Tandem type water wheel power generation system and method, terminal and medium

Abstract

The invention belongs to the technical field of hydroelectric generation, and particularly discloses a series connection type water wheel power generation system and method, a terminal and a medium. The system comprises a semi-open type hydraulic channel and a plurality of water wheel power generation units which are sequentially arranged in series in the water flow direction, and each water wheel power generation unit is provided with a height adjusting mechanism and a multi-source state sensing unit. The control unit analyzes the overall operation state of the tandem water wheel power generation system based on the obtained operation state information of all the water wheel power generation units, generates a height adjustment control instruction corresponding to at least one water wheel power generation unit, and adjusts the height of the water wheel power generation unit by adjusting the immersion depth of the water wheel relative to the water flow. And coordinated control of the operation state of the series system is realized. The overall power generation efficiency and the operation stability of the series-connection type water wheel power generation system can be improved, and the system is suitable for application scenes such as multi-stage water energy utilization.

Description

Technical Field

[0001] This invention belongs to the field of hydropower technology, specifically relating to a series-connected hydropower generation system, method, terminal, and medium. Background Technology

[0002] Hydropower, as a clean and renewable energy source, has broad application prospects in distributed generation, low-head hydropower utilization, and the recycling of water from rivers, irrigation canals, and industrial wastewater. With the diversification of hydropower utilization scenarios, and constrained by water resource conditions and engineering layout limitations, an increasing number of hydropower systems are adopting a method of arranging multiple hydropower units along the flow direction within the same hydraulic channel to achieve graded or repeated utilization of hydropower, thereby improving the overall power generation capacity per unit volume of water.

[0003] Existing series-connected hydroelectric power generation systems primarily focus on optimizing the turbine's structural form, arrangement, or individual unit power generation performance. In terms of operation control, control strategies are typically employed for individual turbine power generation units. These strategies may include feedback regulation based on local rotational speed or output power, or maintaining the turbine's operating state through pre-set fixed operating parameters. This type of control can, to a certain extent, ensure the stable operation of a single turbine power generation unit.

[0004] Due to the lack of comprehensive perception and coordinated regulation of the entire series system's operating status, existing series-connected hydropower generation devices struggle to take into account the mutual influence between each hydropower generation unit. Especially when there are fluctuations in water flow conditions, changes in channel cross-sections, or differences in the installation height of each turbine, relying solely on single-point feedback control can easily lead to some hydropower generation units operating in non-ideal ranges, resulting in problems such as a decrease in the overall power generation efficiency of the series system, unbalanced operating status, or lagging regulation. Summary of the Invention

[0005] This invention addresses the problems in the prior art by providing a series-connected hydropower generation system, method, terminal, and medium. It solves the problem that existing series-connected hydropower generation devices struggle to consider the mutual influence between individual hydropower units. Furthermore, when water flow conditions fluctuate, channel cross-sections change, or the installation heights of the turbines differ, relying solely on single-point feedback control can easily lead to some hydropower units operating in non-ideal ranges, resulting in a decrease in overall power generation efficiency, uneven operation, or delayed regulation in the series system.

[0006] The technical solution adopted in this invention is as follows: In a first aspect, this application provides a series-connected hydroelectric power generation system, comprising: A semi-open hydraulic channel is used to form a water flow in a predetermined direction; The hydro-turbine power generation unit includes at least two units arranged in series along the water flow direction. Each hydro-turbine power generation unit includes a vertically arranged water turbine, a generator connected to the water turbine, and an installation structure for supporting the water turbine and the generator. A height adjustment mechanism, connected to the mounting structure, is configured to drive the corresponding hydroelectric power generation unit to move along the height direction to change the immersion depth of the hydroelectric turbine relative to the water flow. A multi-source state sensing unit is installed on the hydro-generator unit and is configured to acquire the operating state information of the corresponding hydro-generator unit. The control unit is electrically connected to each height adjustment mechanism and each multi-source status sensing unit. The control unit is configured as follows: Based on the operating status information from all hydropower generating units, a height regulation control command corresponding to at least one hydropower generating unit is generated. The corresponding height adjustment mechanism is controlled to execute height adjustment control commands, and the height of at least one of the multiple hydropower generation units is adjusted.

[0007] Secondly, this application provides a series-connected hydropower generation method, using the series-connected hydropower generation system as described in the first aspect, the method comprising the following steps: Step S1: A water flow is formed in a semi-open hydraulic channel in a predetermined direction, so that multiple hydroelectric power generation units operate under the action of the water flow; Step S2: Obtain the operating status information of all hydropower generation units through the multi-source status sensing units set on each hydropower generation unit. The operating status information includes the rotation speed parameters and power generation parameters of each hydropower generation unit. Send the operating status information to the control unit. Step S3: The control unit analyzes the operating status information of all hydropower generation units and generates a height adjustment control command corresponding to at least one hydropower generation unit. Step S4: The control unit controls the corresponding height adjustment mechanism to execute the height adjustment control command, driving the corresponding water turbine power generation unit to move along the height direction, changing the immersion depth of the water turbine relative to the water flow; Step S5: During or after the height adjustment process, continue to acquire the operating status information of all hydropower generation units.

[0008] Furthermore, step S3 includes the following steps: Step S3-1: Based on the acquired rotational speed parameters and power generation parameters of all hydropower generating units, the control unit constructs a joint state dataset to characterize the operating status of each hydropower generating unit. Step S3-2: The control unit combines the joint state dataset to establish an efficiency evaluation model for evaluating the overall power generation efficiency of the series hydropower generation system. The efficiency evaluation model is used to reflect the influence of different hydropower generation units on the overall power generation efficiency under different immersion depths. Step S3-3: Introduce preset operating constraints into the efficiency evaluation model. The operating constraints include the allowable height adjustment range of the hydro-turbine power generation unit, the maximum speed of the turbine, and the relative operating coordination constraints between the hydro-turbine power generation units. Step S3-4: Based on the efficiency evaluation model and operating constraints, the control unit performs a joint analysis of the operating status of each hydropower generation unit and determines the target adjustment scheme that optimizes the overall power generation efficiency of the series hydropower generation system under the operating constraints. Step S3-5: The control unit generates a height adjustment control command corresponding to at least one hydroelectric power generation unit according to the target adjustment scheme.

[0009] Furthermore, in step S3-3, the coordination constraints include at least one: The difference in immersion depth between adjacent hydroelectric power generation units shall not exceed the threshold. The speed difference between adjacent hydroelectric power generation units does not exceed the threshold. The relative deviation of the output power of each hydropower generation unit does not exceed the threshold. The immersion depth of each hydroelectric power generation unit satisfies a monotonic sequence relationship along the water flow direction; The rate of change of immersion depth for each hydroelectric power generation unit does not exceed the threshold.

[0010] Furthermore, the operational constraints include: The immersion depth of the i-th hydroelectric power generation unit satisfies the allowable height adjustment range constraint:

[0011] in, This represents the current submersion depth of the i-th hydroelectric power generation unit. and These represent the minimum and maximum allowable immersion depths of the hydroelectric power generation unit, respectively. The rotational speed of the i-th hydroelectric power generation unit satisfies the maximum rotational speed constraint:

[0012] in, This represents the rotational speed parameter of the i-th hydroelectric power generation unit. This indicates the maximum permissible rotational speed of the corresponding hydroelectric power generation unit; Relative operational coordination constraints include: The difference in immersion depth between adjacent hydroelectric power generation units does not exceed the threshold:

[0013] in, This indicates the maximum permissible difference in immersion depth between adjacent hydroelectric power generation units; The speed difference between adjacent hydroelectric power generation units does not exceed the threshold:

[0014] in, This indicates the maximum permissible speed difference between adjacent hydroelectric power generation units; The efficiency evaluation model is constructed based on the following objective function, and the target adjustment scheme is determined based on finding the optimal objective function:

[0015] Where J represents the overall power generation efficiency evaluation target value of the series hydropower generation system; N represents the number of hydropower generation units; and K represents the preset prediction step size. This represents the discount factor used to reflect the weighting of the predicted time series; , and These represent the penalty coefficients used to constrain the difference in immersion depth, the difference in rotation speed, and the range of height adjustment, respectively. This represents the submersion depth of the i-th hydroelectric power generation unit at the current moment; This represents the predicted power generation of the i-th hydropower generation unit at the k-th predicted time after the current time. This represents the rated power of the i-th hydroelectric power generation unit or the maximum achievable power obtained by calibration based on historical operating data.

[0016] Furthermore, predict power generation. Obtained through a spatiotemporal prediction model for the topology of a series hydroelectric power generation system, including: Multiple hydroelectric power generation units are constructed as a series topology connected sequentially according to the direction of water flow. ,in, Let E represent the set of nodes corresponding to the hydro-turbine power generation unit, and let E represent the set of edges corresponding to the hydraulic coupling relationship between adjacent hydro-turbine power generation units. Construct the node feature matrix at time t in, This represents the node feature vector of the i-th hydroelectric power generation unit at time t. Indicates power generation parameters, Indicates the rotational speed parameter. Indicates the immersion depth; Construct an adjacency matrix based on the serial topology graph G. Spatial association modeling is performed on the node feature matrix based on the adjacency matrix to obtain spatial feature representation:

[0017] in, This is a spatial correlation mapping matrix. It is a nonlinear mapping function; Spatial feature representation based on multiple consecutive time points Perform time-series correlation modeling to obtain time-series feature representations:

[0018] Where L represents the length of the history window, This represents the time-series feature extraction function; Based on time-series feature representation To obtain the predicted power generation vector at the k-th prediction time:

[0019] in, This represents the predicted power generation of each hydroelectric power generation unit at the predicted time. This is the power prediction mapping matrix.

[0020] Furthermore, during system operation, the model parameters of the spatiotemporal prediction model are adaptively updated based on the actual operating results. These model parameters include: Spatial mapping parameters used for spatial association modeling ; Power prediction mapping parameters used for power prediction mapping ; Adaptive updates specifically include: After completing height adjustment and entering a stable operating state, the actual power generation of each hydropower generation unit at the corresponding predicted time is obtained; By comparing the actual power generation with the predicted power generation, information on the prediction deviation is obtained. Based on the prediction deviation information, the spatial mapping parameters and power prediction mapping parameters are corrected; After the parameter correction is completed, the updated model parameters are used to generate the predicted power generation for subsequent time periods, which then participates in the subsequent height regulation and control process.

[0021] Furthermore, the prediction deviation information for each hydroelectric power generation unit at the prediction time:

[0022] in, This represents the actual power generation capacity. This represents the predicted deviation of the power generation of the i-th hydropower unit at the predicted time. Based on prediction bias information, spatial mapping parameters used for spatial association modeling and power prediction mapping parameters used for power prediction mapping Perform parameter adjustments, including:

[0023] and These represent the power prediction mapping parameters before and after correction, respectively. This represents the preset parameter correction coefficient. This represents the time-series characteristic representation of the i-th hydropower generation unit at the current moment;

[0024] in, and These represent the spatial mapping parameters before and after the correction, respectively. This represents the preset parameter correction coefficient. This represents the prediction bias vector.

[0025] Thirdly, this application provides a terminal, including: Memory, used to store the power generation program for a series hydro turbine; A processor is used to implement the steps of the series-connected hydropower generation method as described in the second aspect when executing the series-connected hydropower generation program.

[0026] Fourthly, this application provides a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the series hydroelectric power generation method as described in the second aspect.

[0027] As can be seen from the above technical solutions, the advantages of the present invention are: By arranging multiple hydroelectric power generation units in series along the water flow direction within the same hydraulic channel, the relative submersion state of these units can be controllably adjusted during system operation. This allows the units to operate collaboratively as a whole, rather than independently, thereby improving the overall efficiency and operational stability of hydropower utilization at the system level. Compared to traditional schemes that only operate individual turbines with fixed parameters or provide local feedback adjustments, this application fully considers the hydraulic coupling relationship between the upstream and downstream turbines in a series structure, avoiding the problem of insufficient energy utilization of the downstream turbine due to improper operation of the upstream turbine.

[0028] By setting up a height adjustment mechanism and using the change of the immersion depth of the turbine relative to the water flow as the main adjustment means, this application achieves continuous and adjustable energy harvesting capability of the turbine without relying on complex hydraulic components such as guide vanes and nozzles. The structure is simple to implement, highly reliable, and particularly suitable for application scenarios with limited hydraulic conditions, such as semi-open hydraulic channels. This helps to reduce system modification costs and expand the applicability of the turbine power generation system.

[0029] By acquiring the operating status information of all hydropower generation units through multi-source state sensing units, and conducting unified analysis and decision-making based on the global operating status, the regulation behavior is upgraded from "single-point sensing and single-point control" to "global sensing and selective regulation". While ensuring the overall coordination of system operation, it avoids frequent or unnecessary adjustments to all hydropower generation units, thereby reducing the number of actuator actions, reducing mechanical wear and energy consumption, and improving the long-term reliability of the system.

[0030] By constructing a joint state dataset and introducing an overall power generation efficiency evaluation model, under the premise of meeting the allowable height adjustment range, maximum speed, and relative operational coordination constraints of the turbines, the operating status of each turbine power generation unit is jointly analyzed and optimized. This makes height adjustment no longer based on empirical thresholds or simple comparison rules, but aims at optimizing the overall power generation efficiency of the system, thereby fundamentally improving the comprehensive energy conversion level of the series system.

[0031] By introducing a prediction mechanism for short-term operating trends during the operation control process, the predicted power generation is directly incorporated into the adjustment decision basis. This enables the system to adjust in advance before the power generation performance declines significantly, avoiding the lag problem of "loss first, then remedy" in traditional pure feedback control. This effectively reduces power generation losses in a short period of time and improves the system's response to water flow fluctuations and changes in operating conditions.

[0032] By abstracting the series-connected hydropower generation system into a system model with a clear topology, and explicitly considering the spatial correlation and temporal evolution characteristics between hydropower generation units during the prediction process, this application can more accurately characterize the influence of the upstream hydropower operation status on the downstream hydropower generation behavior, overcome the problem of insufficient accuracy caused by prediction based solely on historical data of a single unit, and thus improve the matching degree of the prediction results with the actual operating status.

[0033] During system operation, based on the deviation information between actual power generation and predicted power generation, the key parameters in the prediction model are adaptively corrected, so that the model can gradually conform to the actual working conditions as water flow conditions change, equipment status changes and long-term operating characteristics change. This avoids the problem of decreased accuracy caused by long-term fixation of the prediction model, and helps to maintain the stable and efficient operation of the system throughout its entire life cycle. Attached Figure Description

[0034] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a structural diagram of the hydroelectric power generation unit in an embodiment of the present invention; Figure 2 This is a flowchart illustrating the steps of a series-connected hydroelectric power generation method in an embodiment of the present invention.

[0036] In the diagram: 1. Water turbine; 2. Generator; 3. Installation structure; 4. Height adjustment mechanism. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Please see Figure 1 As shown, this application provides a series-connected hydroelectric power generation system, including: A semi-open hydraulic channel is used to form a water flow in a predetermined direction; In a specific embodiment, the semi-open hydraulic channel can be a river, a diversion canal, an irrigation canal, an industrial tailrace channel, or an artificially constructed open water channel structure, with at least one side or the top of its upper part open to facilitate the installation, maintenance, and height adjustment of the turbine 1 power generation unit. The cross-sectional shape of the hydraulic channel can be rectangular, trapezoidal, or irregular, with the water flow direction extending along the length of the channel. In one specific embodiment, the hydraulic channel is an open channel formed by modifying a river channel, where the water flows naturally under gravity, serving as a common water source for multiple turbine 1 power generation units.

[0039] The water turbine 1 power generation unit has at least two units arranged in series along the water flow direction. Each water turbine 1 power generation unit includes a vertically arranged water turbine 1, a generator 2 connected to the water turbine 1, and an installation structure 3 for supporting the water turbine 1 and the generator 2. In a specific embodiment, multiple turbine 1 power generation units are arranged sequentially from upstream to downstream according to the water flow direction. A preset distance is maintained between adjacent turbine 1 power generation units to avoid structural interference and ensure continuous water flow to the downstream turbine 1. The turbine 1 is preferably a vertical shaft turbine 1, with its shaft arranged vertically. Water flow acts on the turbine 1 blades from the side or below, causing the turbine 1 to rotate around its vertical axis. The generator 2 is located above or below the turbine 1 and connected to the turbine 1 via a coupling or drive shaft. The mounting structure 3 may include a fixed bracket, guide column, or frame structure to support the turbine 1 and generator 2 and ensure their stability during height adjustment. In one embodiment, three to five turbine 1 power generation units are arranged sequentially along the river channel. The upstream turbine 1 first contacts the water flow, and the downstream turbine 1 continues to generate electricity from the remaining water energy after the upstream turbine 1 has utilized some of the water energy.

[0040] The height adjustment mechanism 4 is connected to the mounting structure 3. The height adjustment mechanism 4 is configured to drive the corresponding water turbine 1 power generation unit to move along the height direction to change the immersion depth of the water turbine 1 relative to the water flow. In a specific embodiment, the height adjustment mechanism 4 can be disposed between the mounting structure 3 and the water turbine 1 power generation unit, and is used to drive the entire water turbine 1 power generation unit to move up and down relative to the hydraulic channel. The height adjustment mechanism 4 can be an electric lead screw, hydraulic cylinder, lifting guide rail, and drive device, or other actuation structure capable of vertical displacement. By adjusting the installation height of the water turbine 1, the degree to which the blades of the water turbine 1 are submerged in the water flow can be changed, thereby changing the water turbine 1's ability to obtain water energy. In one embodiment, when the power generation of the downstream water turbine 1 is detected to be too low, the control unit can instruct the height adjustment mechanism 4 corresponding to the upstream water turbine 1 to appropriately raise the upstream water turbine 1, so that the upstream water turbine 1 reduces its acquisition of water flow energy and provides more favorable water flow conditions for the downstream water turbine 1.

[0041] A multi-source state sensing unit is installed on the hydro turbine 1 power generation unit and is configured to acquire the operating state information of the corresponding hydro turbine 1 power generation unit; In a specific implementation, the multi-source state sensing unit may include one or more of a speed sensor, a power sensor, and a current or voltage detection device, used to collect real-time operating status information of the turbine 1 and the generator 2. The multi-source state sensing unit of each turbine 1 power generation unit can be independently configured and communicateably connected to the control unit. In one embodiment, each turbine 1 power generation unit is equipped with a speed sensor to detect the turbine 1's rotational speed and a power detection module to obtain the output power of the generator 2, thereby forming a set of state information reflecting the operating status of that turbine 1 power generation unit.

[0042] The control unit is electrically connected to each height adjustment mechanism 4 and each multi-source status sensing unit. The control unit is configured as follows: Based on the operating status information from all turbine 1 power generation units, a height regulation control command corresponding to at least one turbine 1 power generation unit is generated. In a specific implementation, the control unit can be an industrial controller, an embedded control device, or an industrial control computer, which is connected to each multi-source status sensing unit and the height adjustment mechanism 4 via a communication interface. After receiving operating status information from all the turbine 1 power generation units, the control unit analyzes the operating status of each turbine 1 power generation unit from the perspective of the entire system, rather than judging only a single turbine 1. Based on the analysis results, the control unit can determine whether height adjustment is needed for one or more turbine 1 power generation units, and the corresponding adjustment direction and magnitude. In one embodiment, when the overall power generation efficiency of the system deviates from the expected target, the control unit can preferentially select to generate height adjustment control commands for the upstream or midstream turbine 1 power generation units.

[0043] The corresponding height adjustment mechanism 4 is controlled to execute height adjustment control commands to adjust the height of at least one of the multiple turbine 1 power generation units.

[0044] In a specific implementation, the control unit sends the generated height adjustment control command to the corresponding height adjustment mechanism 4, which then drives the corresponding turbine 1 power generation unit to move vertically. It is important to emphasize that not all turbine 1 power generation units require height adjustment in every adjustment. Instead, height adjustment can be performed only on a subset of turbine 1 power generation units based on the overall system operating status, thereby achieving refined control of the system operation. In one embodiment, when the power generation difference between the upstream and downstream turbines exceeds a preset range, only the upstream turbine 1 is height-adjusted, allowing the system to improve overall power generation efficiency without increasing additional structural complexity.

[0045] Please see Figure 2 As shown, this application provides a series-connected hydropower generation method using the aforementioned series-connected hydropower generation system. The method includes the following steps: Step S1: A water flow is formed in a semi-open hydraulic channel in a predetermined direction, so that multiple hydroelectric power generation units operate under the action of the water flow; In a specific embodiment, the semi-open hydraulic channel can be a natural river, an artificial aqueduct, an irrigation canal, or an industrial tailrace channel, with the water flow forming a stable flow along the length of the channel. Multiple turbine generator units are pre-installed within the hydraulic channel or on an installation structure on the side of the channel, placing the turbines within the area where the water flow can act. When the water enters the channel and flows in a predetermined direction, the water flow sequentially acts on each turbine generator unit arranged in series along the flow direction, causing each turbine to begin rotating under the propulsion of the water flow and driving a generator to produce electricity. In one embodiment, the upstream turbine first contacts the water flow and performs energy conversion; after passing the upstream turbine, the water flow continues downstream, sequentially driving the downstream turbine generator units.

[0046] Step S2: Obtain the operating status information of all hydropower generation units through the multi-source status sensing units set on each hydropower generation unit. The operating status information includes the rotation speed parameters and power generation parameters of each hydropower generation unit. Send the operating status information to the control unit. In a specific implementation, each hydroelectric power generation unit is equipped with a corresponding multi-source status sensing unit for real-time monitoring of its operating status. The multi-source status sensing unit may include a speed detection device for detecting the rotational speed of the turbine or generator, and a power detection device for detecting the generator's output power. The speed parameters and power generation parameters collected by each hydroelectric power generation unit are transmitted to the control unit via wired or wireless communication, enabling the control unit to simultaneously acquire the operating status information of all hydroelectric power generation units. In one embodiment, the control unit periodically receives operating status information from each hydroelectric power generation unit for subsequent unified analysis and adjustment decisions.

[0047] Step S3: The control unit analyzes the operating status information of all hydropower generation units and generates a height adjustment control command corresponding to at least one hydropower generation unit. In a specific implementation, after receiving the operating status information of all hydropower generating units, the control unit performs a comprehensive analysis of the operating status of each hydropower generating unit from the perspective of the entire system. This analysis is not limited to a single hydropower generating unit, but comprehensively considers the operational differences between the units and their mutual influences in a series arrangement. When the analysis indicates that an adjustment to the system's operating status is necessary, the control unit generates a corresponding height adjustment control command. It should be noted that the height adjustment control command can be generated for only one or more hydropower generating units, rather than requiring simultaneous adjustment of all units. In one embodiment, when a persistently low downstream hydropower generation output is detected, the control unit can generate a height adjustment control command for the upstream hydropower generating unit.

[0048] Step S4: The control unit controls the corresponding height adjustment mechanism to execute the height adjustment control command, driving the corresponding water turbine power generation unit to move along the height direction, changing the immersion depth of the water turbine relative to the water flow; In a specific implementation, the control unit sends the generated height adjustment control command to the height adjustment mechanism of the corresponding hydro-turbine power generation unit. The height adjustment mechanism then drives the hydro-turbine power generation unit to move vertically according to the control command. This height adjustment process changes the degree to which the turbine blades are submerged in the water flow, thereby adjusting the turbine's ability to extract energy from the water flow. In one embodiment, the control unit controls the height adjustment mechanism corresponding to the upstream turbine to move the entire turbine upwards, reducing its energy extraction from the water flow and thus improving the operating conditions of the downstream turbine, achieving coordinated optimization of the overall operating state of the series-connected hydro-turbine power generation system.

[0049] Step S5: During or after the height adjustment process, continue to acquire the operating status information of all hydropower generation units.

[0050] In a specific implementation, during the height adjustment process, or after the height adjustment is completed and a new operating state is entered, the multi-source state sensing unit continues to collect the rotational speed and power generation parameters of each hydropower generation unit, and sends the updated operating state information to the control unit. The control unit judges the effect of the height adjustment based on the new operating state information, thus providing a basis for whether further height adjustment is needed. In one embodiment, after completing a height adjustment, the control unit continuously monitors the system operating state, and generates a corresponding height adjustment control command again when the system operating state changes, in order to achieve continuous optimized operation of the series hydropower generation system.

[0051] In some embodiments, step S3 includes the following steps: Step S3-1: Based on the acquired rotational speed parameters and power generation parameters of all hydropower generating units, the control unit constructs a joint state dataset to characterize the operating status of each hydropower generating unit. In a specific implementation, after receiving the rotational speed and power generation parameters from each hydropower generation unit, the control unit uniformly organizes and correlates the operating status information of each hydropower generation unit, aggregating the operating status information of different hydropower generation units within the same time period to form a joint status dataset for overall analysis. This joint status dataset simultaneously reflects the current operating level of each hydropower generation unit and the differences in their operation, providing a data foundation for subsequent analysis of the overall operating status of the series system. In one embodiment, the joint status dataset is continuously updated chronologically, enabling the control unit to grasp the changing trends of the system's operating status.

[0052] Step S3-2: The control unit combines the joint state dataset to establish an efficiency evaluation model for evaluating the overall power generation efficiency of the series hydropower generation system. The efficiency evaluation model is used to reflect the influence of different hydropower generation units on the overall power generation efficiency under different immersion depths. In a specific implementation, the control unit, based on a joint state dataset, comprehensively analyzes the operating status of each hydropower generation unit and its corresponding power generation effect to construct an efficiency evaluation model for assessing the overall power generation efficiency of the series-connected hydropower generation system. This efficiency evaluation model does not only focus on the power generation performance of a single hydropower generation unit, but rather reflects the influence of different hydropower generation units on the overall power generation efficiency under different immersion depths at the system level. In one embodiment, the control unit gradually forms an evaluation model that reflects the relationship between height changes and the overall power generation efficiency of the system by comparing the power generation performance of each hydropower generation unit under different height configurations.

[0053] Step S3-3: Introduce preset operating constraints into the efficiency evaluation model. The operating constraints include the allowable height adjustment range of the hydro-turbine power generation unit, the maximum speed of the turbine, and the relative operating coordination constraints between the hydro-turbine power generation units. In a specific implementation, to ensure the safety and stability of the series-connected hydropower generation system during the adjustment process, the control unit introduces preset operational constraints into the efficiency evaluation model. These constraints limit the adjustable range and operational boundaries of each hydropower generation unit, preventing situations where the overall power generation efficiency is exceeded or where the system's coordinated operation is affected. In one embodiment, the relative operational coordination constraint can be used to limit the differences in operational states between adjacent hydropower generation units, thereby preventing water flow turbulence or localized operational anomalies caused by excessive differences in height or operational states.

[0054] Step S3-4: Based on the efficiency evaluation model and operating constraints, the control unit performs a joint analysis of the operating status of each hydropower generation unit and determines the target adjustment scheme that optimizes the overall power generation efficiency of the series hydropower generation system under the operating constraints. In a specific implementation, after introducing operational constraints, the control unit performs a joint analysis of the operating status of each hydropower generation unit. Under the premise of satisfying all operational constraints, it comprehensively evaluates the impact of different height configuration schemes on the overall power generation efficiency of the series hydropower generation system. Through this joint analysis process, the control unit can determine the target adjustment scheme that optimizes or nears optimizes the overall power generation efficiency of the system. In one embodiment, the target adjustment scheme may involve adjusting the height of only some hydropower generation units, thereby optimizing the overall operating effect while reducing the number of adjustment actions.

[0055] Step S3-5: The control unit generates a height adjustment control command corresponding to at least one hydroelectric power generation unit according to the target adjustment scheme.

[0056] In a specific implementation, after determining the target adjustment scheme, the control unit generates a corresponding height adjustment control command based on the scheme and sends the control command to the height adjustment mechanism of the corresponding hydropower generation unit. By executing the height adjustment control command, the immersion depth of at least one hydropower generation unit is adjusted, thereby gradually bringing the operating state of the series hydropower generation system closer to the state corresponding to the target adjustment scheme. In one embodiment, the control unit can prioritize generating height adjustment control commands for hydropower generation units that have a greater impact on the overall power generation efficiency, in order to achieve efficient adjustment of the system's operating state.

[0057] In some embodiments, the coordination constraints in step S3-3 include at least one: The difference in immersion depth between adjacent hydroelectric power generation units shall not exceed the threshold. The speed difference between adjacent hydroelectric power generation units does not exceed the threshold. The relative deviation of the output power of each hydropower generation unit does not exceed the threshold. The immersion depth of each hydroelectric power generation unit satisfies a monotonic sequence relationship along the water flow direction; The rate of change of immersion depth for each hydroelectric power generation unit does not exceed the threshold.

[0058] In some embodiments, the runtime constraints include: The immersion depth of the i-th hydroelectric power generation unit satisfies the allowable height adjustment range constraint:

[0059] in, This represents the current submersion depth of the i-th hydroelectric power generation unit. and These represent the minimum and maximum allowable immersion depths of the hydroelectric power generation unit, respectively. The rotational speed of the i-th hydroelectric power generation unit satisfies the maximum rotational speed constraint:

[0060] in, This represents the rotational speed parameter of the i-th hydroelectric power generation unit. This indicates the maximum permissible rotational speed of the corresponding hydroelectric power generation unit; Relative operational coordination constraints include: The difference in immersion depth between adjacent hydroelectric power generation units does not exceed the threshold:

[0061] in, This indicates the maximum permissible difference in immersion depth between adjacent hydroelectric power generation units; The speed difference between adjacent hydroelectric power generation units does not exceed the threshold:

[0062] in, This indicates the maximum permissible speed difference between adjacent hydroelectric power generation units; The efficiency evaluation model is constructed based on the following objective function, and the target adjustment scheme is determined by optimizing the objective function:

[0063] Where J represents the overall power generation efficiency evaluation target value of the series hydropower generation system; N represents the number of hydropower generation units; and K represents the preset prediction step size. This represents the discount factor used to reflect the weighting of the predicted time series; , and These represent the penalty coefficients used to constrain the difference in immersion depth, the difference in rotation speed, and the range of height adjustment, respectively. This represents the submersion depth of the i-th hydroelectric power generation unit at the current moment; This represents the predicted power generation of the i-th hydropower generation unit at the k-th predicted time after the current time. This represents the rated power of the i-th hydroelectric power generation unit or the maximum achievable power obtained by calibration based on historical operating data.

[0064] In some embodiments, the predicted power generation Obtained through a spatiotemporal prediction model for the topology of a series hydroelectric power generation system, including: Multiple hydroelectric power generation units are constructed as a series topology connected sequentially according to the direction of water flow. ,in, Let E represent the set of nodes corresponding to the hydro-turbine power generation unit, and let E represent the set of edges corresponding to the hydraulic coupling relationship between adjacent hydro-turbine power generation units. Construct the node feature matrix at time t in, This represents the node feature vector of the i-th hydroelectric power generation unit at time t. Indicates power generation parameters, Indicates the rotational speed parameter. Indicates the immersion depth; An adjacency matrix is ​​constructed based on the aforementioned cascaded topology graph G. Spatial association modeling is performed on the node feature matrix based on the adjacency matrix to obtain spatial feature representation:

[0065] in, This is a spatial correlation mapping matrix. It is a nonlinear mapping function; Spatial feature representation based on multiple consecutive time points Perform time-series correlation modeling to obtain time-series feature representations:

[0066] Where L represents the length of the history window, This represents the time-series feature extraction function; Based on the time-series feature representation To obtain the predicted power generation vector at the k-th prediction time:

[0067] in, This represents the predicted power generation of each hydroelectric power generation unit at the predicted time. This is the power prediction mapping matrix.

[0068] In some embodiments, during system operation, the model parameters of the spatiotemporal prediction model are adaptively updated based on actual operating results, and the model parameters include: Spatial mapping parameters used for spatial association modeling ; Power prediction mapping parameters used for power prediction mapping ; In a specific implementation, the spatiotemporal prediction model is not fixed after the system is put into operation, but can be dynamically adjusted according to the actual operating conditions of the series-connected hydropower generation system. The spatial mapping parameters are used to characterize the spatial correlation between different hydropower generation units, and the power prediction mapping parameters are used to characterize the mapping relationship between operating state characteristics and predicted power generation. By adaptively updating the above model parameters, the prediction model can gradually conform to the actual water flow conditions, turbine operating state, and long-term system operating characteristics, thereby avoiding the decrease in prediction accuracy caused by the solidification of model parameters. In one embodiment, as seasonal water flow conditions or equipment operating states change, the model parameters can be adjusted accordingly to maintain the reliability of the prediction results.

[0069] The adaptive update specifically includes: After completing height adjustment and entering a stable operating state, the actual power generation of each hydropower generation unit at the corresponding predicted time is obtained; In a specific implementation, after the control unit completes one or more height adjustment operations, when the system operation stabilizes, each hydroelectric power generation unit enters a relatively stable power generation state. At this time, the actual power generation of each hydroelectric power generation unit at the corresponding predicted time is obtained through the multi-source state sensing unit. The actual power generation reflects the true power generation performance of each hydroelectric power generation unit under the current height configuration and water flow conditions, providing a basis for subsequently judging the accuracy of the prediction results. In one embodiment, the control unit collects power generation data during the stable operation phase within a preset time window for use in the model parameter update process.

[0070] The actual power generation is compared with the predicted power generation to obtain prediction deviation information; In a specific implementation, the control unit compares and analyzes the actual power generation obtained above with the predicted power generation obtained in the previous prediction stage, thereby obtaining prediction deviation information reflecting the difference between the prediction result and the actual operating result. The prediction deviation information is used to characterize the degree of deviation between the prediction result and the actual power generation under the current model parameters. In one embodiment, the control unit can calculate the corresponding prediction deviation information for each hydropower generation unit separately to reflect the differences in prediction accuracy among different hydropower generation units.

[0071] Based on the prediction deviation information, the spatial mapping parameters and power prediction mapping parameters are corrected; In a specific implementation, the control unit corrects the spatial mapping parameters and power prediction mapping parameters in the spatiotemporal prediction model based on the prediction deviation information, adjusting the model parameters in a direction that reduces the prediction deviation. This parameter correction process occurs during normal system operation and does not affect the continuous operation of the hydroelectric power generation unit. In one embodiment, when the prediction deviation maintains the same trend over multiple consecutive operating cycles, the control unit gradually corrects the corresponding model parameters to improve the consistency between subsequent prediction results and actual operating results.

[0072] After the parameter correction is completed, the updated model parameters are used to generate the predicted power generation for subsequent time periods, which then participates in the subsequent height regulation and control process.

[0073] In a specific implementation, after correcting the model parameters, the control unit regenerates the predicted power generation for subsequent time periods based on the updated model parameters, using the new prediction results as input for subsequent height regulation decisions. Through this method, the prediction model is continuously adjusted based on actual operating results during system operation, ensuring that the height regulation control process is built on a more accurate predictive foundation. In one embodiment, the updated predicted power generation is used for the next round of overall power generation efficiency assessment and height regulation decision-making, thus forming a closed-loop operating mechanism combining prediction, correction, and control.

[0074] In some embodiments, the prediction deviation information of each hydropower generation unit at the prediction time:

[0075] in, This represents the actual power generation capacity. This represents the predicted deviation of the power generation of the i-th hydropower unit at the predicted time. Based on the prediction deviation information, the spatial mapping parameters used for spatial association modeling are... and power prediction mapping parameters used for power prediction mapping Perform parameter correction, the parameter correction including:

[0076] and These represent the power prediction mapping parameters before and after correction, respectively. This represents the preset parameter correction coefficient. This represents the time-series characteristic representation of the i-th hydropower generation unit at the current moment;

[0077] in, and These represent the spatial mapping parameters before and after the correction, respectively. This represents the preset parameter correction coefficient. This represents the prediction bias vector.

[0078] In some embodiments, this application provides a terminal, including: Memory, used to store the power generation program for a series hydro turbine; A processor is used to implement the steps of the series-connected hydropower generation method when executing the series-connected hydropower generation program.

[0079] In some embodiments, this application provides a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the series-connected hydropower generation method.

[0080] The above description is merely a preferred embodiment of one or more embodiments of this specification and is not intended to limit the scope of one or more embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of this specification should be included within the protection scope of one or more embodiments of this specification.

Claims

1. A series-connected hydroelectric power generation system, characterized in that, include: A semi-open hydraulic channel is used to form a water flow in a predetermined direction; The water turbine power generation unit includes at least two units arranged in series along the water flow direction. Each water turbine power generation unit includes a vertically arranged water turbine, a generator connected to the water turbine, and an installation structure for supporting the water turbine and the generator. A height adjustment mechanism, connected to the mounting structure, is configured to drive the corresponding hydroelectric power generation unit to move along the height direction to change the immersion depth of the hydroelectric turbine relative to the water flow. A multi-source state sensing unit is installed on the hydro-generator unit and is configured to acquire the operating state information of the corresponding hydro-generator unit. The control unit is electrically connected to each height adjustment mechanism and each multi-source status sensing unit. The control unit is configured as follows: Based on the operating status information from all hydropower generating units, a height regulation control command corresponding to at least one hydropower generating unit is generated. The corresponding height adjustment mechanism is controlled to execute height adjustment control commands, and the height of at least one of the multiple hydropower generation units is adjusted.

2. A method for generating electricity using a series-connected hydroelectric turbine, employing the series-connected hydroelectric turbine system as described in claim 1, characterized in that, Includes the following steps: Step S1: A water flow is formed in a semi-open hydraulic channel in a predetermined direction, so that multiple hydroelectric power generation units operate under the action of the water flow; Step S2: Obtain the operating status information of all hydropower generation units through the multi-source status sensing units set on each hydropower generation unit. The operating status information includes the rotation speed parameters and power generation parameters of each hydropower generation unit. Send the operating status information to the control unit. Step S3: The control unit analyzes the operating status information of all hydropower generation units and generates a height adjustment control command corresponding to at least one hydropower generation unit. Step S4: The control unit controls the corresponding height adjustment mechanism to execute the height adjustment control command, driving the corresponding water turbine power generation unit to move along the height direction, changing the immersion depth of the water turbine relative to the water flow; Step S5: During or after the height adjustment process, continue to acquire the operating status information of all hydropower generation units.

3. The series-connected hydroelectric power generation method according to claim 2, characterized in that, Step S3 includes the following steps: Step S3-1: Based on the acquired rotational speed parameters and power generation parameters of all hydropower generating units, the control unit constructs a joint state dataset to characterize the operating status of each hydropower generating unit. Step S3-2: The control unit combines the joint state dataset to establish an efficiency evaluation model for evaluating the overall power generation efficiency of the series hydropower generation system. The efficiency evaluation model is used to reflect the influence of different hydropower generation units on the overall power generation efficiency under different immersion depths. Step S3-3: Introduce preset operating constraints into the efficiency evaluation model. The operating constraints include the allowable height adjustment range of the hydro-turbine power generation unit, the maximum speed of the turbine, and the relative operating coordination constraints between the hydro-turbine power generation units. Step S3-4: Based on the efficiency evaluation model and operating constraints, the control unit performs a joint analysis of the operating status of each hydropower generation unit and determines the target adjustment scheme that optimizes the overall power generation efficiency of the series hydropower generation system under the operating constraints. Step S3-5: The control unit generates a height adjustment control command corresponding to at least one hydroelectric power generation unit according to the target adjustment scheme.

4. The series-connected hydroelectric power generation method according to claim 3, characterized in that, In step S3-3, the coordination constraints include at least one: The difference in immersion depth between adjacent hydroelectric power generation units shall not exceed the threshold. The speed difference between adjacent hydroelectric power generation units does not exceed the threshold. The relative deviation of the output power of each hydropower generation unit does not exceed the threshold. The immersion depth of each hydroelectric power generation unit satisfies a monotonic sequence relationship along the water flow direction; The rate of change of immersion depth for each hydroelectric power generation unit does not exceed the threshold.

5. The series-connected hydroelectric power generation method according to claim 3 or 4, characterized in that, The operational constraints include: The immersion depth of the i-th hydroelectric power generation unit satisfies the allowable height adjustment range constraint: in, This represents the current submersion depth of the i-th hydroelectric power generation unit. and These represent the minimum and maximum allowable immersion depths of the hydroelectric power generation unit, respectively. The rotational speed of the i-th hydroelectric power generation unit satisfies the maximum rotational speed constraint: in, This represents the rotational speed parameter of the i-th hydroelectric power generation unit. This indicates the maximum permissible rotational speed of the corresponding hydroelectric power generation unit; Relative operational coordination constraints include: The difference in immersion depth between adjacent hydroelectric power generation units does not exceed the threshold: in, This indicates the maximum permissible difference in immersion depth between adjacent hydroelectric power generation units; The speed difference between adjacent hydroelectric power generation units does not exceed the threshold: in, This indicates the maximum permissible speed difference between adjacent hydroelectric power generation units; The efficiency evaluation model is constructed based on the following objective function, and the target adjustment scheme is determined based on finding the optimal objective function: Where J represents the overall power generation efficiency evaluation target value of the series hydropower generation system; N represents the number of hydropower generation units; and K represents the preset prediction step size. This represents the discount factor used to reflect the weighting of the predicted time series; , and These represent the penalty coefficients used to constrain the difference in immersion depth, the difference in rotation speed, and the range of height adjustment, respectively. This represents the submersion depth of the i-th hydroelectric power generation unit at the current moment; This represents the predicted power generation of the i-th hydropower generation unit at the k-th predicted time after the current time. This represents the rated power of the i-th hydroelectric power generation unit or the maximum achievable power obtained by calibration based on historical operating data.

6. The series-connected hydroelectric power generation method according to claim 5, characterized in that, Predicted power generation Obtained through a spatiotemporal prediction model for the topology of a series hydroelectric power generation system, including: Multiple hydroelectric power generation units are constructed as a series topology connected sequentially according to the direction of water flow. ,in, Let E represent the set of nodes corresponding to the hydro-turbine power generation unit, and let E represent the set of edges corresponding to the hydraulic coupling relationship between adjacent hydro-turbine power generation units. Construct the node feature matrix at time t in, This represents the node feature vector of the i-th hydroelectric power generation unit at time t. Indicates power generation parameters, Indicates the rotational speed parameter. Indicates the immersion depth; Construct an adjacency matrix based on the serial topology graph G. Spatial association modeling is performed on the node feature matrix based on the adjacency matrix to obtain spatial feature representation: in, This is a spatial correlation mapping matrix. It is a nonlinear mapping function; Spatial feature representation based on multiple consecutive time points Perform time-series correlation modeling to obtain time-series feature representations: Where L represents the length of the history window, This represents the time-series feature extraction function; Based on time-series feature representation To obtain the predicted power generation vector at the k-th prediction time: in, This represents the predicted power generation of each hydroelectric power generation unit at the predicted time. This is the power prediction mapping matrix.

7. The series-connected hydroelectric power generation method according to claim 6, characterized in that, During system operation, the model parameters of the spatiotemporal prediction model are adaptively updated based on the actual operating results. The model parameters include: Spatial mapping parameters used for spatial association modeling ; Power prediction mapping parameters used for power prediction mapping ; Adaptive updates specifically include: After completing height adjustment and entering a stable operating state, the actual power generation of each hydropower generation unit at the corresponding predicted time is obtained; By comparing the actual power generation with the predicted power generation, information on the prediction deviation is obtained. Based on the prediction deviation information, the spatial mapping parameters and power prediction mapping parameters are corrected; After the parameter correction is completed, the updated model parameters are used to generate the predicted power generation for subsequent time periods, which then participates in the subsequent height regulation and control process.

8. The series-connected hydroelectric power generation method according to claim 7, characterized in that, Prediction deviation information for each hydropower generation unit at the predicted time: in, This represents the actual power generation capacity. This represents the predicted deviation of the power generation of the i-th hydropower unit at the predicted time. Based on prediction bias information, spatial mapping parameters used for spatial association modeling and power prediction mapping parameters used for power prediction mapping Perform parameter adjustments, including: and These represent the power prediction mapping parameters before and after correction, respectively. This represents the preset parameter correction coefficient. This represents the time-series characteristic representation of the i-th hydropower generation unit at the current moment; in, and These represent the spatial mapping parameters before and after the correction, respectively. This represents the preset parameter correction coefficient. This represents the prediction bias vector.

9. A terminal, characterized in that, include: Memory, used to store the power generation program for a series hydro turbine; A processor is configured to implement the steps of the series-connected hydropower generation method as described in any one of claims 6-8 when executing the series-connected hydropower generation program.

10. A computer-readable storage medium, characterized in that, The storage medium stores computer instructions. When the computer reads the computer instructions in the storage medium, the computer executes the series hydropower generation method as described in any one of claims 6-8.

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