A layered collaborative control method for stabilizing auxiliary deaerator of molten salt steam generator

Abstract

The application discloses a layered collaborative control method for auxiliary deaerator pressure stabilization of a molten salt steam generator, builds an auxiliary optimization control layer on the original coordination control system of the unit, and forms a layered collaborative architecture of "MPC optimization decision-CCS execution tracking". The upper layer calculates and rolls over the optimal set values of the molten salt steam pressure, the deaerator pressure and the feedwater temperature in real time based on model predictive control (MPC); the lower layer realizes fast and stable tracking of the set values through three control loops of cascade-ratio control, three-impulse collaborative control and PID control embedded in CCS, and is seamlessly coordinated with the original feedwater and combustion control logic of the unit. The application effectively solves the problems of multivariable strong coupling, large response inertia and strong mode switching impact of the coal-molten salt coupling system in deep load regulation, significantly improves the load response speed, operation safety and low-load economy of the unit, and enhances the accommodation capacity of the power system to new energy.

Description

Technical Field

[0001] This application relates to the field of power generation technology coordination and control technology, and in particular to a hierarchical collaborative control method for stabilizing the pressure of an auxiliary deaerator in a molten salt steam generator. Background Technology

[0002] New energy storage applications on the power generation side are a core support for building a new energy system and a new power system, and an important fulcrum for the scientific and orderly realization of my country's energy revolution and "dual-carbon" goals. With profound changes in the energy landscape and the accelerated development of new energy technologies, renewable energy is gradually becoming the main source of incremental power generation. As of September 2025, the cumulative installed power generation capacity nationwide reached 3.72 billion kilowatts, a year-on-year increase of 17.5%. Among them, solar power installed capacity was 1.13 billion kilowatts, a year-on-year increase of 45.7%; wind power installed capacity was 580 million kilowatts, a year-on-year increase of 21.3%. However, the randomness, volatility, and intermittency of renewable energy pose severe challenges to the safety, stability, and integrity of high-proportion renewable energy power systems, necessitating the construction of a new power system. During the power system transformation, the demands for power balance, high efficiency, flexibility, and safety and stability in the new power system require coal-fired power to shift from a primary power source to a basic guarantee and system regulation power source. Simultaneously, with the continuous optimization of the power structure and the continuous increase in the scale of new energy installed capacity and grid-connected power, the power supply and demand pattern is undergoing profound changes. The coupling system of new energy storage with coal-fired power units is a new and efficient model responding to the requirements for deep peak-shaving capabilities of coal-fired power units.

[0003] The application of energy storage technology can change the current model of simultaneous power generation, transmission, and use, enabling staggered energy utilization across time. Molten salt thermal energy storage, as a mature high-temperature thermal energy storage technology, has been widely used in concentrated solar power (CSP) and has been increasingly introduced into the flexibility retrofitting of coal-fired power units in recent years. Its core advantages lie in its high operating temperature, large heat capacity, low system pressure, and good thermal stability, enabling the storage and release of high-grade energy. In coupled applications with coal-fired units, molten salt systems are typically coupled to the high- and medium-pressure extraction steam loops or reheat steam systems of the turbine via molten salt-steam heat exchangers. This allows for the storage of high-grade thermal energy during periods of low unit load or zero electricity price, significantly reducing the unit's minimum technical output and achieving deep peak shaving.

[0004] However, the variable load operation of coal-fired units coupled with molten salt thermal storage systems exhibits significant multi-timescale and strong nonlinear characteristics. During operation, the unit load command, molten salt storage / release state, and thermal system parameters are dynamically intertwined, making real-time assessment of the overall system performance and safety boundaries difficult. This limits the full realization of the efficient and safe peak-shaving capabilities of such coupled systems. Furthermore, as coal-fired-molten salt coupled systems are emerging technologies with limited accumulated operational data, research on the system's real-time adjustability potential, safety margins of key equipment, and molten salt thermal support capabilities during low-load transients is insufficient. This operational potential has not yet been reflected in existing control strategies, making it difficult for units to provide real-time and accurate feedback to the grid dispatch center on key dispatch information such as their maximum adjustable load, ramp rate, and duration of continuous peak shaving. Accordingly, further improvements are urgently needed at the control method level in this field. The development of intelligent coordinated control methods capable of real-time sensing of system status, dynamic assessment of peak-shaving capabilities, and optimization decisions based on this information is crucial to better meet the precise dispatching requirements of coal-fired units as flexible and adjustable power sources under the new power system. Summary of the Invention

[0005] This application provides a hierarchical collaborative control method for stabilizing the pressure of an auxiliary deaerator in a molten salt steam generator. The technical objective is to achieve dynamic perception and intelligent decision-making regarding load changes and safety boundaries in a coal-molten salt coupled system, ensuring the safe and stable operation of key thermodynamic parameters during rapid load changes, so as to better meet the precise scheduling requirements of coal-fired units as flexible power sources under the new power system.

[0006] The above-mentioned technical objective of this application is achieved through the following technical solution:

[0007] A hierarchical collaborative control method for pressure stabilization of a deaerator assisted by a molten salt steam generator is disclosed. This method is based on a deaerator, a feedwater pump, three regenerative heaters, and a molten salt thermal storage subsystem. The molten salt thermal storage subsystem includes a molten salt storage tank, a molten salt circulation pump, a molten salt steam generator, and a molten salt feedwater heater connected to the molten salt side. The deaerator, feedwater pump, and three regenerative heaters are sequentially connected on the feedwater side. The molten salt steam generator is located in the heating section of the deaerator, and the molten salt feedwater heater is located in the feedwater pipe section between the outlet of the final regenerative heater and the boiler inlet. The molten salt storage tank supplies molten salt to the molten salt steam generator and the molten salt feedwater heater via the molten salt circulation pump. The specific steps are as follows:

[0008] S1: Real-time monitoring of the actual load of the unit, and judgment of operating conditions and switching of operating modes based on the actual load of the unit;

[0009] The operating mode is determined by the actual unit load L and a preset load threshold. When L is lower than the first preset threshold L... set1 When the load is determined to be in "low-load operation mode", the molten salt thermal storage subsystem is activated; when L is higher than the second preset threshold L...set2 Time (L) set2 > L set1 The system gradually exits the molten salt thermal storage subsystem and switches to conventional operation mode. During the mode switching process, the changes in control commands are smoothly increased or decreased using a ramp function to ensure a stable transition of thermal parameters and avoid thermal shock to main equipment such as boilers and turbines.

[0010] S2: In low-load operation mode, enable the molten salt thermal storage subsystem to perform collaborative operation function, establish a multivariable coupled system model, and calculate its setpoints;

[0011] The coordinated operation functions of the molten salt thermal storage subsystem include: 1. Using molten salt to heat part of the condensate to generate steam to supplement the deaerator extraction circuit, thereby increasing the amount of steam entering the low-pressure cylinder of the turbine and ensuring that it is not lower than the minimum safe flow rate. At the same time, it increases the deaerator pressure and ensures that the feedwater pump inlet has sufficient effective net positive suction head (NPSH) to prevent cavitation; 2. Using the molten salt-feedwater heater to increase the feedwater temperature at the economizer inlet, ensuring that the steam at the boiler water-cooled wall outlet has a certain degree of superheat, avoiding the evaporation section from entering the dry-wet transition zone under low load, and maintaining combustion stability.

[0012] S3: Based on the established system model and setpoints, rolling optimization is performed through the MPC prediction model to output the optimal setpoints for the next control cycle.

[0013] S4: The setpoint command calculated by MPC in S3 is sent to the steam pressure control loop, deaerator pressure-water level coordinated control loop and feedwater temperature control loop integrated in CCS for execution.

[0014] The steam pressure control loop uses the outlet pressure of the molten salt steam generator as the setpoint and adjusts the condensate bypass valve and molten salt inlet valve of the molten salt steam generator through cascade-ratio composite control to ensure that the actual outlet pressure quickly tracks the setpoint. The deaerator pressure-water level coordinated control loop uses the deaerator pressure as the setpoint and, within the existing CCS deaerator three-impulse water level control framework, comprehensively processes the pressure deviation, water level three-impulse signals, and molten salt steam pressure feedforward signals to calculate the operating command for the condensate main regulating valve, smoothly adjusting the deaerator pressure while ensuring absolute water level safety. The feedwater temperature control loop uses the outlet temperature of the molten salt feedwater heater as the setpoint and adjusts the opening of the molten salt valve of the molten salt feedwater heater through a PID controller to control the boiler inlet water temperature.

[0015] S5: The system has built-in multi-level safety interlock logic. When a molten salt system leak is detected, a critical parameter exceeds the limit, or the main unit takes protective action, the molten salt circuit is automatically cut off in an emergency to ensure the safety of the main equipment.

[0016] Further, step S2 includes:

[0017] S21: Under low-load operation mode, activate the molten salt thermal storage subsystem to perform collaborative functions and establish a multivariable coupled system model, which adopts a discrete state-space form. The model parameters are obtained through system identification, where A is the system state matrix when there is no external input or control action, and B is the control input. Effect on the rate of change of state For deviation / disturbance term, This refers to the current moment.

[0018] Define the state variable vector as follows:

[0019]

[0020] in The steam flow rate passing through the low-pressure cylinder of the steam turbine; This refers to the deaerator pressure. This refers to the inlet feedwater temperature of the boiler economizer.

[0021] Define the control variable vector as follows:

[0022]

[0023] in Set the outlet pressure value for the molten salt steam generator; Set the deaerator pressure value; This is the setpoint for the outlet temperature of the molten salt feedwater heater. This is the ratio of the molten salt flow rate to the condensate flow rate in the molten salt steam generator.

[0024] S22: Calculate the setpoints for each state variable and the minimum safe flow rate setpoint for the steam turbine. Determined based on the characteristics of the steam turbine itself; Deaerator pressure safety setting value Based on the required net positive suction head (NPSH) of the feedwater pump Including a preset safety margin, real-time calculations are performed; economizer inlet temperature setpoint. Based on the saturation temperature at the current economizer inlet pressure, plus a preset superheat... The calculation yielded the result.

[0025] Further, step S3 includes:

[0026] S31: Collect the actual value of the current state X, and convert the target value of the state quantity X determined according to the power grid load command and security constraints. set Deviation vector:

[0027]

[0028] As input;

[0029] S32: With the objective of minimizing state deviation and control variable changes, a constrained finite-time optimization problem is solved using a predictive model, and the control variables are calculated. Adjustment amount Control increment It requires integration and summation: Generate control commands that act on the actuator. .

[0030] Specifically, the model predictive control involves MPC using the model to predict the future N values ​​in each control cycle. P The changing trend of the controlled variable in each cycle is investigated by solving a constrained finite-time rolling optimization problem, mathematically described as follows:

[0031]

[0032] Satisfy constraints: , ;in, To predict the time domain, To control the time domain, and These are weight matrices for state error and control increment, used to balance tracking performance and control stability.

[0033] Then, the optimal control increment sequence that enables multiple controlled variables to simultaneously and accurately track their dynamic setpoints smoothly and accurately, and automatically overcomes coupling interference between them, is calculated. The prediction model can compensate for its coupling effects on other state variables in advance and overcome the thermal inertia of the molten salt system, essentially realizing dynamic decoupling and advance compensation of multiple variables.

[0034] The beneficial effects of this application are as follows: Addressing the issues of strong coupling of key safety parameters, large load response inertia, and strong impact during rapid load changes when a coal-fired unit is coupled with a molten salt thermal energy storage system, this application achieves real-time and precise control of the system's operating state and safety boundaries by constructing a coordinated control method. This application enables the coal-molten salt coupled system to operate in a safer, faster, and more economical manner within the deep peak-shaving range. It not only significantly enhances the power system's flexible adjustment capabilities and the potential for renewable energy absorption but also brings higher ancillary service revenue and fuel savings to unit owners. It achieves multi-objective optimization of safety, flexibility, and economy, providing crucial technical support for the role transformation of coal-fired units under the new power system. Attached Figure Description

[0035] Figure 1This is a schematic diagram of the system controlling the object described in this application;

[0036] Figure 2 This is the control logic diagram of the method described in this application. Detailed Implementation

[0037] The technical solution of this application will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention.

[0038] like Figure 1 As shown in the diagram, the key node structure of the coupled molten salt steam generator system addressed in this application includes: a deaerator 7, a feedwater pump 8, regenerative heaters (4, 5, 6), and a molten salt thermal storage subsystem. The molten salt thermal storage subsystem comprises a molten salt storage tank 1, a molten salt circulation pump 2, a molten salt steam generator 9, and a molten salt feedwater heater 3. The control method of this invention can be embedded in an existing distributed control system or dedicated controller in a power plant. The controller must have the functions of real-time data acquisition, logical judgment, model prediction calculation, and command output.

[0039] like Figure 2 As shown, the hierarchical collaborative control method for stabilizing the pressure of an auxiliary deaerator in a molten salt steam generator, as described in this application, is characterized by comprising:

[0040] S1: Real-time monitoring of the actual load of the unit, and judgment of operating conditions and switching of operating modes based on the actual load of the unit;

[0041] Specifically, this includes real-time acquisition of the unit's power generation, i.e., the actual load, through DCS. Set the first preset threshold. Second preset threshold Requirements .when When the system enters a "low-load operation mode," the controller issues a command to sequentially start the molten salt pumps and gradually open the molten salt circuit valves at a preset rate, thus putting the molten salt thermal storage subsystem into operation. At this time, the controller gradually reduces the frequency of the molten salt pump and closes the valves at a preset rate, smoothly exiting the molten salt thermal storage subsystem and switching to the pure coal-fired conventional operation mode. All control command changes are implemented using ramp functions, and the rate of change can be set to 5%-10% of the rated value every 10 seconds.

[0042] S2: In low-load operation mode, the molten salt thermal storage subsystem is activated to perform coordinated operation, and a multivariable coupled system model is established and its setpoints are calculated; specifically including:

[0043] S21: Under low-load operation mode, establish a multivariable coupled system model, and define the state variable vector as follows:

[0044]

[0045] in The steam flow rate passing through the low-pressure cylinder of the steam turbine; This refers to the deaerator pressure. This refers to the inlet feedwater temperature of the boiler economizer.

[0046] Define the control variable vector as follows:

[0047]

[0048] in Set the outlet pressure value for the molten salt steam generator; Set the deaerator pressure value; This is the setpoint for the outlet temperature of the molten salt feedwater heater. This is the ratio of the molten salt flow rate to the condensate flow rate in the molten salt steam generator.

[0049] S22: Calculate the setpoints for each state variable and the minimum safe flow rate setpoint for the steam turbine. The minimum flow rate is determined based on the low-load operating characteristic curve provided by the turbine manufacturer, and is typically the minimum flow rate that keeps the frictional heat generated by the blower air of the last stage blades within a safe range.

[0050] Deaerator pressure safety setting value :

[0051]

[0052] in, The required net positive suction head (NPSH) for the feedwater pump, To pre-set a safety margin, For water supply density, It is the acceleration due to gravity. This is the saturation pressure corresponding to the deaerator water temperature.

[0053] Economizer inlet temperature setpoint :

[0054]

[0055] in, For the current economizer inlet pressure The saturation temperature below This is the preset superheat level.

[0056] S3: Based on the established system model and setpoints, rolling optimization is performed using the MPC predictive model to output the optimal setpoint for the next control cycle; specifically including:

[0057] S31: Set a control cycle of 3 seconds, and collect data in each cycle. The actual value of the state variable is calculated, and the deviation vector between the state variable setpoint and the real-time state variable is calculated:

[0058]

[0059] As input;

[0060] S32: In each control cycle, the MPC starts from the current state and aims to minimize state deviation and control variable changes. It uses a model to predict the changes in state variables over the next 30-60 seconds. The predictive model used by the MPC controller can be established by conducting step disturbance tests under typical low-load operating conditions of the unit, obtaining the dynamic relationship between the state variable vector X and the control variable vector U based on system identification methods, thereby establishing a discrete state-space model. An optimal sequence of future control increments is calculated through a constrained finite-time rolling optimization problem. Control increment It requires integration and summation: This command is issued to each actuator. Because the MPC model incorporates coupling and inertia, the calculated control commands... It can automatically coordinate four control variables, compensate for the coupling effect of one state variable on other state variables in advance when adjusting one state variable, and overcome the thermal inertia of the molten salt system to achieve fast and overshoot-free adjustment.

[0061] S4: The setpoint command calculated by MPC in S3 is sent to the steam pressure control loop, deaerator pressure-water level coordinated control loop and feedwater temperature control loop integrated in CCS for execution.

[0062] The steam pressure control loop employs a strategy combining cascade control and ratio control, specifically including:

[0063] 1) Cascade control loop:

[0064] Main pressure control loop: based on the outlet pressure of the molten salt steam generator For the controlled variable, its set value To achieve the target, the molten salt flow rate setpoint is output through the PID controller. ;

[0065] Secondary flow control loop: based on actual molten salt flow rate As the controlled quantity, with The PID controller outputs the opening command of the molten salt inlet regulating valve to quickly respond to changes in flow demand, based on the set value.

[0066] 2) Condensate ratio control loop: The ratio controller adjusts the condensate ratio based on the actual molten salt flow rate. The ratio coefficient dynamically optimized by MPC Real-time calculation of condensate flow setpoint The calculation formula is:

[0067]

[0068] Actual condensate flow rate and The deviation is input to the PID controller, and its output is used as the opening command for the condensate bypass regulating valve. This cascade-ratio control structure achieves high-precision and stable control of the steam generator outlet pressure through macroscopic adjustment of the pressure loop, rapid response of the flow loop, and coordinated matching of the ratio loop, while ensuring steam quality and equipment safety.

[0069] The deaerator pressure-water level coordinated control loop is expanded based on the unit's original three-impulse water level control to form a pressure-water level coordinated control structure: the pressure controller uses the deaerator pressure setpoint from the MPC controller. For setting value, For feedback, output pressure correction value The water level controller uses the water level setpoint. and actual water level The deviation is the input, which is introduced into the steam generation pressure of the molten salt steam generator. As a feedforward signal, it is added to the main steam flow rate in the feedforward adder to obtain the total steam flow feedforward. The feedwater flow controller receives the sum of the water level controller output and the total feedforward signal, and outputs a three-impulse control command to control the condensate main regulating valve. When the water level control demand conflicts with the pressure control demand, the principle of "water level safety first" is followed, prioritizing water level safety. Under the premise of ensuring water level safety, the deaerator pressure is smoothly adjusted. Through this design, the pressure regulation action of the molten salt system is organically integrated into the original three-impulse water level control framework of the unit, realizing safe and coordinated control of deaerator pressure and water level.

[0070] The water supply temperature control loop is a PID control loop, with... The molten salt valve opening of the molten salt feed water heater is adjusted by a PID controller to control the outlet water temperature.

[0071] S5: The system has built-in multi-level safety interlock logic. The interlock trigger conditions are molten salt system failure, critical parameter serious over-limit, and main unit protection action. If any condition is met, the control system will immediately close the steam inlet valve of the molten salt-steam heat exchanger and the inlet and outlet valves of the molten salt circuit, stop the molten salt pump, force the unit control mode to switch to pure coal-fired conventional control, and issue an alarm.

[0072] The above description is merely a preferred embodiment of the present invention; other effective embodiments are also possible. Any effective improvements proposed by those skilled in the art based on the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A hierarchical collaborative control method for stabilizing the pressure of an auxiliary deaerator in a molten salt steam generator, characterized in that, Based on a deaerator, feedwater pump, three regenerative heaters, and a molten salt thermal storage subsystem, the molten salt thermal storage subsystem includes a molten salt storage tank, a molten salt circulation pump, a molten salt steam generator, and a molten salt feedwater heater connected to the molten salt side. The deaerator, feedwater pump, and three regenerative heaters are connected sequentially on the feedwater side. The molten salt steam generator is located in the deaerator heating section, and the molten salt feedwater heater is located in the feedwater pipe section between the outlet of the final regenerative heater and the boiler inlet. The molten salt storage tank supplies molten salt to the molten salt steam generator and the molten salt feedwater heater via the molten salt circulation pump. The specific steps are as follows: S1: Real-time monitoring of the actual load of the unit, and judgment of operating conditions and switching of operating modes based on the actual load of the unit; The operating mode is determined by the actual unit load L and a preset load threshold. When L is lower than the first preset threshold L... set1 When the load is determined to be in "low-load operation mode", the molten salt thermal storage subsystem is activated; when L is higher than the second preset threshold L... set2 At that time, L set2 >L set1 The system gradually exits the molten salt thermal storage subsystem and switches to the normal operation mode. During the mode switching process, the changes in control commands are smoothly increased or decreased using a ramp function to ensure a smooth transition of thermal parameters and avoid thermal shock. S2: In low-load operation mode, enable the molten salt thermal storage subsystem to perform collaborative operation function, establish a multivariable coupled system model, and calculate its setpoints; The coordinated operation functions of the molten salt thermal storage subsystem include:

1. Using molten salt to heat part of the condensate to generate steam to supplement the deaerator extraction circuit, thereby increasing the amount of steam entering the low-pressure cylinder of the turbine and ensuring that it is not lower than the minimum safe flow rate. At the same time, it increases the deaerator pressure and ensures that the feedwater pump inlet has sufficient effective net positive suction head (NPSH) to prevent cavitation; 2. Using the molten salt-feedwater heater to increase the feedwater temperature at the economizer inlet, ensuring that the steam at the boiler water-cooled wall outlet has a certain degree of superheat, preventing the evaporation section from entering the dry-wet transition zone under low load, and maintaining combustion stability. S3: Based on the established system model and setpoints, rolling optimization is performed through the MPC prediction model to output the optimal setpoints for the next control cycle. S4: The setpoint command calculated by MPC in S3 is sent to the steam pressure control loop, deaerator pressure-water level coordinated control loop and feedwater temperature control loop integrated in CCS for execution. The steam pressure control loop uses the outlet pressure of the molten salt steam generator as the setpoint and adjusts the condensate bypass valve and molten salt inlet valve of the molten salt steam generator through cascade-ratio composite control to ensure that the actual outlet pressure quickly tracks the setpoint. The deaerator pressure-water level coordinated control loop uses the deaerator pressure as the setpoint and, within the existing CCS deaerator three-impulse water level control framework, comprehensively processes the pressure deviation, water level three-impulse signals, and molten salt steam pressure feedforward signals to calculate the operation command for the condensate main regulating valve, smoothly adjusting the deaerator pressure while ensuring absolute water level safety. The feedwater temperature control loop uses the outlet temperature of the molten salt feedwater heater as the setpoint and adjusts the opening of the molten salt valve of the molten salt feedwater heater through a PID controller to control the boiler inlet water temperature. S5: Built-in multi-level safety interlock logic. When a leak in the molten salt system, a critical parameter exceeding the limit, or a protection action of the main unit is detected, the molten salt circuit is automatically cut off in an emergency to ensure the safety of the main equipment.

2. The hierarchical collaborative control method for stabilizing the pressure of an auxiliary deaerator in a molten salt steam generator according to claim 1, characterized in that, Step S2 includes: S21: Under low-load operation mode, activate the molten salt thermal storage subsystem to perform collaborative functions and establish a multivariable coupled system model, which adopts a discrete state-space form. The model parameters are obtained through system identification, where A is the system state matrix when there is no external input or control action, and B is the control input. Effect on the rate of change of state For deviation / disturbance term, The current moment; Define the state variable vector as follows: in, The steam flow rate passing through the low-pressure cylinder of the steam turbine; This refers to the deaerator pressure. The inlet feedwater temperature of the boiler economizer; Define the control variable vector as follows: in, Set the outlet pressure value for the molten salt steam generator; Set the deaerator pressure value; This is the setpoint for the outlet temperature of the molten salt feedwater heater. This is the ratio of molten salt flow rate to condensate flow rate in the molten salt steam generator. S22: Calculate the setpoints for each state variable and the minimum safe flow rate setpoint for the steam turbine. Determined based on the characteristics of the steam turbine itself; Deaerator pressure safety setting value Based on the required net positive suction head (NPSH) of the feedwater pump Including a preset safety margin, real-time calculations are performed; economizer inlet temperature setpoint. Based on the saturation temperature at the current economizer inlet pressure, plus a preset superheat... The calculation yielded the result.

3. The hierarchical collaborative control method for stabilizing the pressure of an auxiliary deaerator in a molten salt steam generator according to claim 2, characterized in that, Step S3 includes: S31: Collect the actual value of the current state X, and convert the target value of the state quantity X determined according to the power grid load command and security constraints. set Deviation vector: As input; S32: With the objective of minimizing state deviation and control variable variation, solve a constrained finite-time optimization problem using the MPC prediction model, and calculate the control variables. Adjustment amount Control increment It requires integration and summation: Generate control commands that act on the actuator. ; Specifically, in each control cycle, Model Predictive Control (MPC) predicts the future N... P The changing trend of the controlled variable in each cycle is investigated by solving a constrained finite-time rolling optimization problem, mathematically described as follows: Satisfy constraints: , ;in, To predict the time domain, To control the time domain, and These are weight matrices for state error and control increment, used to balance tracking performance and control stability. Then, the optimal control increment sequence that enables multiple controlled variables to simultaneously and accurately track their dynamic setpoints smoothly and accurately, and automatically overcomes coupling interference between them, is calculated. .

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