able to meet the higher requirements of the power system for rapid peak shaving and precise frequency regulation.

[0005] Traditional turbine governor load regulation adopts a typical negative feedback closed-loop control mode. Its regulation process must follow a fixed process of load disturbance occurrence → system detection of output deviation → feedback loop start adjustment. This mode itself has an inherent lag - from the occurrence of disturbance to the detection of deviation, and then to the execution of control command and the production of effect, the whole process requires a certain time delay.

[0006] In recent years, in order to suppress the problem of ultra-low frequency oscillation that may occur in the regional power grid, some power grid dispatching departments have required to greatly limit the PID control parameters of the water turbine governor: for example, reducing the proportional coefficient (Kp) to reduce the tendency of system overshoot, and increasing the integral time (Ti) to weaken the influence of integral action on dynamic response. Although these parameter adjustments can improve the oscillation stability of the power grid to some extent, they further amplify the lag effect of negative feedback closed-loop regulation. Specifically, when the power grid needs the unit to generate power (power rapidly rises) or quickly regulate the peak (power rapidly drops), the governor cannot respond to the load change demand in time, and the following speed of power output is significantly reduced, which not only affects the AGC (automatic generation control) performance of the unit, but also may cause large fluctuations in the frequency of the power grid due to the lag of the unit output adjustment, and even threaten the overall stable operation of the power grid.

[0007] In view of the above problems, although there are related improvement attempts in existing patent technologies, there are still obvious defects and deficiencies, for example: CN120357495A discloses a water turbine primary frequency modulation method with feedforward double fuzzy control adapting to working condition changes. First, when the frequency deviation exceeds the primary frequency modulation dead zone, it is input into the PID controller. At the same time, the fuzzy controller one inputs the water head signal and the power signal, and after fuzzy, fuzzy reasoning and de-fuzzy, the output is the PID controller parameter Kp, Ki and Kd value. Then the PID output is added to the feedforward signal, and then converted into a hydraulic signal through an electro-hydraulic converter. Then the opening deviation signal and the derivative of the signal are input into the fuzzy controller two, and the output is the input electric signal of the electro-hydraulic converter. Then the hydraulic actuator operates the movable guide vane to control the water turbine output, and completes the primary frequency modulation action. However, this method only simply adds the feedforward signal to the PID output, does not design a targeted compensation mechanism for the lag problem after the PID parameter is adjusted, and lacks precise judgment of the starting conditions of the feedforward link and the given power state, which may cause invalid compensation action and affect the regulation stability.

[0008] CN114856901A discloses a water turbine governor guide vane opening degree regulation method and system. The power adjustment amount generated by the primary frequency modulation is superimposed with the given power value of the monitoring system to obtain a target power. According to the target power and the collected current unit working water head, the guide vane opening degree is calculated based on the guide vane opening degree optimal polynomial fitting formula, and is directly output to the hydraulic actuator. The power deviation obtained by comparing the unit power with the target power is sent to the PI regulator for deviation correction to obtain the guide vane opening degree adjustment amount. However, it calculates the guide vane opening degree through the guide vane opening degree optimal polynomial fitting formula, relies on the PI regulator for deviation correction, and the compensation logic is single, which is difficult to balance the regulation speed and system stability. SUMMARY

[0009] To address the aforementioned issues, this invention proposes a feedforward power closed-loop regulation method and system based on triple compensation. This method can effectively improve the active power regulation speed after the PID parameters of the turbine governor are lowered, without posing a safety risk to the stable operation of the power grid. It further improves the active power regulation strategy of the turbine governor and enhances the AGC regulation performance of the unit.

[0010] The technical solution adopted in this invention is as follows: A feedforward power closed-loop regulation method based on triple compensation includes: Based on the actual operating status of the hydro-generator unit and the current operating mode of the hydro-turbine governor, determine whether to activate the feedforward circuit; Obtain the given power P issued by the hydropower station's computer monitoring system. c And for a given power P c The state is identified to determine whether it is a constant value; if the given power P c If the given power P is constant, then the feedforward circuit terminates; c If the change is in the form of a ramp function, either increasing or decreasing, the feedforward process will continue to be executed. After the feedforward circuit is started, the given power P c The rate of change is constrained, and a feedforward compensation amount is generated by a triple correction parameter compensation method based on lead-lag-inverse integral. This feedforward compensation amount is then used to perform feedforward compensation operation on the output of the turbine governor.

[0011] Furthermore, the method for generating feedforward compensation based on the triple correction parameter compensation method of lead-lag-inverse integral includes: connecting the first-order inertial element and the first-order differential element in series to form a lead-lag element; connecting the lead-lag element in series with the inverse integral element to form a complete triple correction parameter compensation element; and generating feedforward compensation through the triple correction parameter compensation element.

[0012] Furthermore, the generation of the feedforward compensation amount through the triple correction parameter compensation stage includes: using the given power P after the rate of change constraint. c Based on this, a given power P is captured through a first-order differential element. c The rate of change of the signal is suppressed by a first-order inertial element, allowing the feedforward compensation to gradually approach the target value. Simultaneously, an inverse integral element ensures that the feedforward compensation is only related to the given power P. c It is related to the rate of change.

[0013] Furthermore, determining whether to activate the feedforward circuit based on the actual operating status of the hydro-generator unit and the current operating mode of the turbine governor includes: When the hydro-generator unit is in grid-connected operation and the turbine governor is running in power mode, the feedforward circuit is activated. If the hydro-generator unit is in an empty load operation state or an opening degree operation state, or the unit outlet breaker is in an open state, the feedforward link is terminated.

[0014] Further, the change rate of the given power P c is constrained, including: the change rate of the given power P c is constrained in a range suitable for the actual change rate of the load regulation of the hydro-turbine governor.

[0015] A feedforward power closed-loop regulation system based on triple compensation includes the following steps: A first judgment module is configured to determine whether to start the feedforward link based on the actual operation state of the hydro-generator unit and the current operation mode of the hydro-turbine governor; A second judgment module is configured to obtain the given power P c issued by the computer monitoring system of the hydropower station, and identify the state of the given power P c , to determine whether it is a constant value; if the given power P c is a constant value, the feedforward link is terminated; if the given power P c increases or decreases in the form of a ramp function, the feedforward link is continuously executed; A feedforward compensation module is configured to, after the feedforward link is started, constrain the change rate of the given power P c , and generate a feedforward compensation amount through a triple correction parameter compensation method based on a lead-lag-integral inverse, and then perform a feedforward compensation operation on the output of the hydro-turbine governor using the feedforward compensation amount.

[0016] Further, the triple correction parameter compensation method based on a lead-lag-integral inverse generates a feedforward compensation amount, including: a first-order inertia link and a first-order differential link are configured in series to form a lead-lag link; and the lead-lag link and an integral inverse link are connected in series to form a complete triple correction parameter compensation link, and the feedforward compensation amount is generated through the triple correction parameter compensation link.

[0017] Further, the feedforward compensation amount is generated through the triple correction parameter compensation link, including: the given power P c after the change rate constraint is taken as the basis, the change rate of the given power P c is captured through a first-order differential link, the signal peak is suppressed through a first-order inertia link to gradually approach the target value of the feedforward compensation amount, and the feedforward compensation amount is only associated with the change rate of the given power P c through an integral inverse link.

[0018] Further, the actual operation state of the hydro-generator unit and the current operation mode of the hydro-turbine governor are determined to determine whether to start the feedforward link, including: When the hydro-generator unit is in a grid-connected operation state and the hydro-turbine governor is operated in a power mode, the feedforward link is started. If the hydro-generator unit is in an idle operation state or an opening operation state, or the unit outlet breaker is in an open state, the feedforward link is terminated.

[0019] Further, the change rate of the given power P c is constrained, including: the change rate of the given power P c is constrained in a range suitable for the actual change rate of the load adjustment of the hydro-turbine governor.

[0020] The beneficial effects of the present application are: 1. The present application can effectively solve the problem of insufficient active regulation speed after the PID parameter of the hydro-turbine governor is adjusted, and will not cause safety risks to the stable operation of the power grid, further improving the active regulation strategy of the hydro-turbine governor, and greatly improving the AGC regulation performance of the unit.

[0021] 2. The present application only starts the feedforward link when the hydro-generator unit is in a grid-connected operation state and the hydro-turbine governor is operated in a power mode, and terminates when the unit is idle, the opening operation or the outlet breaker is open, and only executes compensation when the given power is increased or decreased in the form of a ramp function, avoiding invalid operation and improving regulation stability; the change rate of the given power is constrained to adapt to the actual change rate of the load adjustment of the hydro-turbine governor, preventing over-regulation or under-regulation; the feedforward compensation amount is generated by a triple correction parameter compensation method based on lead-lag-integral inverse, the change rate of the given power is captured by a first-order differential link, the signal peak is suppressed by a first-order inertia link to gradually approach the target value, and the compensation amount is only associated with the change rate of the given power by an integral inverse link.

[0022] 3. Compared with the simple feedforward superposition or single PI correction of the prior art, the present application has faster regulation speed and higher accuracy, and fully guarantees the safety of the power grid while improving the regulation performance, avoiding the short board of the prior art that does not consider safety risks. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a flow chart of a feedforward power closed-loop regulation method based on triple compensation according to an embodiment of the present application.

[0024] Figure 2 is a principle diagram of a feedforward power closed-loop regulation method based on triple compensation according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments are now described. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention; that is, the described embodiments are only a part of the embodiments of the invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0026] Example 1 like Figure 1 As shown, this embodiment provides a feedforward power closed-loop regulation method based on triple compensation, including: Based on the actual operating status of the hydro-generator unit and the current operating mode of the hydro-turbine governor, determine whether to activate the feedforward circuit; Obtain the given power P issued by the hydropower station's computer monitoring system. c And for a given power P c The state is identified to determine whether it is a constant value; if the given power P c If the given power P is constant, then the feedforward circuit terminates; c If the change is in the form of a ramp function, either increasing or decreasing, the feedforward process will continue to be executed. After the feedforward circuit is started, the given power P c The rate of change is constrained, and a feedforward compensation amount is generated by a triple correction parameter compensation method based on lead-lag-inverse integral. This feedforward compensation amount is then used to perform feedforward compensation operation on the output of the turbine governor.

[0027] It should be noted that this method can enable the feedforward circuit to start and stop on demand, avoiding ineffective operation. At the same time, it improves the targeting and accuracy of power regulation through rate constraints and triple compensation, reducing regulation deviation.

[0028] Preferably, in this embodiment, the first-order inertial element and the first-order differential element are connected in series to form a lead-lag element; then the lead-lag element is connected in series with the inverse integral element to form a complete triple correction parameter compensation element, and the feedforward compensation amount is generated through the triple correction parameter compensation element.

[0029] Specifically, following the signal transmission logic, the output of the first-order inertial element is first connected to the input of the first-order differential element, completing the lead-lag element. Then, the output of this lead-lag element is connected to the input of the inverse integral element, cascading the three elements together to form a complete compensation link. Once the input signal enters this link, it undergoes sequential processing by each element, ultimately outputting the corresponding feedforward compensation amount.

[0030] It should be noted that the triple correction parameter compensation link constructed by the link in series can integrate the adjustment advantages of each link, provide a stable and reliable technical path for accurate generation of the feedforward compensation amount, and guarantee the compensation effect.

[0031] More preferably, the given power P c after the change rate constraint is input into the triple correction parameter compensation link. c The change rate of the given power P c is captured by a first-order differential link, signal spikes are suppressed by a first-order inertia link to gradually approach the target value, and the feedforward compensation amount is only associated with the change rate of the given power P c by an integral inverse link.

[0032] Specifically, the given power P c signal after the rate constraint is input into the triple correction parameter compensation link, which is first processed by a first-order differential link to extract its change rate information. Then the signal is transmitted to a first-order inertia link, which suppresses the signal spikes to make the output signal smooth and approach the preset target value. Finally, the signal is processed by an integral inverse link to remove interference factors unrelated to the change rate, ensuring that the final generated feedforward compensation amount only responds to the change rate of the given power P c .

[0033] It should be noted that the above method can accurately follow the change trend of the given power while avoiding the adjustment fluctuations caused by the spike signal, thereby improving the stability and smoothness of power regulation.

[0034] Preferably, when the hydro-generator set is in a grid-connected operation state and the hydro-turbine governor is in a power mode, the feedforward link is started; if the hydro-generator set is in an idle operation state or an opening degree operation state, or the outlet circuit breaker of the set is in an open state, the feedforward link is terminated.

[0035] Specifically, the running state of the hydro-generator set (such as grid-connected, idle), the running mode of the governor (such as power mode, opening degree mode), and the on-off state of the outlet circuit breaker of the set are obtained in real time by a set state monitoring device. The obtained state information is logically judged, and when the grid-connected operation state and the power mode operation condition are met at the same time, the feedforward link is triggered to start; if any of the idle operation, opening degree operation, or circuit breaker opening condition is met, the feedforward link is controlled to terminate operation.

[0036] It should be noted that the above method can accurately control the starting and termination time of the feedforward link, ensure that the feedforward regulation only operates in the required working condition, avoid invalid regulation in irrelevant working conditions, reduce system energy consumption, and improve regulation efficiency.

[0037] Preferably, the given power P cThe rate of change is constrained within a range that matches the actual rate of change of the turbine governor's load regulation. Specifically, the actual rate of change capability of the turbine governor during load regulation is first obtained through testing or monitoring to determine its stable response rate range. Based on this range, the given power P is set. c The rate of change of the threshold is constrained, and the given power P is monitored in real time during the actual adjustment process. c The rate of change is limited by an adjustment mechanism when it exceeds the constraint threshold, ensuring that it always remains within a range that matches the actual adjustment capability of the speed governor.

[0038] It should be noted that the above method can avoid regulation lag or overshoot caused by the rate of change of the given power exceeding the regulation capacity of the speed controller, thus ensuring the coordination and reliability of power regulation.

[0039] Accordingly, this embodiment also provides a feedforward power closed-loop regulation system based on triple compensation, including the following modules: The first judgment module is configured to determine whether to start the feedforward link based on the actual operating status of the hydro-generator unit and the current operating mode of the hydro-turbine governor. The second judgment module is configured to obtain the given power P issued by the hydropower station's computer monitoring system. c And for a given power P c The state is identified to determine whether it is a constant value; if the given power P c If the given power P is constant, then the feedforward circuit terminates; c If the change is in the form of a ramp function, either increasing or decreasing, the feedforward process will continue to be executed. The feedforward compensation module is configured to constrain the rate of change of the given power Pc after the feedforward link is started, and generate the feedforward compensation amount through a triple correction parameter compensation method based on lead-lag-inverse integral, and then use the feedforward compensation amount to perform feedforward compensation operation on the output of the turbine governor.

[0040] Specifically, the first judgment module receives signals from the unit status monitoring equipment and the governor mode detection equipment to determine the operating status and mode, and outputs a preliminary signal for the start or termination of the feedforward link; the second judgment module receives the given power P from the hydropower station computer monitoring system. c The signal's state is determined by a built-in signal recognition algorithm. If it's a constant value, a termination signal is output; if it changes in the form of a ramp function, a continuous execution signal is output. After receiving the continuous execution signal from the second judgment module, the feedforward compensation module first adjusts the given power P... c The rate of change is constrained, and then the built-in triple correction parameter compensation logic generates a feedforward compensation amount. Finally, the compensation amount is output to the control terminal of the turbine governor to complete the compensation.

[0041] It should be noted that the modules of the present feed-forward power closed-loop regulation system cooperate to realize the automatic operation of the feed-forward power closed-loop regulation, and the clear function realization of the module division improves the accuracy and stability of system regulation, and guarantees the reliable operation of the hydro-generator unit.

[0042] Embodiment 2 This embodiment is based on Embodiment 1: As Figure 2 shown, the present embodiment provides a feed-forward power closed-loop regulation method based on triple compensation, comprising: when the given power P c issued by the monitoring system LCU is a constant value, the feed-forward function is automatically cut off, and the primary frequency modulation normally functions; when P c increases / decreases in the form of a ramp function, the rate of change is immediately captured through a differential element, the feed-forward signal rapidly rises, and acts before the power PID controller, greatly shortening the system response; and the sharp peaks of the feed-forward signal are suppressed through a first-order inertia element, so that the compensation amount slowly approaches the target value, avoiding electrical noise; and the feed-forward signal is ensured to be only related to the rate of change of power, rather than the cumulative value of power itself, through an integral inverse element, completely avoiding integral saturation (when the load is stable for a long time, the feed-forward amount will not continuously increase). The precise adaptation of the three elements can achieve the effects of rapid response, noise suppression, and integral lag offset, so that the active power of the unit can monotonically and rapidly track the power set value.

[0043] Correspondingly, the present embodiment provides a feed-forward power closed-loop regulation system based on triple compensation, comprising: a slope rate module (LIMITER): used to limit the rate of change of the given power P c ; a triple correction parameter module based on lead-lag-integral inverse: a first-order inertia element and a first-order differential element are combined in series to form a lead-lag element (lead LAG), and then combined in series with an integral inverse 1 / K i to form a triple correction parameter compensation element, used to offset the inertia lag of the given power P c and offset the integral action in the power PID element; a feed-forward function automatic switching module: used to control the timing of the feed-forward function.

[0044] a feed-forward multiplier (M): the feed-forward compensation amount finally output by the triple correction parameter module is superimposed on the output Y pid of the speed regulator power PID module, achieving the purpose of accelerating the active regulation speed.

[0045] Preferably, in the automatic switching module for the feedforward function, when the unit speed governor is in no-load operation, open operation, or the unit outlet circuit breaker is in the open state, the feedforward function is cut off by switching to the value 0 and multiplying it with the feedforward correction parameter by the multiplier M; when the unit is in grid-connected operation and the speed governor is in power mode operation, the feedforward function is activated by switching to the value 1 and multiplying it with the feedforward correction parameter by the multiplier M.

[0046] Preferably, in the ramp rate module, in order to match the actual rate of load regulation of the turbine governor, the ramp rate module is set to ensure that the given power P received by the governor is within the range specified by the governor. c This method uses a rate change that closely approximates the actual load adjustment of the turbine governor, rather than a step-like change. This allows for smoother and more stable power regulation, while also preventing false alarms of governor main connection follow-up faults. This module typically has two internal parameter variables: one is the setpoint power, with a range from 0 to P. max The other is the rate of change K, which can be set to 1%P by default. g / s(P g (Rated power of the unit), ranging from 0 to 5%P g / s is adjustable.

[0047] Preferably, in the triple correction parameter module based on lead-lag-inverse integral, a first-order inertial element and a first-order differential element are mainly combined in series to form a lead-lag element (lead LAG), which is then combined with the inverse integral 1 / K. i The series connection forms a triple-compensation stage for parameter correction. The first-order inertial stage plus the first-order derivative stage (series connection) is essentially a combination of low-pass filtering and derivative lead. The first-order inertial stage suppresses high-frequency noise, making the signal smoother; the first-order derivative stage anticipates signal changes and compensates for system lag. Together, they optimize the stability and speed of dynamic response. The inverse integral stage addresses integral saturation in systems with integrators. When long-term system deviations lead to excessive integral accumulation, this stage weakens the integral effect, preventing output overshoot or runaway. This precise triple-stage adaptation provides rapid response, noise suppression, and compensation for integral lag.

[0048] Specifically, the transfer function of the triple correction parameter module is G(s)=(T2s+1) / Ts(T1s+1). The main parameter variables are the differential time T2, the reciprocal integral time Ts, and the inertial time T1. The T2 setting range is 0~1s, and can be set to 0.1s by default; the Ts setting range is 0~10s, and can be set to 5s by default; the T1 setting range is 0.15T2~0.3T2, and can be set to 0.2s by default.

[0049] Example 3 This embodiment is based on embodiment 1: The embodiment provides a computer device, including a memory and a processor, the memory stores a computer program, and the processor implements the triple compensation based feedforward power closed loop regulation method of embodiment 1 when executing the computer program. The computer program can be in the form of source code, object code, an executable file or some intermediate form.

[0050] Embodiment 4 The embodiment is based on embodiment 1, and has the following beneficial effects. The embodiment provides a computer readable storage medium, which stores a computer program, and the computer program implements the triple compensation based feedforward power closed loop regulation method of embodiment 1 when executed by a processor. The computer program can be in the form of source code, object code, an executable file or some intermediate form. The storage medium includes any entity or device capable of carrying computer program code, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal and a software distribution medium, etc.

[0051] The above merely describes preferred embodiments of the present application, and it should be understood that the present application is not limited to the forms disclosed herein, and should not be considered as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concepts described herein, by the above teachings or related art or knowledge. Any modification and change made by those skilled in the art without departing from the spirit and scope of the present application should be within the protection scope of the appended claims of the present application.

[0052] It should be noted that, for the foregoing method embodiments, in order to facilitate description, the method embodiments are described as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

Claims

1. A feedforward power closed-loop regulation method based on triple compensation, characterized in that, include: Based on the actual operating status of the hydro-generator unit and the current operating mode of the hydro-turbine governor, determine whether to activate the feedforward circuit; Obtain the given power P issued by the hydropower station's computer monitoring system. c And for a given power P c The state is identified to determine whether it is a constant value; if the given power P c If the given power P is constant, then the feedforward circuit terminates; c If the change is in the form of a ramp function, either increasing or decreasing, the feedforward process will continue to be executed. After the feedforward circuit is started, the given power P c The rate of change is constrained, and a feedforward compensation amount is generated by a triple correction parameter compensation method based on lead-lag-inverse integral. This feedforward compensation amount is then used to perform feedforward compensation operation on the output of the turbine governor.

2. The feedforward power closed-loop regulation method based on triple compensation according to claim 1, characterized in that, The method for generating feedforward compensation based on the triple correction parameter compensation of lead-lag-inverse integral includes: connecting a first-order inertial element and a first-order differential element in series to form a lead-lag element; connecting the lead-lag element in series with the inverse integral element to form a complete triple correction parameter compensation element; and generating feedforward compensation through the triple correction parameter compensation element.

3. The feedforward power closed-loop regulation method based on triple compensation according to claim 2, characterized in that, The generation of feedforward compensation through the triple correction parameter compensation stage includes: using the given power P after the rate of change constraint. c Based on this, a given power P is captured through a first-order differential element. c The rate of change of the signal is suppressed by a first-order inertial element, allowing the feedforward compensation to gradually approach the target value. Simultaneously, an inverse integral element ensures that the feedforward compensation is only related to the given power P. c It is related to the rate of change.

4. The feedforward power closed-loop regulation method based on triple compensation according to claim 1, characterized in that, The determination of whether to activate the feedforward circuit based on the actual operating status of the hydro-generator unit and the current operating mode of the turbine governor includes: When the hydro-generator unit is in grid-connected operation and the turbine governor is running in power mode, the feedforward circuit is activated. If the hydro-generator unit is in no-load operation or open operation, or if the unit's outlet circuit breaker is in the open state, the feedforward circuit will be terminated.

5. The feedforward power closed-loop regulation method based on triple compensation according to claim 1, characterized in that, The given power P c Constraints are imposed on the rate of change of the given power P, including: c The rate of change is constrained to be within a range that matches the actual rate of change of the turbine governor load regulation.

6. A feedforward power closed-loop regulation system based on triple compensation, characterized in that, Includes the following steps: The first judgment module is configured to determine whether to start the feedforward link based on the actual operating status of the hydro-generator unit and the current operating mode of the hydro-turbine governor. The second judgment module is configured to obtain the given power P issued by the hydropower station's computer monitoring system. c And for a given power P c The state is identified to determine whether it is a constant value; if the given power P c If the given power P is constant, then the feedforward circuit terminates; c If the change is in the form of a ramp function, either increasing or decreasing, the feedforward process will continue to be executed. The feedforward compensation module is configured to, after the feedforward circuit is started, compensate for the given power P. c The rate of change is constrained, and a feedforward compensation amount is generated by a triple correction parameter compensation method based on lead-lag-inverse integral. This feedforward compensation amount is then used to perform feedforward compensation operation on the output of the turbine governor.

7. A feedforward power closed-loop regulation system based on triple compensation according to claim 6, characterized in that, The method for generating feedforward compensation based on the triple correction parameter compensation of lead-lag-inverse integral includes: connecting a first-order inertial element and a first-order differential element in series to form a lead-lag element; connecting the lead-lag element in series with the inverse integral element to form a complete triple correction parameter compensation element; and generating feedforward compensation through the triple correction parameter compensation element.

8. A feedforward power closed-loop regulation system based on triple compensation according to claim 7, characterized in that, The generation of feedforward compensation through the triple correction parameter compensation stage includes: using the given power P after the rate of change constraint. c Based on this, a given power P is captured through a first-order differential element. c The rate of change of the signal is suppressed by a first-order inertial element, allowing the feedforward compensation to gradually approach the target value. Simultaneously, an inverse integral element ensures that the feedforward compensation is only related to the given power P. c It is related to the rate of change.

9. A feedforward power closed-loop regulation system based on triple compensation according to claim 6, characterized in that, The determination of whether to activate the feedforward circuit based on the actual operating status of the hydro-generator unit and the current operating mode of the turbine governor includes: When the hydro-generator unit is in grid-connected operation and the turbine governor is running in power mode, the feedforward circuit is activated. If the hydro-generator unit is in no-load operation or open operation, or if the unit's outlet circuit breaker is in the open state, the feedforward circuit will be terminated.

10. A feedforward power closed-loop regulation system based on triple compensation according to claim 6, characterized in that, The given power P c Constraints are imposed on the rate of change of the given power P, including: c The rate of change is constrained to be within a range that matches the actual rate of change of the turbine governor load regulation.

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