A method and device for coordinated control of a hydroelectric generating unit, an electronic device and a storage medium

Abstract

The application discloses a kind of hydroelectric generating set coordinated control method, device, electronic equipment and storage medium, it is related to hydroelectric generation technical field, including: real-time acquisition unit frequency feedback value, frequency given value, active actual value, active set value, guide vane opening and water head parameter, according to frequency deviation and preset dead zone determine primary frequency modulation is in dead zone or dead zone outside state;Dead zone outside independent calculation primary frequency modulation guide vane opening component, the component takes zero in dead zone;When new power set value is issued by monitoring system, the equivalent power offset corresponding to the current primary frequency modulation component is calculated, the set value is decoupled and compensated, and the monitoring guide vane opening component is obtained by conversion;Each opening component is integrated into guide vane total given value, and output to guide vane position control loop after adaptive amplitude limiting protection.The application can realize the decoupling control of primary frequency modulation and power given, eliminate frequency modulation residual effect, guarantee weak power grid under unit load smooth regulation and safe operation.

Description

Technical Field

[0001] This application relates to the field of hydropower technology, and in particular to a method, device, electronic equipment and storage medium for coordinated control of hydropower units. Background Technology

[0002] The hydropower unit governor system undertakes core functions such as load adjustment and maintaining grid frequency stability. Primary frequency regulation achieves differential frequency regulation by automatically adjusting the guide vane opening through a frequency difference closed-loop system. In regions with weak power grids, such as Southeast Asia, grid frequency deviations are large and fluctuations are frequent. With the gradual commissioning of primary frequency regulation functions, the shortcomings of traditional control strategies are becoming increasingly apparent.

[0003] In traditional governor control, the guide vane opening setpoint is directly and linearly superimposed from the opening component corresponding to the monitored power setpoint, the no-load opening component, and the primary frequency regulation opening component. There is coupling interference between the monitored power setpoint and the primary frequency regulation component. When issuing the power setpoint, the current primary frequency regulation adjustment must be offset, causing the setpoint to inherit the frequency regulation component. When the grid frequency returns to the dead zone and the primary frequency regulation component gradually returns to zero, the fixed frequency regulation compensation in the monitored setpoint can cause significant abnormal fluctuations in the unit load, potentially leading to overload operation and threatening the safety and stability of the unit and the grid. Therefore, there is an urgent need for a control method that can decouple the primary frequency regulation from the power setpoint, eliminate the influence of the frequency regulation component on the power setpoint, and ensure the safe operation of the unit in a vulnerable grid environment. Summary of the Invention

[0004] This application provides a coordinated control method, device, electronic equipment, and storage medium for hydropower units. It can solve the problem in related technologies where the monitored power input is directly coupled and superimposed with the primary frequency regulation component, resulting in the frequency regulation component remaining in the power input channel. This causes significant abnormal fluctuations in unit load and easily leads to overload risks after the frequency returns to the dead zone.

[0005] According to a first aspect of this application, a coordinated control method for hydropower units is provided, comprising:

[0006] The generator sets real-time frequency feedback value, frequency setpoint, active power output value, active power setpoint, guide vane opening and head parameters. Based on the relationship between frequency deviation and preset dead zone, it determines whether the primary frequency regulation is in the "dead zone" or "outside the dead zone". When the primary frequency modulation is in the "outside dead zone" state, the primary frequency modulation guide vane opening component is calculated independently; when it is in the "inside dead zone" state, the primary frequency modulation guide vane opening component is zero. When the monitoring system issues a new power setpoint, it calculates the equivalent power offset corresponding to the current primary frequency modulation component and performs frequency difference decoupling compensation on the new power setpoint, that is, subtracts the equivalent power offset from the new power setpoint to obtain the compensated equivalent power setpoint, and then converts the compensated equivalent power setpoint into the monitoring guide vane opening component. The monitored guide vane opening component, the no-load opening component, and the primary frequency-modulated guide vane opening component are combined into the total guide vane setpoint. The total setpoint of the guide vane is adaptively limited and protected before being output to the guide vane position control loop.

[0007] According to a second aspect of this application, a hydropower unit coordination control device is provided, comprising: The judgment module is configured to collect the unit's frequency feedback value, frequency setpoint, active power output value, active power setpoint, guide vane opening and head parameters in real time, and determine whether the primary frequency regulation is in the "dead zone" or "outside the dead zone" state based on the relationship between the frequency deviation and the preset dead zone. The first calculation module is configured to independently calculate the primary frequency modulation guide vane opening component when the primary frequency modulation is in the "outside dead zone" state, and to take the primary frequency modulation guide vane opening component as zero when it is in the "inside dead zone" state. The second calculation module is configured to calculate the equivalent power offset corresponding to the current primary frequency modulation component when the monitoring system issues a new power setpoint, and to perform frequency difference decoupling compensation on the new power setpoint, that is, to subtract the equivalent power offset from the new power setpoint to obtain the compensated equivalent power setpoint, and then convert the compensated equivalent power setpoint into the monitoring guide vane opening component. The synthesis module is configured to synthesize the monitored guide vane opening component, the no-load opening component, and the primary frequency-modulated guide vane opening component into a total guide vane setpoint. The output module is configured to output the total setpoint of the guide vane to the guide vane position control loop after adaptive amplitude limiting protection.

[0008] According to a third aspect of this application, an electronic device is provided, comprising: At least one processor; and memory that is communicatively connected to at least one processor; The memory stores instructions that can be executed by at least one processor, which are executed by at least one processor to enable the at least one processor to perform the hydropower unit coordinated control method described in the first aspect above.

[0009] According to a fourth aspect of this application, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to execute the hydropower unit coordinated control method described in the first aspect above.

[0010] According to a fifth aspect of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the hydropower unit coordinated control method as described in the first aspect above.

[0011] This application solves the problem in related technologies where the monitoring power setpoint is directly coupled and superimposed with the primary frequency regulation component, resulting in the frequency regulation component remaining in the power setpoint channel. This causes significant abnormal fluctuations in unit load and the risk of overload after the frequency return dead zone. The application achieves decoupled and coordinated control of primary frequency regulation and power setpoint, eliminates residual frequency regulation effects, and ensures stable load regulation and safe and stable operation of the unit in a weak power grid environment. This is achieved by calculating the equivalent power offset corresponding to the current primary frequency regulation component and performing frequency difference decoupling compensation when the monitoring power setpoint is issued by the monitoring system, and combining the compensated monitoring guide vane opening component with the independently calculated primary frequency regulation guide vane opening component to form the total guide vane setpoint. Simultaneously, adaptive amplitude limiting protection is applied to the total setpoint.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0013] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A flowchart illustrating a coordinated control method for a hydropower unit provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a hydropower unit coordination control device provided in an embodiment of this application. Detailed Implementation

[0015] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0016] The following description, with reference to the accompanying drawings, describes a hydropower unit coordinated control method, apparatus, electronic device, and storage medium according to embodiments of this application.

[0017] Figure 1 This is a flowchart illustrating a coordinated control method for hydropower units provided in an embodiment of this application.

[0018] like Figure 1 As shown, the method includes the following steps: S1 collects the unit's frequency feedback value, frequency setpoint, actual active power generation value, active power setpoint, guide vane opening degree, and head parameters in real time. Based on the relationship between the frequency deviation and the preset dead zone, it determines whether the primary frequency regulation is in the "dead zone" or "outside the dead zone" state.

[0019] In some embodiments, the system collects core parameters of the unit's operation in real time with a sampling period of no more than 100ms. These parameters include the unit's frequency feedback value, the grid frequency setpoint, the unit's actual active power generation, the monitoring active power setpoint, the actual guide vane opening, and the real-time head. The frequency feedback value reflects the unit's current actual operating frequency; the frequency setpoint is the grid standard frequency, typically 50Hz; the actual active power generation value is the unit's current output active power; the active power setpoint is the target power value issued by the monitoring system; the guide vane opening is the actual opening ratio of the turbine guide vanes; and the head is the water level difference between the upstream and downstream of the hydropower station, a key parameter affecting the unit's output characteristics.

[0020] After parameter acquisition, the system calculates the frequency deviation between the frequency feedback value and the frequency setpoint. The absolute value of the frequency deviation is compared with a preset frequency modulation dead zone to determine the operating status of the primary frequency modulation. The frequency modulation dead zone is typically set to 0.05~0.1Hz. When the absolute value of the frequency deviation is less than or equal to the preset dead zone, the primary frequency modulation is determined to be within the dead zone; when the absolute value of the frequency deviation is greater than the preset dead zone, the primary frequency modulation is determined to be outside the dead zone.

[0021] By acquiring high-frequency real-time parameters and dividing the state based on frequency difference dead zone, the action boundary of primary frequency regulation can be accurately identified, providing a reliable trigger basis for subsequent frequency regulation control logic and ensuring that the control action is accurately matched with the power grid frequency conditions.

[0022] S2, when the primary frequency modulation is in the "outside dead zone" state, the primary frequency modulation guide vane opening component is calculated independently; when it is in the "inside dead zone" state, the primary frequency modulation guide vane opening component is zero.

[0023] In some embodiments, when the system determines that the primary frequency regulation is outside the dead zone, the speed controller calculates the primary frequency regulation guide vane opening component through an independent control channel. This channel only responds to the frequency deviation signal and does not intervene in the calculation loop of monitoring the power setpoint, thus ensuring the independence of the frequency regulation action.

[0024] The formula for calculating the opening component of the primary frequency-modulated guide vane is: ; In the formula, The frequency deviation at the current moment is obtained by subtracting the frequency feedback value from the frequency setpoint; E is the preset frequency dead zone, which is usually set to 0.05~0.1Hz in engineering. This is the deviation sign function, used to identify the positive or negative direction of the frequency deviation; The given value for the power grid frequency is usually 50Hz; The permanent slip coefficient reflects the static regulation characteristics between the unit's frequency and output, and its conventional value is 4%. The guide vane is at full opening, typically taken as 100%. The calculated primary frequency-modulated guide vane opening component is then processed by a PID closed-loop regulator and output to the synthesis stage of the guide vane overall setpoint.

[0025] When the system determines that the primary frequency regulation is in the dead zone, the primary frequency regulation guide vane opening component is set to zero. At this time, the primary frequency regulation function does not participate in the guide vane opening adjustment to avoid frequent adjustments of unit output caused by small frequency fluctuations and to ensure the stability of unit operation.

[0026] By calculating the frequency regulation opening component through an independent channel, the operational coupling between frequency regulation and power setpoint regulation can be isolated from the control architecture. Combined with dead-state start-stop logic, it can accurately respond to large fluctuations in grid frequency and avoid frequent unit adjustments caused by small frequency differences, thus ensuring the reliability of frequency regulation function and the stability of unit operation.

[0027] S3. When the monitoring system issues a new power setpoint, calculate the equivalent power offset corresponding to the current primary frequency modulation component, and perform frequency difference decoupling compensation on the new power setpoint, that is, subtract the equivalent power offset from the new power setpoint to obtain the compensated equivalent power setpoint, and then convert the compensated equivalent power setpoint into the monitoring guide vane opening component.

[0028] In some embodiments, when the monitoring system issues a new power setpoint, the system automatically initiates the frequency difference decoupling compensation process. First, it calculates the equivalent power offset corresponding to the primary frequency regulation guide vane opening component at the current moment. The equivalent power offset characterizes the impact of the current primary frequency regulation action on the unit's active power output, and the calculation formula is:

[0029] In the formula, This is the guide vane opening-power conversion factor under the current head, representing the change in active power of the unit corresponding to a unit change in guide vane opening. This factor is obtained by looking up a table based on the real-time head. Different conversion factors correspond to different head conditions. For example, when the head is 22m, the opening-power conversion factor can be taken as 0.82MW / %. This represents the frequency-modulated guide vane opening component at the current moment.

[0030] After calculating the equivalent power offset, the system performs decoupling compensation on the newly issued power setpoint, subtracting the equivalent power offset from the new power setpoint to obtain the compensated equivalent power setpoint. This compensation logic pre-deducts the power offset corresponding to the current frequency modulation action before the power setpoint is converted into an opening signal, ensuring that the final monitoring setpoint corresponds only to the user-set target power and does not add extra adjustment amounts used to offset the frequency modulation components. This fundamentally prevents the frequency modulation adjustment amount from being fixed into the monitoring setpoint channel.

[0031] After obtaining the compensated equivalent power setpoint, the system combines the power-aperture correspondence characteristics under the current head to convert the power value into the corresponding monitoring guide vane opening component, thus completing the decoupling process of the power setpoint channel.

[0032] By introducing frequency difference decoupling compensation in the power setpoint distribution stage, the transmission path of the primary frequency modulation component to the monitoring given channel can be cut off, eliminating the residue of the frequency modulation component in the monitoring setpoint, realizing the decoupling of the primary frequency modulation and power given operation, and effectively avoiding abnormal load jumps of the unit after the frequency return dead zone.

[0033] S4, the monitored guide vane opening component, the no-load opening component and the primary frequency-modulated guide vane opening component are combined into the guide vane total setpoint.

[0034] In some embodiments, after the system completes the independent calculation of each opening component, it linearly synthesizes the monitored guide vane opening component, the no-load opening component, and the primary frequency-modulated guide vane opening component to obtain the final guide vane total setpoint.

[0035] The no-load opening is the basic guide vane opening required to maintain stable no-load operation of the unit. Its value is directly related to the real-time head. The system queries the preset head-no-load opening comparison table based on the current real-time head to obtain the no-load opening value under the corresponding operating condition, ensuring that the basic opening matches the current hydraulic operating conditions.

[0036] The formula for calculating the total setpoint of the guide vane is:

[0037] in, The monitored guide vane opening component after frequency difference decoupling compensation corresponds to the power adjustment target issued by the monitoring system. The no-load opening degree is obtained based on the real-time head H; The three types of opening components are independently calculated and correspond to the power grid frequency regulation requirements. Each of the three types of opening components is generated through independent control channels. The synthesis process only performs numerical superposition and has no cross-coupled computational logic.

[0038] Through the control architecture of independent channel operation and linear superposition synthesis, it can be ensured that the control logic of power setpoint regulation, no-load basic regulation and primary frequency regulation do not interfere with each other. Combined with the pre-positioned frequency difference decoupling compensation, the coupling transmission between regulation components can be blocked from the control structure, ensuring that the total setpoint of the guide vane accurately matches the comprehensive requirements of each regulation target.

[0039] S5, after adaptive amplitude limiting protection of the total setpoint of the guide vane, outputs it to the guide vane position control loop.

[0040] In some embodiments, after the system generates the total setpoint for the guide vane, it performs adaptive limiting protection processing before outputting it to the guide vane position control loop to prevent the unit output from exceeding the safe operating range after the superposition of multiple adjustment components.

[0041] Adaptive limiting protection first determines the safe operating range by combining the unit's rated parameters with the current head conditions. The maximum safe power is taken as the smaller value between 105%~110% of the unit's rated power and the thermodynamic limit power under the current head. For a unit with a rated power of 50MW, the upper limit of the power warning usually corresponds to 52.5MW to 55MW. The minimum safe power is determined based on the unit's lowest stable operating load. Based on the total guide vane setpoint and the opening-power conversion coefficient under the current head, the system estimates the active power of the unit corresponding to the opening. When the estimated power exceeds the safe operating range, the system performs amplitude truncation processing on the opening component according to the preset adjustment priority. The primary frequency regulation component has the highest priority, prioritizing the retention of the complete frequency regulation quantity to ensure the effectiveness of grid frequency regulation; the monitored guide vane opening component is the execution quantity of load regulation and serves as the main object of amplitude limiting adjustment. By reducing the value of this component, the total estimated power is brought back to the safe range; the no-load opening is the basic component for maintaining stable operation of the unit and does not participate in the amplitude truncation reduction throughout the process, always maintaining its original value.

[0042] After the limit verification and adjustment are completed, the total setpoint of the guide vane is finally output to the guide vane position control loop as a control command for guide vane opening adjustment, driving the subsequent servo actuator to complete the guide vane opening adjustment action.

[0043] Through the adaptive limiting protection mechanism, the unit output can always be constrained within the safe operating range while taking into account the frequency regulation requirements of the power grid. This effectively prevents overload problems caused by the superposition of multiple regulation components, avoids overload protection actions and equipment damage, and improves the safety and reliability of unit operation.

[0044] Compared with related technologies, in this embodiment, by real-time acquisition of unit frequency feedback values, frequency setpoints, actual active power generation, active power setpoints, guide vane opening, and head parameters, the system determines whether the primary frequency regulation is in a "dead zone" or "outside the dead zone" state based on the relationship between the frequency deviation and the preset dead zone. When the primary frequency regulation is in a "outside the dead zone" state, the primary frequency regulation guide vane opening component is calculated independently; when it is in a "dead zone" state, the primary frequency regulation guide vane opening component is set to zero. When the monitoring system issues a new power setpoint, the system calculates the current... The equivalent power offset corresponding to the previous frequency regulation component is used to decouple and compensate the new power setpoint by subtracting the equivalent power offset from the new power setpoint to obtain the compensated equivalent power setpoint. This compensated equivalent power setpoint is then converted into a monitoring guide vane opening component. The monitoring guide vane opening component, the no-load opening, and the primary frequency regulation guide vane opening component are combined to form the total guide vane setpoint. The total guide vane setpoint is then adaptively limited and protected before being output to the guide vane position control loop. This solves the problem in related technologies where the monitoring power setpoint and the primary frequency regulation component are directly coupled and superimposed, leaving the frequency regulation component in the power setpoint channel. This causes significant abnormal fluctuations in unit load and easily leads to overload risks after the frequency return dead zone. The solution achieves decoupled and coordinated control of primary frequency regulation and power setpoint, eliminates residual frequency regulation effects, and ensures stable load regulation and safe operation of the unit in weak power grid environments.

[0045] As a specific embodiment of this application, based on the basic scheme, the calculation formula for the primary frequency-modulated guide vane opening component in step S2 is further defined as follows:

[0046] in, E represents the frequency deviation, and E represents the dead zone. For the deviation sign function, Given a frequency value, The permanent slip coefficient, This refers to the full opening of the guide vane.

[0047] Specifically, in the calculation of the primary frequency-modulated guide vane opening component in step S2, a quantization calculation formula based on the permanent slip characteristic is used to accurately convert the frequency deviation exceeding the dead zone into the corresponding guide vane opening adjustment. The calculation formula is as follows:

[0048] This formula follows the differential adjustment rule of primary frequency modulation. First, it extracts the effective frequency difference component exceeding the dead zone, then converts it into an opening adjustment ratio using the slip coefficient, and finally maps it to the actual adjustment amount of the guide vane opening. The frequency deviation is calculated by subtracting the generator frequency feedback value from the grid frequency setpoint. E is the preset frequency dead zone, which is usually set to 0.05~0.1Hz in engineering applications. Only the frequency difference exceeding the dead zone range will be included in the opening calculation, which can avoid frequent adjustments of generator output caused by small frequency fluctuations. This is a deviation sign function used to identify the positive and negative directions of frequency deviation, ensuring that the opening adjustment direction matches the frequency modulation requirements. This is the given value for the power grid frequency, which is typically 50Hz in conventional power systems. The permanent slip coefficient reflects the static regulation characteristics of the unit's frequency and active power output; the value is 4% for conventional units. This represents the full opening of the guide vanes, typically taken as 100% when measured as a percentage. The negative sign before the formula corresponds to the frequency regulation negative feedback logic: when the frequency increases, the guide vanes are closed to reduce output; when the frequency decreases, the guide vanes are opened to increase output, thus meeting the regulation requirements for grid frequency stability.

[0049] This calculation formula enables precise quantitative calculation of the primary frequency regulation opening, ensuring that the frequency regulation adjustment amplitude matches the frequency difference, and that the adjustment direction accurately corresponds to changes in the power grid frequency, thereby improving the accuracy and stability of the primary frequency regulation action.

[0050] As a specific embodiment of this application, based on the basic scheme, the calculation formula for the equivalent power offset in step S3 is further defined as follows:

[0051] in, The opening-to-power conversion coefficient under the current head is obtained by looking up a table using the real-time head H. This represents the frequency-modulated guide vane opening component at the current moment.

[0052] Specifically, in step S3, the equivalent power offset is calculated using a linear mapping formula between the opening degree and power, converting the primary frequency modulation adjustment in the form of the opening degree into an offset value in the power dimension. This provides a quantitative benchmark for subsequent decoupling compensation of the power setpoint. The calculation formula is as follows:

[0053] In the formula, This is the opening-to-power conversion coefficient under the current head, representing the change in active power of the unit corresponding to a unit change in guide vane opening. This coefficient is directly related to the unit's operating head. The opening-to-power characteristics of the unit differ under different head conditions. The system obtains the matching coefficient value by querying a preset lookup table through real-time head. For example, when the unit's operating head is 22m, the opening-to-power conversion coefficient is 0.82MW / %. This is the primary frequency modulation guide vane opening component at the current moment, taken from the real-time output of the primary frequency modulation independent calculation channel.

[0054] This calculation unifies the adjustment amount of primary frequency regulation to the power dimension, so that frequency difference decoupling compensation can be performed directly at the power setpoint level, ensuring that the compensation amount corresponds one-to-one with the actual output of primary frequency regulation, and eliminating compensation deviation caused by dimensional differences.

[0055] This quantification formula can accurately calculate the power offset amplitude corresponding to a single frequency modulation action. Combined with the conversion coefficient dynamically matched with the head, it can adapt to different hydraulic operating conditions, improve the calculation accuracy of frequency difference decoupling compensation, and ensure the decoupling effect between the primary frequency modulation and the power setting.

[0056] As a specific implementation of this application, step S4 is further defined based on the basic solution as including: When the primary frequency modulation state switches from "outside the dead zone" to "inside the dead zone", an exponential smooth transition is performed on the primary frequency modulation guide vane opening component:

[0057] in, The guide vane opening component is calculated independently for a single frequency modulation at time t-1. The sampling period is It is an adjustable smoothing time constant.

[0058] Specifically, when the primary frequency regulation state switches from outside the dead zone to inside the dead zone, in order to avoid the primary frequency regulation guide vane opening component directly stepping to zero and causing a sudden change in the guide vane total setpoint, which would lead to abnormal fluctuations in unit output, an exponential smooth transition strategy is adopted to gradually attenuate this component.

[0059] The formula for calculating a smooth transition is:

[0060] In the formula, The guide vane opening component is calculated independently for a single frequency modulation at time t-1; The system sampling period is typically set to no more than 100ms. The adjustable smoothing time constant can be set according to the unit's regulation characteristics and the actual power grid conditions. In engineering applications, a value of 2 to 5 seconds is recommended.

[0061] In each sampling period after the state switch, the system calculates the current opening value based on the primary frequency modulation opening value of the previous moment according to the exponential decay law, so that the primary frequency modulation guide vane opening component gradually and continuously decays to zero from the initial value at the switching moment. There is no step jump in the entire transition process, ensuring that the total setpoint of the guide vane changes synchronously and smoothly with the frequency modulation component.

[0062] By using exponential smoothing transition processing, the impact of a step change in opening degree during frequency regulation state switching can be eliminated, avoiding sudden changes in unit output, effectively reducing the disturbance to unit operation and grid stability during state switching, and improving the smoothness and operational reliability of the regulation process.

[0063] As a specific implementation of this application, based on the basic scheme, step S4 is further defined as follows: when the frequency is detected to enter the dead zone, the monitoring setting value is automatically refreshed to the current active power generation value.

[0064] Specifically, when the system detects that the frequency has entered the preset dead zone range and the frequency regulation state has switched from outside the dead zone to inside the dead zone, the automatic refresh mechanism of the monitoring setpoint is triggered simultaneously. The active power setpoint of the current monitoring system is automatically updated to the active power generated by the unit, and the corresponding monitoring guide vane opening component is recalculated based on the refreshed setpoint.

[0065] This mechanism works in conjunction with the attenuation process of the primary frequency modulation component to align the monitoring setpoint with the actual unit output as the frequency modulation action gradually exits. When the frequency is outside the dead zone, the primary frequency modulation component undertakes part of the output regulation, and the actual unit power is formed by the combined action of the monitoring setpoint and the frequency modulation component. When the frequency returns to the dead zone and the frequency modulation component gradually exits, the automatic refresh of the setpoint ensures that the monitoring setpoint channel fully receives the current operating power of the unit, eliminating minor steady-state deviations that may accumulate during the regulation process. This ensures that after the frequency modulation function is completely exited, the unit output remains consistent with the monitoring setpoint, without requiring manual correction of the setpoint by operators.

[0066] By automatically refreshing the set value after the frequency enters the dead zone, the steady-state power deviation after frequency regulation exits can be eliminated, achieving seamless connection of the regulation process, reducing manual operation intervention, and improving the accuracy and automation level of the unit's steady-state operation.

[0067] As a specific implementation of this application, based on the basic scheme, the adaptive limiting protection described in step S5 is further defined as follows: The safe operating range is determined based on the unit's rated power and the current head. When the power estimated based on the total setpoint of the guide vanes exceeds the safe range, the amplitude is truncated according to the priority of the primary frequency regulation component over the monitoring setpoint component, wherein the no-load opening component cannot be reduced.

[0068] Specifically, the adaptive limiting protection first dynamically determines the safe operating range of the unit. The range boundary is calculated by combining the unit's rated power and the current head conditions, and can adapt to the unit's output characteristics under different hydraulic conditions. The maximum safe power is taken as the smaller value between 105%~110% of the unit's rated power and the thermodynamic limit power under the current head. For a unit with a rated power of 50MW, its power warning upper limit usually corresponds to 52.5MW to 55MW. The minimum safe power is determined based on the unit's lowest stable operating load, ensuring that the unit always operates within the stable operating range.

[0069] The system estimates the active power of the unit corresponding to the opening command based on the total guide vane setpoint and the opening-power conversion coefficient under the current head, and compares the estimated power with the upper and lower limits of the safe operating range. When the estimated power exceeds the safe operating range, the system performs truncation processing on the opening component according to preset priorities. The primary frequency regulation component has the highest priority, preserving the complete frequency regulation amount to ensure the response capability of the power grid frequency regulation; the monitoring guide vane opening component is the execution quantity of load regulation and serves as the main object of the limiting adjustment. By reducing the value of this component, the total estimated power is brought back to the safe range; the no-load opening is the basic opening for maintaining stable unit operation and does not participate in the truncation reduction throughout the process, always maintaining its original value.

[0070] By dynamically adapting the safe range of the head and the hierarchical priority cutoff strategy, the unit output can be constrained within the safe operating range while ensuring the priority of the grid frequency regulation response. This effectively avoids the overload risk caused by the superposition of multiple regulation components, and balances the grid frequency regulation requirements with the safe operation of the unit equipment.

[0071] As a specific implementation of this application, based on the basic scheme, it is further defined that when the amplitude limiting protection is continuously effective for more than a preset time threshold, an alarm signal is automatically issued and an event log is recorded.

[0072] Specifically, during the operation of adaptive limiting protection, the system synchronously monitors the continuous effective duration of the limiting protection in real time. The preset time threshold can be set according to the power plant operation and management requirements; in engineering applications, it is usually set to 30 seconds. When the continuous effective duration of the limiting protection exceeds this preset time threshold, it indicates that the grid frequency has been in an abnormal range for a long time. The frequency regulation continues to operate and repeatedly triggers the limiting adjustment. Relying solely on the limiting mechanism cannot fundamentally eliminate the abnormal operating conditions. At this time, the system automatically issues an alarm signal, prompting operators to pay close attention to the grid frequency status and unit operating conditions, and to investigate the cause of the frequency anomaly.

[0073] At the same time, the system automatically records the operation logs of the corresponding events. The logs cover key operation data such as the start time of the limiting protection trigger, the duration of continuous operation, the frequency deviation value at the trigger time, the real-time values ​​of each opening component, the estimated power and the boundary parameters of the safe operating range, providing complete data support for subsequent operating condition backtracking, fault analysis and control parameter optimization.

[0074] By using alarm and event log recording mechanisms with limited duration, long-term abnormal operating conditions can be promptly reported to operators, assisting in quickly locating the root cause of power grid frequency anomalies. At the same time, complete operating data records are retained, providing a basis for subsequent control strategy optimization and operation and maintenance management improvement, effectively enhancing the operation and maintenance efficiency and fault tracing capabilities of power plants.

[0075] Figure 2 This is a schematic diagram of the structure of a hydropower unit coordination control device provided in an embodiment of this application, as shown below. Figure 2 As shown, it includes: The judgment module 201 is configured to collect the unit's frequency feedback value, frequency setpoint, active power output value, active power setpoint, guide vane opening and head parameters in real time, and determine whether the primary frequency regulation is in the "dead zone" or "outside the dead zone" state based on the relationship between the frequency deviation and the preset dead zone. The first calculation module 202 is configured to independently calculate the primary frequency modulation guide vane opening component when the primary frequency modulation is in the "outside dead zone" state, and to take the primary frequency modulation guide vane opening component as zero when it is in the "inside dead zone" state. The second calculation module 203 is configured to calculate the equivalent power offset corresponding to the current primary frequency modulation component when the monitoring system issues a new power setting value, and to perform frequency difference decoupling compensation on the new power setting value, that is, to subtract the equivalent power offset from the new power setting value to obtain the compensated equivalent power set value, and then convert the compensated equivalent power set value into the monitoring guide vane opening component. The synthesis module 204 is configured to synthesize the monitored guide vane opening component, the no-load opening component, and the primary frequency-modulated guide vane opening component into a total guide vane setpoint. The output module 205 is configured to output the total setpoint of the guide vane to the guide vane position control loop after adaptive amplitude limiting protection.

[0076] It should be noted that other corresponding descriptions of the functional units involved in the hydropower unit coordination control device provided in this embodiment can be found in [reference needed]. Figure 1 The corresponding descriptions in [the document] will not be repeated here.

[0077] Based on the above, Figure 1The embodiment of the present invention provides a coordinated control method for hydropower units. Correspondingly, this embodiment also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method. Figure 1 This illustrates a coordinated control method for hydropower units.

[0078] Based on the above, Figure 1 The embodiment of this invention provides a coordinated control method for hydropower units. Correspondingly, it also provides a computer program product storing a computer program that, when executed by a processor, implements the aforementioned method. Figure 1 This illustrates a coordinated control method for hydropower units.

[0079] Based on this understanding, the technical solution of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as personal computer, server, or network device, etc.) to execute the methods of various implementation scenarios of this application.

[0080] Based on the above, Figure 1 A method for coordinated control of hydropower units is shown, and Figure 2 To achieve the above objectives, the present application also provides an electronic device, such as a personal computer or a server, in the illustrated virtual device embodiment. This device includes a storage medium and a processor; the storage medium stores a computer program; the processor executes the computer program to implement the above-described virtual device. Figure 1 This illustrates a coordinated control method for hydropower units.

[0081] In some embodiments, the aforementioned physical device may further include a user interface, a network interface, a camera, radio frequency (RF) circuitry, sensors, audio circuitry, a Wi-Fi module, etc. The user interface may include a display screen, an input unit such as a keyboard, etc., and optionally, a USB interface, a card reader interface, etc. In some embodiments, the network interface may include a standard wired interface, a wireless interface (such as a Wi-Fi interface), etc.

[0082] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the aforementioned physical device, supporting the operation of information processing programs and other software and / or programs. The network communication module is used to enable communication between the various components within the storage medium, as well as communication with other hardware and software in the information processing physical device.

[0083] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0084] The above are merely specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to these embodiments, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for coordinated control of hydropower units, characterized in that, include: S1. Real-time acquisition of unit frequency feedback value, frequency setpoint, active power generation value, active power setpoint, guide vane opening and head parameters. Based on the relationship between frequency deviation and preset dead zone, determine whether the primary frequency regulation is in the "dead zone" or "dead zone" state. S2. When the primary frequency modulation is in the "outside dead zone" state, the primary frequency modulation guide vane opening component is calculated independently. When it is in the "inside dead zone" state, the primary frequency modulation guide vane opening component is zero. S3. When the monitoring system issues a new power setpoint, calculate the equivalent power offset corresponding to the current primary frequency modulation component, and perform frequency difference decoupling compensation on the new power setpoint, that is, subtract the equivalent power offset from the new power setpoint to obtain the compensated equivalent power setpoint, and then convert the compensated equivalent power setpoint into the monitoring guide vane opening component. S4. Combine the monitored guide vane opening component, the no-load opening component, and the primary frequency-modulated guide vane opening component into a total guide vane setpoint. S5. After adaptive amplitude limiting protection is applied to the total setpoint of the guide vane, the output is sent to the guide vane position control loop.

2. The coordinated control method for hydropower units according to claim 1, characterized in that, The calculation formula for the primary frequency-modulated guide vane opening component in step S2 is as follows: in, E represents the frequency deviation, and E represents the dead zone. For the deviation sign function, Given a frequency value, This is the permanent slip coefficient. This refers to the full opening of the guide vane.

3. The coordinated control method for hydropower units according to claim 1, characterized in that, The formula for calculating the equivalent power offset in step S3 is as follows: in, The opening-to-power conversion coefficient under the current head is obtained by looking up a table using the real-time head H. This represents the frequency-modulated guide vane opening component at the current moment.

4. The coordinated control method for hydropower units according to claim 1, characterized in that, Step S4 also includes: When the primary frequency modulation state switches from "outside the dead zone" to "inside the dead zone", an exponential smooth transition is performed on the primary frequency modulation guide vane opening component: in, The guide vane opening component is calculated independently for a single frequency modulation at time t-1. The sampling period is It is an adjustable smoothing time constant.

5. The coordinated control method for hydropower units according to claim 4, characterized in that, Step S4 also includes: when the frequency is detected to have entered the dead zone, the monitoring setpoint is automatically refreshed to the current active power generation value.

6. The coordinated control method for hydropower units according to claim 1, characterized in that, The adaptive limiting protection mentioned in step S5 includes: The safe operating range is determined based on the unit's rated power and the current head. When the power estimated based on the total setpoint of the guide vanes exceeds the safe range, the amplitude is truncated according to the priority of the primary frequency regulation component over the monitoring setpoint component, wherein the no-load opening component cannot be reduced.

7. The coordinated control method for hydropower units according to claim 6, characterized in that, When the amplitude limiting protection is continuously active for more than a preset time threshold, an alarm signal will be automatically issued and an event log will be recorded.

8. A coordinated control device for hydropower units, characterized in that, include: The judgment module is configured to collect the unit's frequency feedback value, frequency setpoint, active power output value, active power setpoint, guide vane opening and head parameters in real time, and determine whether the primary frequency regulation is in the "dead zone" or "outside the dead zone" state based on the relationship between the frequency deviation and the preset dead zone. The first calculation module is configured to independently calculate the primary frequency modulation guide vane opening component when the primary frequency modulation is in the "outside dead zone" state, and to take the primary frequency modulation guide vane opening component as zero when it is in the "inside dead zone" state. The second calculation module is configured to calculate the equivalent power offset corresponding to the current primary frequency modulation component when the monitoring system issues a new power setpoint, and to perform frequency difference decoupling compensation on the new power setpoint, that is, to subtract the equivalent power offset from the new power setpoint to obtain the compensated equivalent power setpoint, and then convert the compensated equivalent power setpoint into the monitoring guide vane opening component. The synthesis module is configured to synthesize the monitored guide vane opening component, the no-load opening component, and the primary frequency-modulated guide vane opening component into a total guide vane setpoint. The output module is configured to output the total setpoint of the guide vane to the guide vane position control loop after adaptive amplitude limiting protection.

9. An electronic device, characterized in that, include: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the hydropower unit coordinated control method according to any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the hydropower unit coordinated control method according to any one of claims 1-7.

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