Parallel computing and auxiliary decision method and system for water and electricity agc facing full-condition rapid adjustment

Abstract

The application provides a kind of water and electricity AGC parallel computing and auxiliary decision method and system for all working conditions fast adjustment, belongs to the technical field of power system automatic generation control.Method includes: collecting power grid frequency, unit active power, AGC instruction and speed regulation system parameter;Parallel decoupling calculation primary frequency modulation instruction and AGC regulation instruction;Based on speed regulation parameter and load interval, construct all working condition criterion, carry out direction consistency and regulation margin check;If there is no conflict, weight fusion, if there is conflict, according to frequency deviation priority and AGC accuracy requirement, the reverse component is dynamically limited or hierarchical locked out, to generate total instruction;Issue and collect feedback to close-loop correct parameter and threshold value.Solve the existing hydropower unit AGC and primary frequency modulation coordination in the presence of control instruction conflict, regulation rate mutual restriction, and cannot realize fast response and optimal control in all working conditions.

Description

Technical Field

[0001] This invention relates to the field of automatic generation control technology for power systems, and more specifically, to a parallel calculation and auxiliary decision-making method and system for hydropower AGC (Automatic Generation Control) oriented towards rapid adjustment under all operating conditions. Background Technology

[0002] With the deepening of the construction of new power systems, intermittent new energy sources such as wind power and photovoltaics are being connected to the grid on a large scale. This has reduced the grid's ability to withstand disturbances and significantly increased the difficulty of frequency control, placing higher demands on the regulation performance of hydropower units responsible for peak shaving. Automatic Generation Control (AGC), as an important means of grid frequency control, is responsible for determining the unit load allocation scheme in real time according to grid dispatch instructions, enabling wind farms or hydropower plants to adjust their power output in real time within a specified range at a certain regulation rate. Primary Frequency Control (PFR), on the other hand, quickly adjusts active power to limit grid frequency changes when the grid frequency deviates from the target frequency through the automatic response of the control system. Currently, hydropower units are generally equipped with both AGC and primary frequency control functions, which work together to regulate the unit's active power. However, AGC and primary frequency control differ fundamentally in terms of control objectives, response speed, and regulation cycle: primary frequency control requires a rapid response to frequency deviations within milliseconds to seconds, belonging to fast local closed-loop regulation; while AGC tracks the dispatch plan value on a second to minute timescale, belonging to slow global open-loop / closed-loop regulation. Since both require the speed control system to adjust the unit output, when they operate simultaneously, they are very prone to coupling and conflict of control commands.

[0003] To achieve coordinated operation between AGC and primary frequency regulation, existing technologies generally adopt strategies such as "direct superposition" or "forward superposition and reverse blocking". That is, the active power corresponding to the primary frequency regulation action is calculated on the monitoring system side, and then mathematically superimposed with the AGC / manual power setpoint to jointly act on the unit.

[0004] However, the above coordination strategy still has the following major drawbacks in practical applications: Firstly, since the active power regulation target value of the hydropower unit speed governor is the superposition of the primary frequency regulation setpoint and the monitoring system AGC setpoint, if the AGC issues a large step command at the same time when the primary frequency regulation is activated, the superposition of the two can easily cause the unit to overload, which in severe cases affects the safe and stable operation of the unit. Secondly, in power regulation mode, primary frequency regulation and AGC share the same set of PID parameters. Reducing the primary frequency regulation rate will also reduce the AGC regulation rate, making it difficult for the AGC regulation rate to meet the power grid assessment requirements. Third, the existing coordination strategy is constrained by multiple factors such as adjustment priority, adjustment direction, adjustment rate, and power closed loop. Especially after the asynchronous interconnection of the power grid, the system frequency fluctuations have intensified and the frequency of unit AGC and primary frequency regulation actions has increased significantly, making the contradiction of incoordination between the two more prominent.

[0005] Furthermore, existing hydropower AGC load allocation strategies generally adopt a proportional load distribution approach while considering vibration avoidance zones. Although this method is simple and reliable, it cannot achieve rapid response and optimal control under all operating conditions. With the increasing demands of new power systems for rapid regulation and full-condition adaptive capabilities of hydropower units, how to achieve efficient coordination between AGC and primary frequency regulation, balance rapid regulation and system damping, and adapt to complex operating conditions such as different heads and opening degrees while ensuring grid frequency stability has become a pressing technical challenge in this field. Summary of the Invention

[0006] The purpose of this invention is to provide a parallel calculation and auxiliary decision-making method and system for hydropower AGC for rapid adjustment under all operating conditions, aiming to solve the problems of control command conflicts, mutual constraints on adjustment rates, and inability to achieve rapid response and optimal control under all operating conditions in the existing coordination between hydropower unit AGC and primary frequency regulation.

[0007] This invention is achieved through the following technical solution: A parallel computing and auxiliary decision-making method for rapid regulation of hydropower AGC under all operating conditions includes the following steps: Real-time data collection of grid frequency, current active power output of generating units, AGC dispatching instructions, and speed control system operating parameters are used as inputs for calculation. The primary frequency regulation active power adjustment command is calculated based on the collected grid frequency, and the AGC active power adjustment command is calculated based on the collected AGC scheduling command and the current active power output of the unit. The calculation process of the two active power adjustment commands is time-domain synchronized, executed in parallel and decoupled from each other. Based on the operating parameters of the speed control system and the current load range of the unit, a full-condition coordination criterion is constructed. The consistency of the adjustment direction and the adjustment margin of the active power adjustment commands output in parallel are checked, and control conflict scenarios are identified. If no control conflict is determined, the active power regulation commands of the two paths are merged according to the preset weight allocation rules, and the total unit regulation command is generated; if a control conflict is determined, the auxiliary decision command is output according to the preset strategy of frequency deviation priority and AGC tracking accuracy requirements, the reverse regulation component is dynamically limited or graded blocking is performed, and the total unit regulation command is generated. The unit's overall regulation command is sent to the speed control system for execution, and the unit's output feedback data is collected synchronously. The parameters on which the primary frequency regulation active power regulation command and the AGC active power regulation command are based, as well as the thresholds included in the full-condition coordination criterion, are corrected in a closed loop.

[0008] Optionally, the specific process of independently calculating the primary frequency regulation active power control command based on the collected power grid frequency is as follows: Based on the collected power grid frequency With rated frequency Calculate frequency deviation , Determine the absolute value of the frequency deviation. Is it greater than the primary frequency modulation dead zone threshold? If not, then adjust the primary frequency regulation active power. Set to zero; if so, calculate the primary frequency regulation active power regulation using the following formula. :

[0009] in, The unit head is one of the operating parameters of the speed control system. The power-frequency static characteristic coefficient corresponding to the current head; For a sign function, when The time value is , The time value is ; This refers to the rated power of the unit. Apply a regulation rate limit to the calculated primary frequency regulation active power regulation, so that ,in, The time rate of change of the primary frequency regulation active power control command; This is a primary frequency modulation active power regulation command; Indicates time; This is the preset maximum adjustment rate for primary frequency modulation; The primary frequency regulation active power adjustment amount after speed limiting is output as the primary frequency regulation active power adjustment command.

[0010] Optionally, the specific process of independently calculating the AGC active power adjustment command based on the collected AGC scheduling command and the unit's current active power output is as follows: AGC scheduling instructions With the current active power output of the unit Difference calculation to determine AGC tracking deviation , ; The AGC tracking deviation is input to the unit's power closed-loop controller to calculate the initial AGC adjustment. ,in The transfer function characterizing the closed-loop controller; Apply an adjustment rate limit to the initial adjustment amount of the AGC, so that ,in, The time rate of change of AGC active power regulation commands; This is an AGC active power regulation command; This is the preset maximum adjustment rate for AGC; The initial adjustment amount of AGC after speed limiting is output as the active power adjustment command of AGC.

[0011] Optionally, the construction of the full-condition coordination criterion, which verifies the consistency of the adjustment direction and the adjustment margin of the active power adjustment commands output in parallel from both sides, and identifies control conflict scenarios, specifically includes: Calculate the primary frequency regulation active power control command With AGC active power regulation command The product; like If the two commands are in opposite directions, it is determined that there is a reverse adjustment conflict. If the direction is opposite, further adjust the current adjustable range of the computer group's active power output, and check the adjustment margin according to the direction of the conflict: when and At that time, it was determined that the AGC command eroded the upward adjustment margin required for a single frequency modulation. when and At that time, it was determined that the AGC instruction eroded the down-adjustment margin required for a single frequency modulation. If any of the above conditions are met, it is identified as a control conflict scenario.

[0012] Optionally, the step of outputting auxiliary decision-making instructions based on a preset strategy of frequency deviation priority and AGC tracking accuracy requirements specifically includes: Obtain the frequency deviation under the control conflict scenario. and the preset frequency deviation threshold value Compare; like The frequency deviation is determined to be the highest priority. The component in the AGC active power regulation command that is opposite to the primary frequency regulation command is completely blocked, so that the AGC component in the unit's total regulation command is reduced to zero. like The determination needs to take into account the tracking accuracy of AGC. Dynamic limiting is applied to the component of the AGC active power regulation command that is opposite to the primary frequency regulation command. The limiting value is dynamically calculated based on the action margin of the primary frequency regulation. The total unit regulation command is generated by superimposing the primary frequency regulation command and the limited AGC command.

[0013] Optionally, the dynamic limiting of the reverse regulation component is specifically achieved by generating the limited AGC active power regulation command using the following formula. :

[0014] in, For the unit output limit that is consistent with the direction of the current primary frequency regulation command, when At that time, the upper limit of the unit's output is taken. At that time, the lower limit of the unit's output is taken; The preset margin retention factor has a value range of [value range missing]. This is used to reserve space for a single continuous frequency modulation operation.

[0015] Optionally, the frequency deviation threshold value Based on the dead zone threshold of primary frequency modulation The online calculation of the real-time fluctuation intensity of the power grid frequency is shown in the following formula:

[0016] in, Frequency deviation The root mean square value within a set time window represents the intensity of frequency fluctuation. This represents the volatility margin coefficient.

[0017] Optionally, the preset weight allocation rule is based on the unit head. Dynamically determine fusion weights Generate the unit's overall control command. As shown in the following formula:

[0018]

[0019] in, This is a primary frequency modulation active power regulation command; This is an AGC active power regulation command; and These are the upper and lower limits of the weight, respectively; and These are the upper and lower limits of the unit's operating head range, respectively.

[0020] Optionally, the specific process of the closed-loop correction is as follows: Acquire synchronously collected unit output feedback data, combine it with the unit's active power output and the unit's overall control command from the previous moment, and calculate the unit output tracking deviation using a computer. :

[0021] in, This is the current sampling time; This represents the actual active power output of the unit at the current moment. The unit's active power output from the previous moment; The unit's overall control command issued at the previous moment; Based on the output tracking deviation, an incremental iterative method is used to correct the power-frequency static characteristic coefficient corresponding to the primary frequency regulation active power control command. As shown in the following formula:

[0022] in, This is the corrected power-frequency static characteristic coefficient; and These are the proportional and integral coefficients for primary frequency regulation parameter correction, respectively; To preset the correct window length; To correct the cumulative value of the output tracking deviation within the window; The proportional gain of the closed-loop controller corresponding to the AGC active power regulation command is corrected based on the output tracking deviation, as shown in the following formula:

[0023] in, The corrected proportional gain of the closed-loop controller; The proportional gain of the closed-loop controller before correction; The proportional coefficient used to correct the AGC control parameters; By combining the real-time fluctuation intensity of frequency deviation with the output tracking deviation, the margin retention coefficient and fluctuation margin coefficient in the full-condition coordination criterion are corrected respectively, and the corresponding thresholds for adjustment margin verification and conflict determination are updated. The corrected power-frequency static characteristic coefficient, closed-loop controller proportional gain, margin retention coefficient, and fluctuation margin coefficient are synchronously updated to the parallel calculation process of the two active power regulation commands and the determination process of the full-condition coordination criterion, thus completing the single-round closed-loop parameter iterative correction.

[0024] Based on the same inventive concept, this invention also provides a parallel computing and auxiliary decision-making system for hydropower AGC (Automatic Generative Control) oriented towards rapid adjustment under all operating conditions, used to implement the aforementioned parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions, including: The data acquisition module is used to collect real-time data on grid frequency, current active power output of generating units, AGC dispatching instructions, and speed control system operating parameters. A primary frequency regulation command parallel calculation module is connected to the data acquisition module and calculates the primary frequency regulation active power regulation command based on the acquired power grid frequency. The AGC instruction parallel computing module is connected to the data acquisition module and calculates the AGC active power adjustment instruction based on the acquired AGC scheduling instruction and the current active power output of the unit; the instruction calculation processes of the primary frequency regulation instruction parallel computing module and the AGC instruction parallel computing module are time-domain synchronized, executed in parallel, and decoupled from each other; The full-condition coordination criterion module is connected to the data acquisition module, the primary frequency regulation command parallel calculation module and the AGC command parallel calculation module respectively. Based on the speed regulation system operating parameters and the current load range of the unit, it performs adjustment direction consistency verification and adjustment margin verification on the two parallel output active power regulation commands and identifies control conflict scenarios. The instruction fusion and auxiliary decision-making module is connected to the full-condition coordination criterion module. When there is no control conflict, it fuses two active power regulation instructions according to a preset weight allocation rule to generate the unit's total regulation instruction. When there is a control conflict, it performs dynamic limiting or graded blocking on the reverse regulation component according to a preset strategy based on the frequency deviation priority and AGC tracking accuracy requirements to generate the unit's total regulation instruction. The instruction issuance and feedback module is connected to the instruction fusion and auxiliary decision-making module to issue the unit's overall regulation instruction to the speed control system for execution, and simultaneously collect the unit's output feedback data; The closed-loop correction module is connected to the instruction issuance and feedback module, the primary frequency regulation instruction parallel calculation module, the AGC instruction parallel calculation module, and the full-condition coordination criterion module. Based on the unit output feedback data, it corrects the parameters on which the primary frequency regulation active power adjustment instruction and the AGC active power adjustment instruction are based, and corrects the thresholds included in the full-condition coordination criterion.

[0025] The technical solution of the present invention has at least the following advantages and beneficial effects: By decoupling the calculation process of AGC and primary frequency regulation commands into a time-domain synchronous, uncoupled parallel architecture, and combining regulation direction consistency verification and margin verification, the problem of command conflict and overload that is easily caused by the traditional "direct superposition" strategy under complex operating conditions is solved, and the operational safety of the unit in a grid with a high proportion of new energy is improved.

[0026] By introducing a full-condition coordination criterion and a hierarchical decision-making mechanism, reverse component limiting or blocking is dynamically executed based on the frequency deviation priority. This ensures priority and rapid support for primary frequency regulation when the grid frequency deteriorates, while avoiding interference from frequent actions on the precise tracking of AGC, thus achieving a balance between rapid adjustment and system stability.

[0027] By incorporating complex operating parameters such as head, opening degree, and load range into the coordination criteria, and using unit output feedback to perform closed-loop correction of calculated parameters and thresholds, the control strategy can adapt to changes in unit characteristics and operating conditions, maintaining optimal decision-making without relying on human intervention, thus meeting the engineering requirements of new power systems for the long-term reliable operation of hydropower units. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating the parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of the hydropower AGC parallel computing and auxiliary decision-making system for rapid adjustment under all operating conditions, according to an embodiment of the present invention. Detailed Implementation

[0029] The following is a detailed description of the embodiments, in conjunction with the accompanying drawings.

[0030] Reference Figure 1 A parallel computing and auxiliary decision-making method for hydropower AGC (Automatic Guided Generation) for rapid adjustment under all operating conditions includes the following steps: Step 1: Real-time acquisition of grid frequency, current active power output of generating units, AGC dispatching instructions, and speed control system operating parameters as inputs for calculation.

[0031] In some embodiments, real-time acquisition of multi-source parameters can be achieved through a coordinated control device deployed at the local control or monitoring layer of the hydropower plant, utilizing the hydropower station's computer monitoring system, governor control system, and high-speed synchronous data network. The grid frequency is obtained from a high-precision frequency measurement module or synchronous phasor measurement device (PMU) installed at the secondary side of the voltage transformer (PT) at the unit outlet or grid-connected bus, and an interpolation algorithm is used to provide a frequency value precisely aligned with the Global Positioning System (GPS) or BeiDou satellite timing. The current active power output of the unit is continuously measured by a power transmitter or intelligent power transmitter, and then transmitted via the analog acquisition channel of the unit's local control unit (LCU) or based on Modbus. The system uploads data via TCP and IEC61850 communication interfaces and uses a unified timestamp. AGC dispatch commands are transmitted through the power dispatch data network via the IEC60870-5-104 remote control protocol to the power plant's remote communication management unit or the real-time database of the monitoring system. The coordinated control device subscribes to obtain this target value from the monitoring system in real time. Speed ​​control system operating parameters, especially the unit head, are measured by redundant level gauges (such as submersible level transmitters or ultrasonic level gauges) at the inlet and tailrace, and the resulting net head is calculated. These parameters, combined with auxiliary status parameters such as guide vane opening feedback from the governor control cabinet, are sent to the coordinated control device via the LCU. All input quantities are identified with a unified timestamp and synchronously latched and refreshed within the coordinated control device according to a preset fixed control cycle (e.g., 20ms to 100ms), forming a time-space aligned calculation input dataset. This provides a reliable data foundation for the subsequent time-domain synchronous, parallel, and uncoupled calculation of primary frequency regulation active power control commands and AGC active power control commands.

[0032] Step 2: Calculate the primary frequency regulation active power control command based on the collected grid frequency, and calculate the AGC active power control command based on the collected AGC scheduling command and the current active power output of the unit. The calculation process of the two active power control commands is time-domain synchronized, executed in parallel and decoupled from each other.

[0033] In some embodiments, the specific process of independently calculating the primary frequency regulation active power control command based on the collected power grid frequency is as follows: Based on the collected power grid frequency With rated frequency Calculate frequency deviation , Determine the absolute value of the frequency deviation. Is it greater than the primary frequency modulation dead zone threshold? If not, then adjust the primary frequency regulation active power. Set to zero; if so, calculate the primary frequency regulation active power regulation using the following formula. :

[0034] in, The unit head is one of the operating parameters of the speed control system. The power-frequency static characteristic coefficient corresponding to the current head; For a sign function, when The time value is , The time value is ; This refers to the rated power of the unit. Furthermore, the primary frequency modulation dead zone threshold The initial value is first set according to the provisions for hydro-generator units in the current national standard "Technical Requirements for Primary Frequency Regulation of Hydro-generator Units" (such as GB / T36553-2018 or DL / T1245-2013). It can be set to ±0.05Hz (for a power grid with a rated frequency of 50Hz) or more strictly ±0.03Hz to ensure that the unit can respond to small frequency fluctuations in a timely manner. On this basis, in order to adapt to the rapid adjustment requirements under all operating conditions, this threshold is further adjusted by feedforward adaptive adjustment according to the speed regulation system operating parameters represented by the current head of the unit. Since the unit is sensitive and responds quickly under high head, the dead zone can be appropriately tightened (such as reduced to ±0.02Hz) to make full use of its rapid response capability. However, under low head, the unit has large inertia, is difficult to adjust, and is prone to vibration. Therefore, the dead zone can be appropriately widened (such as widened to ±0.04Hz) to avoid excessive adjustment leading to system instability.

[0035] Apply a regulation rate limit to the calculated primary frequency regulation active power regulation, so that ,in, The time rate of change of the primary frequency regulation active power control command; This is a primary frequency regulation active power control command; Indicates time; This is the preset maximum adjustment rate for primary frequency modulation; The primary frequency regulation active power adjustment amount after speed limiting is output as the primary frequency regulation active power adjustment command.

[0036] In some embodiments, the specific process of independently calculating the AGC active power adjustment command based on the collected AGC scheduling command and the unit's current active power output is as follows: AGC scheduling instructions With the current active power output of the unit Difference calculation to determine AGC tracking deviation , ; The AGC tracking deviation is input to the unit's power closed-loop controller to calculate the initial AGC adjustment. ,in The transfer function characterizing the closed-loop controller; Apply an adjustment rate limit to the initial adjustment amount of the AGC, so that ,in, The time rate of change of AGC active power regulation commands; This is an AGC active power regulation command; This is the preset maximum adjustment rate for AGC; The initial adjustment amount of AGC after speed limiting is output as the active power adjustment command of AGC.

[0037] Step 3: Based on the operating parameters of the speed control system and the current load range of the unit, construct a full-condition coordination criterion, perform consistency verification of the adjustment direction and adjustment margin verification of the two parallel output active power regulation commands, and identify control conflict scenarios.

[0038] In some embodiments, the construction of the full-condition coordination criterion, performing consistency verification of the adjustment direction and adjustment margin verification on the two parallel output active power adjustment commands, and identifying control conflict scenarios specifically includes: Calculate the primary frequency regulation active power control command With AGC active power regulation command The product; like If the two commands are in opposite directions, it is determined that there is a reverse adjustment conflict. If the direction is opposite, further adjust the current adjustable range of the computer group's active power output, and check the adjustment margin according to the direction of the conflict: when and At that time, it was determined that the AGC command eroded the upward adjustment margin required for a single frequency modulation. when and At that time, it was determined that the AGC instruction eroded the down-adjustment margin required for a single frequency modulation. If any of the above conditions are met, it is identified as a control conflict scenario.

[0039] Step 4: If no control conflict is determined, the active power regulation commands of the two paths are merged according to the preset weight allocation rules, and the total unit regulation command is generated; if a control conflict is determined, the auxiliary decision command is output according to the preset strategy of frequency deviation priority and AGC tracking accuracy requirements, the reverse regulation component is dynamically limited or graded blocking is performed, and the total unit regulation command is generated.

[0040] In some embodiments, the step of outputting auxiliary decision-making instructions based on a preset strategy that prioritizes frequency deviations and requires AGC tracking accuracy specifically includes: Obtain the frequency deviation under the control conflict scenario. and the preset frequency deviation threshold value Compare; like The frequency deviation is determined to be the highest priority. The component in the AGC active power regulation command that is opposite to the primary frequency regulation command is completely blocked, so that the AGC component in the unit's total regulation command is reduced to zero. like The determination needs to take into account the tracking accuracy of AGC. Dynamic limiting is performed on the component of the AGC active power regulation command that is opposite to the primary frequency regulation command. The limiting value is dynamically calculated based on the action margin of the primary frequency regulation. The total unit regulation command is generated by superimposing the primary frequency regulation command and the AGC command after limiting.

[0041] In some embodiments, the dynamic limiting of the reverse regulation component is specifically achieved by generating the limited AGC active power regulation command using the following formula. :

[0042] in, For the unit output limit that is consistent with the direction of the current primary frequency regulation command, when At that time, the upper limit of the unit's output is taken. At that time, the lower limit of the unit's output is taken; The preset margin retention factor has a value range of [value range missing]. This is used to reserve space for a single continuous frequency modulation operation.

[0043] In some embodiments, the frequency deviation threshold value Based on the dead zone threshold of primary frequency modulation The online calculation of the real-time fluctuation intensity of the power grid frequency is shown in the following formula:

[0044] in, Frequency deviation The root mean square value within a set time window represents the intensity of frequency fluctuation. This represents the volatility margin coefficient.

[0045] In some embodiments, the preset weight allocation rule is based on the unit head. Dynamically determine fusion weights Generate the unit's overall control command. As shown in the following formula:

[0046]

[0047] in, This is a primary frequency regulation active power control command; This is an AGC active power regulation command; and These are the upper and lower limits of the weight, respectively; and These are the upper and lower limits of the unit's operating head range, respectively.

[0048] Step 5: Send the unit's overall regulation command to the speed control system for execution, simultaneously collect the unit's output feedback data, and perform closed-loop correction on the parameters on which the primary frequency regulation active power regulation command and the AGC active power regulation command are based, as well as the thresholds included in the full-condition coordination criterion.

[0049] In some embodiments, the specific process of the closed-loop correction is as follows: Acquire synchronously collected unit output feedback data, combine it with the unit's active power output and the unit's overall control command from the previous moment, and calculate the unit output tracking deviation using a computer. :

[0050] in, This is the current sampling time; This represents the actual active power output of the unit at the current moment. The unit's active power output from the previous moment; The unit's overall control command issued at the previous moment; Based on the output tracking deviation, an incremental iterative method is used to correct the power-frequency static characteristic coefficient corresponding to the primary frequency regulation active power control command. As shown in the following formula:

[0051] in, This is the corrected power-frequency static characteristic coefficient; and These are the proportional and integral coefficients for primary frequency regulation parameter correction, respectively; To preset the correct window length; To correct the cumulative value of the output tracking deviation within the window; Furthermore, the fundamental value of the power-frequency static characteristic coefficient The permanent slip coefficient (adjustment coefficient) can be determined based on the rated head. Referencing standards such as "DLT2194—2020 Technical Requirements and Test Guidelines for Primary Frequency Regulation of Hydropower Generator Units," the permanent slip coefficient of a hydropower generator unit is... The setting is 3% to 4% for the rated frequency. (e.g., a 50Hz power grid), the basic value of the power-frequency static characteristic coefficient can be converted to... .

[0052] The proportional gain of the closed-loop controller corresponding to the AGC active power regulation command is corrected based on the output tracking deviation, as shown in the following formula:

[0053] in, The corrected proportional gain of the closed-loop controller; The proportional gain of the closed-loop controller before correction; The proportional coefficient used to correct the AGC control parameters; By combining the real-time fluctuation intensity of frequency deviation with the output tracking deviation, the margin retention coefficient and fluctuation margin coefficient in the full-condition coordination criterion are corrected respectively, and the corresponding thresholds for adjustment margin verification and conflict determination are updated. The corrected power-frequency static characteristic coefficient, closed-loop controller proportional gain, margin retention coefficient, and fluctuation margin coefficient are synchronously updated to the parallel calculation process of the two active power regulation commands and the determination process of the full-condition coordination criterion, thus completing the single-round closed-loop parameter iterative correction.

[0054] Based on the same inventive concept, and corresponding to any of the above embodiments, refer to... Figure 2 This invention provides a parallel computing and auxiliary decision-making system for hydropower AGC (Automatic Generative Control) oriented towards rapid adjustment under all operating conditions, used to implement the aforementioned parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions, including: The data acquisition module is used to collect real-time data on grid frequency, current active power output of generating units, AGC dispatching instructions, and speed control system operating parameters. A primary frequency regulation command parallel calculation module is connected to the data acquisition module and calculates the primary frequency regulation active power regulation command based on the acquired power grid frequency. The AGC instruction parallel computing module is connected to the data acquisition module and calculates the AGC active power adjustment instruction based on the acquired AGC scheduling instruction and the current active power output of the unit; the instruction calculation processes of the primary frequency regulation instruction parallel computing module and the AGC instruction parallel computing module are time-domain synchronized, executed in parallel, and decoupled from each other; The full-condition coordination criterion module is connected to the data acquisition module, the primary frequency regulation command parallel calculation module and the AGC command parallel calculation module respectively. Based on the speed regulation system operating parameters and the current load range of the unit, it performs adjustment direction consistency verification and adjustment margin verification on the two parallel output active power regulation commands and identifies control conflict scenarios. The instruction fusion and auxiliary decision-making module is connected to the full-condition coordination criterion module. When there is no control conflict, it fuses two active power regulation instructions according to a preset weight allocation rule to generate the unit's total regulation instruction. When there is a control conflict, it performs dynamic limiting or graded blocking on the reverse regulation component according to a preset strategy based on the frequency deviation priority and AGC tracking accuracy requirements to generate the unit's total regulation instruction. The instruction issuance and feedback module is connected to the instruction fusion and auxiliary decision-making module to issue the unit's overall regulation instruction to the speed control system for execution, and simultaneously collect the unit's output feedback data; The closed-loop correction module is connected to the instruction issuance and feedback module, the primary frequency regulation instruction parallel calculation module, the AGC instruction parallel calculation module, and the full-condition coordination criterion module. Based on the unit output feedback data, it corrects the parameters on which the primary frequency regulation active power adjustment instruction and the AGC active power adjustment instruction are based, and corrects the thresholds included in the full-condition coordination criterion.

[0055] Based on the same inventive concept, corresponding to any of the above embodiments, the present invention provides an electronic device, including a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the hydropower AGC parallel calculation and auxiliary decision-making method for rapid adjustment under all operating conditions, as described in the embodiment.

[0056] Alternatively, the aforementioned electronic device may be a server.

[0057] In addition, this embodiment also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the hydropower AGC parallel computing and auxiliary decision-making method for rapid adjustment under all operating conditions as described in this embodiment.

[0058] It is understood that the processor in the embodiments of the present invention may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0059] The method steps in the embodiments of the present invention can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an ASIC.

[0060] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of the present invention is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a storage medium or transmitted through a storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive (SSD)).

Claims

1. A parallel computing and auxiliary decision-making method for hydropower AGC (Automatic Generative Control) for rapid adjustment under all operating conditions, characterized in that, Includes the following steps: Real-time data collection of grid frequency, current active power output of generating units, AGC dispatching instructions, and speed control system operating parameters are used as inputs for calculation. The primary frequency regulation active power adjustment command is calculated based on the collected grid frequency, and the AGC active power adjustment command is calculated based on the collected AGC scheduling command and the current active power output of the unit. The calculation process of the two active power adjustment commands is time-domain synchronized, executed in parallel and decoupled from each other. Based on the operating parameters of the speed control system and the current load range of the unit, a full-condition coordination criterion is constructed. The consistency of the adjustment direction and the adjustment margin of the active power adjustment commands output in parallel are checked, and control conflict scenarios are identified. If no control conflict is determined, the active power regulation commands of the two paths are merged according to the preset weight allocation rules, and the unit's total regulation command is generated. If a control conflict is determined, an auxiliary decision command is output based on the preset strategy of frequency deviation priority and AGC tracking accuracy requirements. Dynamic limiting or graded blocking is performed on the reverse regulation component, and a total unit regulation command is generated. The unit's overall regulation command is sent to the speed control system for execution, and the unit's output feedback data is collected synchronously. The parameters on which the primary frequency regulation active power regulation command and the AGC active power regulation command are based, as well as the thresholds included in the full-condition coordination criterion, are corrected in a closed loop.

2. The parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions as described in claim 1, characterized in that, The specific process of independently calculating the primary frequency regulation active power control command based on the collected power grid frequency is as follows: Based on the collected power grid frequency With rated frequency Calculate frequency deviation , ; Determine the absolute value of the frequency deviation Is it greater than the primary frequency modulation dead zone threshold? If not, then adjust the primary frequency regulation active power. Set to zero; if so, calculate the primary frequency regulation active power regulation using the following formula. : in, The unit head is one of the operating parameters of the speed control system. The power-frequency static characteristic coefficient corresponding to the current head; For a sign function, when The time value is , The time value is ; This refers to the rated power of the unit. Apply a regulation rate limit to the calculated primary frequency regulation active power regulation, so that ,in, The time rate of change of the primary frequency regulation active power control command; This is a primary frequency modulation active power regulation command; Indicates time; This is the preset maximum adjustment rate for primary frequency modulation; The primary frequency regulation active power adjustment amount after speed limiting is output as the primary frequency regulation active power adjustment command.

3. The parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions as described in claim 1, characterized in that, The specific process of independently calculating the AGC active power adjustment command based on the collected AGC scheduling command and the current active power output of the unit is as follows: AGC scheduling instructions With the current active power output of the unit Difference calculation to determine AGC tracking deviation , ; The AGC tracking deviation is input to the unit's power closed-loop controller to calculate the initial AGC adjustment. ,in The transfer function characterizing the closed-loop controller; Apply an adjustment rate limit to the initial adjustment amount of the AGC, so that ,in, The time rate of change of AGC active power regulation commands; This is an AGC active power regulation command; This is the preset maximum adjustment rate for AGC; The initial adjustment amount of AGC after speed limiting is output as the active power adjustment command of AGC.

4. The parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions as described in claim 3, characterized in that, The construction of the full-condition coordination criterion involves verifying the consistency of the adjustment direction and the adjustment margin of the active power adjustment commands output in parallel from both sources, and identifying control conflict scenarios. Specifically, this includes: Calculate the primary frequency regulation active power control command With AGC active power regulation command The product; like If the two commands are in opposite directions, it is determined that there is a reverse adjustment conflict. If the direction is opposite, further adjust the current adjustable range of the computer group's active power output, and check the adjustment margin according to the direction of the conflict: when and At that time, it was determined that the AGC command eroded the upward adjustment margin required for a single frequency modulation. when and At that time, it was determined that the AGC instruction eroded the down-adjustment margin required for a single frequency modulation. If any of the above conditions are met, it is identified as a control conflict scenario.

5. The parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions as described in claim 4, characterized in that, The preset strategy, based on frequency deviation priority and AGC tracking accuracy requirements, outputs auxiliary decision-making instructions, specifically as follows: Obtain the frequency deviation under the control conflict scenario. and the preset frequency deviation threshold value Compare; like The frequency deviation is determined to be the highest priority. The component in the AGC active power regulation command that is opposite to the primary frequency regulation command is completely blocked, so that the AGC component in the unit's total regulation command is reduced to zero. like The determination needs to take into account the tracking accuracy of AGC. Dynamic limiting is applied to the component of the AGC active power regulation command that is opposite to the primary frequency regulation command. The limiting value is dynamically calculated based on the action margin of the primary frequency regulation. The total unit regulation command is generated by superimposing the primary frequency regulation command and the limited AGC command.

6. The parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions as described in claim 5, characterized in that, The dynamic limiting of the reverse regulation component is specifically achieved by generating the limited AGC active power regulation command using the following formula. : in, For the unit output limit that is consistent with the direction of the current primary frequency regulation command, when At that time, the upper limit of the unit's output is taken. At that time, the lower limit of the unit's output is taken; The preset margin retention factor has a value range of [value range missing]. This is used to reserve space for a single continuous frequency modulation operation.

7. The parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions as described in claim 5, characterized in that, The frequency deviation threshold Based on the dead zone threshold of primary frequency modulation The online calculation of the real-time fluctuation intensity of the power grid frequency is shown in the following formula: in, Frequency deviation The root mean square value within a set time window represents the intensity of frequency fluctuation. This represents the volatility margin coefficient.

8. The parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions as described in claim 1, characterized in that, The preset weight allocation rule is based on the unit head. Dynamically determine fusion weights Generate the unit's overall control command. As shown in the following formula: in, This is a primary frequency modulation active power regulation command; This is an AGC active power regulation command; and These are the upper and lower limits of the weight, respectively; and These are the upper and lower limits of the unit's operating head range, respectively.

9. The parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions as described in claim 7, characterized in that, The specific process of the closed-loop correction is as follows: Acquire synchronously collected unit output feedback data, combine it with the unit's active power output and the unit's overall control command from the previous moment, and calculate the unit output tracking deviation using a computer. : in, This is the current sampling time; This represents the actual active power output of the unit at the current moment. The unit's active power output from the previous moment; The unit's overall control command issued at the previous moment; Based on the output tracking deviation, an incremental iterative method is used to correct the power-frequency static characteristic coefficient corresponding to the primary frequency regulation active power control command. As shown in the following formula: in, This is the corrected power-frequency static characteristic coefficient; and These are the proportional and integral coefficients for primary frequency regulation parameter correction, respectively; To preset the correct window length; To correct the cumulative value of the output tracking deviation within the window; The proportional gain of the closed-loop controller corresponding to the AGC active power regulation command is corrected based on the output tracking deviation, as shown in the following formula: in, The corrected proportional gain of the closed-loop controller; The proportional gain of the closed-loop controller before correction; The proportional coefficient used to correct the AGC control parameters; By combining the real-time fluctuation intensity of frequency deviation with the output tracking deviation, the margin retention coefficient and fluctuation margin coefficient in the full-condition coordination criterion are corrected respectively, and the corresponding thresholds for adjustment margin verification and conflict determination are updated. The corrected power-frequency static characteristic coefficient, closed-loop controller proportional gain, margin retention coefficient, and fluctuation margin coefficient are synchronously updated to the parallel calculation process of the two active power regulation commands and the determination process of the full-condition coordination criterion, thus completing the single-round closed-loop parameter iterative correction.

10. A parallel computing and auxiliary decision-making system for hydropower AGC (Automatic Generative Control) oriented towards rapid adjustment under all operating conditions, used to implement the parallel computing and auxiliary decision-making method for hydropower AGC oriented towards rapid adjustment under all operating conditions as described in any one of claims 1-9, characterized in that, include: The data acquisition module is used to collect real-time data on grid frequency, current active power output of generating units, AGC dispatching instructions, and speed control system operating parameters. A primary frequency regulation command parallel calculation module is connected to the data acquisition module and calculates the primary frequency regulation active power regulation command based on the acquired power grid frequency. The AGC instruction parallel computing module is connected to the data acquisition module and calculates the AGC active power adjustment instruction based on the acquired AGC scheduling instruction and the current active power output of the unit; the instruction calculation processes of the primary frequency regulation instruction parallel computing module and the AGC instruction parallel computing module are time-domain synchronized, executed in parallel and are decoupled from each other; The full-condition coordination criterion module is connected to the data acquisition module, the primary frequency regulation command parallel calculation module and the AGC command parallel calculation module respectively. Based on the speed regulation system operating parameters and the current load range of the unit, it performs adjustment direction consistency verification and adjustment margin verification on the two parallel output active power regulation commands and identifies control conflict scenarios. The instruction fusion and auxiliary decision-making module is connected to the full-condition coordination criterion module. When there is no control conflict, it fuses two active power regulation instructions according to a preset weight allocation rule to generate the unit's total regulation instruction. When there is a control conflict, it performs dynamic limiting or graded blocking on the reverse regulation component according to a preset strategy based on the frequency deviation priority and AGC tracking accuracy requirements to generate the unit's total regulation instruction. The instruction issuance and feedback module is connected to the instruction fusion and auxiliary decision-making module to issue the unit's overall regulation instruction to the speed control system for execution, and simultaneously collect the unit's output feedback data; The closed-loop correction module is connected to the instruction issuance and feedback module, the primary frequency regulation instruction parallel calculation module, the AGC instruction parallel calculation module, and the full-condition coordination criterion module. Based on the unit output feedback data, it corrects the parameters on which the primary frequency regulation active power adjustment instruction and the AGC active power adjustment instruction are based, and corrects the thresholds included in the full-condition coordination criterion.

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