Hydroelectric generator unit frequency modulation AGC cooperative control device based on multi-sensor fusion

Abstract

The utility model discloses a water turbine unit frequency modulation AGC collaborative control device based on multi -sensor fusion, including multi -sensor acquisition module, data fusion processing module, frequency modulation AGC collaborative control decision module, execution drive module and state monitoring and feedback module, the signal output of sensor acquisition module is connected with the signal input of data fusion processing module through the cable. The utility model discloses, through setting each way sensor of pertinence selection type distribution point, guaranteeing the original collection data precision reliable of key parameters such as main shaft speed, pressure, the problem of traditional sensor data precision deficiency has been solved. Meanwhile through the time and space alignment and abnormal data repair mechanism when data fusion processing, in combination with the differentiated processing mode of dynamic static data, let unit state data be more close to actual operation situation, solved the problem that multiple source data is not consistent.

Description

Technical Field

[0001] This utility model relates to the field of hydropower unit technology, and in particular to a hydropower unit frequency regulation AGC collaborative control device based on multi-sensor fusion. Background Technology

[0002] Hydropower units, as an important regulating resource in the power system, play a crucial role in grid frequency regulation and automatic generation control. Frequency regulation is an important means of maintaining grid frequency stability by rapidly adjusting unit output to respond to grid frequency fluctuations. Automatic generation control (AGC) automatically adjusts the active power of the units according to grid load demand to ensure grid supply and demand balance. Traditional hydropower unit frequency regulation and AGC control often adopt independent control methods, with frequency regulation relying on speed signals and AGC relying on power signals. This can easily lead to problems such as regulation conflicts, response lags, and low control accuracy. At the same time, traditional control devices often use single sensors to collect data, which are affected by sensor measurement errors and environmental interference, resulting in insufficient data accuracy and reliability. This makes it difficult to comprehensively reflect the unit's operating status, reducing the scientific and rational nature of control decisions. In addition, existing control devices lack effective status monitoring and feedback mechanisms, making it impossible to detect abnormalities in the control execution process in a timely manner. The integrity and stability of the control closed loop need to be improved. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing a multi-sensor fusion-based frequency regulation AGC collaborative control device for hydropower units.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a hydropower unit frequency modulation AGC collaborative control device based on multi-sensor fusion, comprising a multi-sensor acquisition module, a data fusion processing module, a frequency modulation AGC collaborative control decision module, an execution drive module, and a status monitoring and feedback module;

[0005] The signal output terminal of the sensor acquisition module is connected to the signal input terminal of the data fusion processing module via a cable. The signal output terminal of the data fusion processing module is connected to the signal input terminal of the frequency modulation AGC collaborative control module via a cable. The output signal of the frequency modulation AGC collaborative control module is connected to the input signal interface of the execution drive module via a cable. The output signal of the execution drive module is connected to the input signal interface of the status monitoring and feedback module via a cable.

[0006] The signal output terminal of the status monitoring and feedback module is connected to the signal input terminal of the multi-sensor acquisition module and the signal input terminal of the data fusion processing module via cables.

[0007] As a further description of the above technical solution:

[0008] The multi-sensor module includes a speed sensor, an active power sensor, a water level sensor, an opening degree sensor, a pressure sensor, and a frequency sensor;

[0009] The output signals of the speed sensor, active power sensor, water level sensor, opening degree sensor, pressure sensor, and frequency sensor are all connected to the input signal of the multi-sensor module via wires.

[0010] As a further description of the above technical solution:

[0011] The data fusion processing module includes a data preprocessing unit, a spatiotemporal alignment unit, an anomaly detection and repair unit, and a fusion calculation unit;

[0012] The output of the data preprocessing unit is electrically connected to the input of the spatiotemporal alignment unit. The output of the spatiotemporal alignment unit is electrically connected to the input of the anomaly detection and repair unit. The output of the anomaly detection and repair unit is electrically connected to the input of the fusion computing unit. The output signal of the fusion computing unit is connected to the input signal of the data fusion processing module through a wire.

[0013] As a further description of the above technical solution:

[0014] The frequency-modulated AGC collaborative control decision module includes a constraint processing unit, a model prediction control unit, and an instruction optimization allocation unit.

[0015] The output of the constraint processing unit is electrically connected to the input of the model prediction control unit, the output of the model prediction control unit is electrically connected to the input of the instruction optimization allocation unit, and the signal output of the instruction optimization allocation unit is connected to the signal input of the frequency modulation AGC collaborative control decision module via a wire.

[0016] As a further description of the above technical solution:

[0017] The execution drive module includes a signal conversion unit, a power amplification unit, and an actuator drive unit;

[0018] The output terminal of the signal conversion unit is electrically connected to the input terminal of the power amplification unit, the output terminal of the power amplification unit is electrically connected to the input terminal of the actuator drive unit, and the signal output terminal of the actuator drive unit is connected to the signal input terminal of the actuator drive module via a wire.

[0019] As a further description of the above technical solution:

[0020] The execution monitoring and feedback module includes an execution status monitoring unit, a data storage unit, and a signal conversion unit;

[0021] The signal output terminal of the execution status monitoring unit is connected to the data storage unit and the signal conversion unit via wires, respectively. The signal output terminals of the data storage unit and the signal conversion unit are both connected to the signal input terminal of the status monitoring and feedback module via wires.

[0022] This utility model has the following beneficial effects:

[0023] 1. Compared with existing technologies, this multi-sensor fusion-based frequency regulation AGC collaborative control device for hydropower units ensures accurate and reliable raw data acquisition of key parameters such as spindle speed and pressure by setting up targeted sensors at various locations, thus solving the problem of insufficient accuracy of traditional sensor data. Simultaneously, through spatiotemporal alignment and abnormal data repair mechanisms during data fusion processing, combined with differentiated processing methods for dynamic and static data, the unit status data more closely reflects actual operating conditions, resolving the issue of inconsistency between multi-source data.

[0024] 2. Compared with existing technologies, this hydropower unit frequency regulation AGC collaborative control device based on multi-sensor fusion utilizes model predictive control algorithms and constraint condition processing mechanisms to allocate frequency regulation and AGC commands in an orderly manner according to priority, avoiding conflicts between regulation actions and solving the problem of chaotic control command execution. Simultaneously, through signal conversion and amplification of the execution drive module and real-time feedback from status monitoring, a fast-response closed-loop control is formed, promptly correcting execution deviations and solving the problem of control action lag. Furthermore, a large-capacity data storage unit is used to completely retain unit operating data and control records, providing engineers with convenience for tracing historical problems and carrying out maintenance work, solving the problem of difficult historical data retrieval. Through the synergistic effect of each module, the entire device enables faster frequency regulation response and more precise load regulation, ensuring stable grid operation and reducing unit failures, thus solving the problem of insufficient unit operational stability under traditional control methods. Attached Figure Description

[0025] Figure 1 This is a system flowchart of the present invention;

[0026] Figure 2 This is a system block diagram of the multi-sensor acquisition module of this utility model;

[0027] Figure 3 This is a system block diagram of the data fusion processing module of this utility model;

[0028] Figure 4 This is a system block diagram of the frequency modulation AGC collaborative control decision module of this utility model;

[0029] Figure 5 This is a system block diagram of the execution driver module of this utility model;

[0030] Figure 6 This is a system block diagram of the status monitoring and feedback module of this utility model. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Reference Figure 1-6 The present invention provides a hydropower unit frequency modulation AGC collaborative control device based on multi-sensor fusion, which includes a multi-sensor acquisition module, a data fusion processing module, a frequency modulation AGC collaborative control decision module, an execution drive module, and a status monitoring and feedback module.

[0033] The signal output terminal of the sensor acquisition module is connected to the signal input terminal of the data fusion processing module via a cable. The signal output terminal of the data fusion processing module is connected to the signal input terminal of the frequency modulation AGC collaborative control module via a cable. The output signal of the frequency modulation AGC collaborative control module is connected to the input signal interface of the execution drive module via a cable. The output signal of the execution drive module is connected to the input signal interface of the status monitoring and feedback module via a cable.

[0034] The signal output terminal of the status monitoring and feedback module is connected to the signal input terminal of the multi-sensor acquisition module and the signal input terminal of the data fusion processing module via cables.

[0035] A complete control link is constructed through modular cable connections, ensuring a clear and orderly signal transmission path. Direct connection between the multi-sensor acquisition module and the data fusion processing module ensures lossless transmission of raw parameters, providing a complete input foundation for data fusion. The cascaded design between core modules avoids signal interruptions, ensuring that fused data accurately drives frequency-modulated AGC decisions and achieving seamless connection from control command generation to execution. The dual-end feedback connection of the status monitoring module forms a closed control loop, which can correct execution deviations in real time and suppress error accumulation. Modular connections facilitate future maintenance and upgrades, and overall improve the reliability of system signal transmission and the timeliness and accuracy of control response.

[0036] The multi-sensor module includes a speed sensor, an active power sensor, a water level sensor, an opening degree sensor, a pressure sensor, and a frequency sensor;

[0037] The output signals of the speed sensor, active power sensor, water level sensor, opening degree sensor, pressure sensor, and frequency sensor are all connected to the input signal of the multi-sensor module via wires.

[0038] By centrally accessing key parameter sensors such as speed, active power, and water level through multi-sensor modules and directly connecting them with wires to transmit signals, the core operating status of the unit can be comprehensively captured. This avoids the one-sidedness of data from a single sensor, and the direct connection with wires reduces signal transmission links, reduces the impact of electromagnetic interference, and improves the stability and real-time performance of data transmission. This provides high-quality raw data for subsequent data fusion processing. This structure ensures that control decisions are based on complete and accurate unit status information, effectively reduces regulation deviations, and enhances the reliability and accuracy of unit operation control.

[0039] The data fusion processing module includes a data preprocessing unit, a spatiotemporal alignment unit, an anomaly detection and repair unit, and a fusion computing unit;

[0040] The output of the data preprocessing unit is electrically connected to the input of the spatiotemporal alignment unit. The output of the spatiotemporal alignment unit is electrically connected to the input of the anomaly detection and repair unit. The output of the anomaly detection and repair unit is electrically connected to the input of the fusion computing unit. The output signal of the fusion computing unit is connected to the input signal of the data fusion processing module through a wire.

[0041] By utilizing a cascaded design for the data fusion processing module, preprocessing filters out noise to ensure the quality of the original data, spatiotemporal alignment addresses the spatiotemporal differences in multi-sensor data, an anomaly detection and repair unit precisely removes and repairs outliers to ensure data integrity, and the fusion computing unit ultimately outputs high-quality fused data. The fusion results are also fed back to the module input in a closed loop, dynamically optimizing the processing flow. This achieves overall optimization of the entire data processing process, significantly improving the accuracy and reliability of the fused data, providing high-quality data support for subsequent control decisions, and enhancing control precision.

[0042] The frequency modulation AGC collaborative control decision module includes a constraint processing unit, a model prediction control unit, and an instruction optimization and allocation unit;

[0043] The output of the constraint processing unit is electrically connected to the input of the model prediction control unit. The output of the model prediction control unit is electrically connected to the input of the instruction optimization allocation unit. The signal output of the instruction optimization allocation unit is connected to the signal input of the frequency modulation AGC collaborative control decision module via a wire.

[0044] By setting a safety boundary in advance through the constraint processing unit, a reliable constraint basis is provided for model predictive control, avoiding the control quantity from exceeding the safe operating range of the unit. The model predictive control unit optimizes the control quantity based on constraints, improving the regulation accuracy and foresight. The instruction optimization and allocation unit realizes the coordinated allocation of frequency regulation and AGC instructions, reducing regulation conflicts. The closed-loop feedback design enables real-time correction of instruction execution deviations, enhancing control robustness, accelerating response speed, and ensuring that the unit responds efficiently to grid frequency regulation and load demand while meeting safety constraints.

[0045] The execution drive module includes a signal conversion unit, a power amplification unit, and an actuator drive unit;

[0046] The output of the signal conversion unit is electrically connected to the input of the power amplifier unit, the output of the power amplifier unit is electrically connected to the input of the actuator drive unit, and the signal output of the actuator drive unit is connected to the signal input of the actuator drive module via a wire.

[0047] The structure employs a signal conversion unit, a power amplification unit, and an actuator drive unit that are electrically connected in sequence. This ensures the orderly conversion and amplification of control commands from digital signals to drive signals, reducing signal transmission loss and interference, and guaranteeing stable and reliable actuator drive force. The feedback connection between the actuator drive unit and the module signal input terminal forms a local control closed loop, which can monitor the execution status of the drive signal in real time, correct deviations in a timely manner, improve the response speed and accuracy of guide vane adjustment and speed control, effectively avoid adjustment lag or overshoot, and ensure the stability of unit operation and control reliability.

[0048] The execution monitoring and feedback module includes an execution status monitoring unit, a data storage unit, and a signal conversion unit;

[0049] The signal output terminal of the execution status monitoring unit is connected to the data storage unit and the signal conversion unit via wires, respectively. The signal output terminals of the data storage unit and the signal conversion unit are both connected to the signal input terminal of the status monitoring and feedback module via wires.

[0050] By optimizing and strengthening the closed-loop monitoring link: the execution status monitoring unit captures control execution data in real time, the data storage unit retains operation records, providing original evidence for fault tracing and performance analysis; the signal conversion unit ensures that the monitoring signal is adapted to the transmission requirements and avoids signal distortion. The three work together to make the status feedback more timely and accurate, quickly identify execution deviations, strengthen the integrity and reliability of the control closed loop, reduce the risk of unit regulation fluctuations caused by execution anomalies, and improve the stability of unit operation and the convenience of maintenance.

[0051] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-sensor fusion-based hydroelectric generator unit frequency modulation AGC cooperative control device, characterized in that: It includes a multi-sensor acquisition module, a data fusion processing module, a frequency-modulated AGC collaborative control decision module, an execution drive module, and a status monitoring and feedback module; The signal output terminal of the sensor acquisition module is connected to the signal input terminal of the data fusion processing module via a cable. The signal output terminal of the data fusion processing module is connected to the signal input terminal of the frequency modulation AGC collaborative control module via a cable. The output signal of the frequency modulation AGC collaborative control module is connected to the input signal interface of the execution drive module via a cable. The output signal of the execution drive module is connected to the input signal interface of the status monitoring and feedback module via a cable. The signal output terminal of the status monitoring and feedback module is connected to the signal input terminal of the multi-sensor acquisition module and the signal input terminal of the data fusion processing module via cables.

2. The hydropower unit frequency regulation AGC collaborative control device based on multi-sensor fusion according to claim 1, characterized in that: The multi-sensor module includes a speed sensor, an active power sensor, a water level sensor, an opening degree sensor, a pressure sensor, and a frequency sensor; The output signals of the speed sensor, active power sensor, water level sensor, opening degree sensor, pressure sensor, and frequency sensor are all connected to the input signal of the multi-sensor module via wires.

3. The hydropower unit frequency regulation AGC collaborative control device based on multi-sensor fusion according to claim 1, characterized in that: The data fusion processing module includes a data preprocessing unit, a spatiotemporal alignment unit, an anomaly detection and repair unit, and a fusion calculation unit; The output of the data preprocessing unit is electrically connected to the input of the spatiotemporal alignment unit. The output of the spatiotemporal alignment unit is electrically connected to the input of the anomaly detection and repair unit. The output of the anomaly detection and repair unit is electrically connected to the input of the fusion computing unit. The output signal of the fusion computing unit is connected to the input signal of the data fusion processing module through a wire.

4. The hydropower unit frequency regulation AGC collaborative control device based on multi-sensor fusion according to claim 1, characterized in that: The frequency-modulated AGC collaborative control decision module includes a constraint processing unit, a model prediction control unit, and an instruction optimization allocation unit. The output of the constraint processing unit is electrically connected to the input of the model prediction control unit, the output of the model prediction control unit is electrically connected to the input of the instruction optimization allocation unit, and the signal output of the instruction optimization allocation unit is connected to the signal input of the frequency modulation AGC collaborative control decision module via a wire.

5. The hydropower unit frequency regulation AGC collaborative control device based on multi-sensor fusion according to claim 1, characterized in that: The execution drive module includes a signal conversion unit, a power amplification unit, and an actuator drive unit; The output terminal of the signal conversion unit is electrically connected to the input terminal of the power amplification unit, the output terminal of the power amplification unit is electrically connected to the input terminal of the actuator drive unit, and the signal output terminal of the actuator drive unit is connected to the signal input terminal of the actuator drive module via a wire.

6. The hydropower unit frequency regulation AGC collaborative control device based on multi-sensor fusion according to claim 1, characterized in that: The execution monitoring and feedback module includes an execution status monitoring unit, a data storage unit, and a signal conversion unit; The signal output terminal of the execution status monitoring unit is connected to the data storage unit and the signal conversion unit via wires, respectively. The signal output terminals of the data storage unit and the signal conversion unit are both connected to the signal input terminal of the status monitoring and feedback module via wires.

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