CN102654751A - Coordination control method based on nonlinear control and fuzzy control - Google Patents
Coordination control method based on nonlinear control and fuzzy control Download PDFInfo
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Abstract
The invention discloses a coordination control method based on nonlinear control and fuzzy control. The coordination control method comprises the following steps of: performing load selection on load orders of network control and load orders set by operators, and correcting the frequency deviation of the load orders to serve as electric power order signals; computing PID (Proportion Integration Differentiation) of a turbine master with the electric power order signal serving as a set value and engine power serving as a measured value, and generating a master order of a turbine with signals serving as feedforward, wherein the signals are formed by virtue of a function curve of pressure deviation and the variation of set pressure values; computing the PID of boiler master control with a set value formed by multiplying a steam pressure ratio with a main steam pressure value, and a heat signal serving as a measured value, and finally generating a boiler master control order with signals serving as feedforward, wherein the signals are generated by virtue of a function curve of boiler acceleration orders and the load orders; and controlling a thermal power unit according to the master control order of the turbine and the boiler master control order. The coordination control method has the advantage of balancing the supply and demand between a boiler and a turbonator in the unit so as to achieve optimal control.
Description
Technical field
The present invention relates to power plant and coordinate the control field, particularly, relate to a kind of control method for coordinating based on nonlinear Control and fuzzy control.
Background technology
When thermal power plant's monoblock was moved, boiler and turbodynamo were kept the requirement of external load jointly, and also common guarantee internal operation parameter (mainly being main steam pressure) is stable.Therefore whether the output power of monoblock and burden requirement be consistent has reflected energy the supply and demand equilibrium between unit and the external electrical network, and main steam pressure has then reflected energy the supply and demand equilibrium between unit inside boiler and the turbodynamo.That is to say that power and main vapour pressure are the major parameters that monoblock is coordinated control.
Because the operational process of boiler and turbodynamo respectively has characteristics, there is very big-difference in their dynamic perfromance, and the load responding of turbodynamo is fast, the boiler load low-response.Prior art can not guarantee monoblock control operation of coordinator, stove two sides well when loading control, reasonably keeps the supply and demand equilibrium of good inside and outside two energy, can not take into account load responding performance and internal operation parameter stability.That is to say that the existing unit unit can not guarantee that main steam pressure maintains in the allowed band when power response faster and certain fm capacity are externally arranged.
Summary of the invention
The objective of the invention is to; To the problems referred to above; Propose a kind of control method for coordinating, when power response faster and certain fm capacity externally being arranged, guarantee that main steam pressure maintains in the allowed band to be implemented in the unit group based on nonlinear Control and fuzzy control; Thereby make interior boiler of unit and the balance between supply and demand between the turbodynamo, reach the advantage of the efficient of maximum.
For realizing above-mentioned purpose, the technical scheme that the present invention adopts is:
Selections of loading of a kind of control method for coordinating, the load instruction that the instruction of the load of network control, operations staff are set based on nonlinear Control and fuzzy control, after correction as the electric power command signal;
With above-mentioned electric power command signal is that setting value, generator power are that setting value is carried out the PID computing; And (the corresponding power correction curve of pressure divergence when pressure divergence is big, instructs through change of load to pass through function curve with pressure divergence and pressure set points variable quantity; Come change of load; Avoid pressure divergence to strengthen, keep system stability because of increasing and decreasing load) signal that forms is as feedforward, forms the master control instruction of steam turbine;
Multiply by the main steam pressure value with vapour pressure ratio is setting value; Heat signal carries out boiler master PID computing as measured value, and (the load instruction changes and directly changes the boiler master instruction through function curve with the load instruction with the boiler assisted instruction; Rather than the boiler master instruction is adjusted in the variation of wait main vapour pressure again; Can improve the boiler response speed), the signal of formation finally forms the boiler master instruction as feedforward;
Master control instruction and boiler master instruction according to above-mentioned steam turbine are controlled fired power generating unit.
According to a preferred embodiment of the invention, said PID computing is:
The selection principle of its nonlinear function f (x) is: compare with linearity, take bigger control during little error, take less control during mistake, nonlinear function f (x) formula is following:
Wherein: x is the input wire size; δ is the filtering factor of function wave filter, increases δ filter effect is improved, but the carryover effects aggravation; α is a constant, and value between 0 ~ 1 is worth more for a short time, follows the tracks of soon more, and filter effect is poor more.
According to a preferred embodiment of the invention; Adopt fuzzy control in the said PID computing, deviation processing has adopted above-mentioned nonlinear function, and the stable state when its integral element is divided into load instruction no change dynamically becomes the integrating network when becoming integrating network and load instruction change; In the load change process, through
Dynamically become the integrating networkSuitably weaken integration, when load does not change, then be cut to stable state and become the integrating network, the power of integral action is blured from adjusting through deviation and deviation variation rate.
Technical scheme of the present invention; Fuzzy control and PID computing are carried out in master control instruction through to boiler instruction and steam turbine; The control operation of coordinator, stove two sides well reasonably keeps the well the supply and demand equilibrium of inside and outside two energy, to take into account load responding performance and internal operation parameter stability.Make monoblock that power response and certain fm capacity faster externally arranged, guarantee that simultaneously main steam pressure maintains in the allowed band, thereby make interior boiler of unit and the balance between supply and demand between the turbodynamo, reach optimally-controlled purpose.
Other features and advantages of the present invention will be set forth in instructions subsequently, and, partly from instructions, become obvious, perhaps understand through embodiment of the present invention.The object of the invention can be realized through the structure that in the instructions of being write, claims and accompanying drawing, is particularly pointed out and obtained with other advantages.
Through accompanying drawing and embodiment, technical scheme of the present invention is done further detailed description below.
Description of drawings
Accompanying drawing is used to provide further understanding of the present invention, and constitutes the part of instructions, is used to explain the present invention with embodiments of the invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the output power instruction process schematic diagram of the described control method for coordinating based on nonlinear Control and fuzzy control of the embodiment of the invention;
Fig. 2 is the boiler master command instruction handling principle figure of the described control method for coordinating based on nonlinear Control and fuzzy control of the embodiment of the invention;
Fig. 3 is the steam turbine master control command instruction handling principle figure of the described control method for coordinating based on nonlinear Control and fuzzy control of the embodiment of the invention;
Fig. 4 is the fuzzy control rule table of the described control method for coordinating based on nonlinear Control and fuzzy control of the embodiment of the invention;
Fig. 5 is the boiler assisted instruction fundamental diagram of the described control method for coordinating based on nonlinear Control and fuzzy control of the embodiment of the invention:
Fig. 6 is the boiler signal for faster configuration figure of the described control method for coordinating based on nonlinear Control and fuzzy control of the embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein only is used for explanation and explains the present invention, and be not used in qualification the present invention.
Selections of loading of a kind of control method for coordinating, the load instruction that the instruction of the load of network control, operations staff are set based on nonlinear Control and fuzzy control, after correction as the electric power command signal;
With the electric power command signal be that setting value, generator power are that setting value is carried out the PID computing; And (the corresponding power correction curve of pressure divergence when pressure divergence is big, instructs through change of load to pass through function curve with pressure divergence and pressure set points variable quantity; Come change of load; Avoid pressure divergence to strengthen, keep system stability because of increasing and decreasing load) signal that forms is as feedforward, forms the master control instruction of steam turbine;
Multiply by the main steam pressure value with vapour pressure ratio is setting value; Heat signal carries out boiler master PID computing as measured value, and (the load instruction changes and directly changes the boiler master instruction through function curve with the load instruction with the boiler assisted instruction; Rather than the boiler master instruction is adjusted in the variation of wait main vapour pressure again; Can improve the boiler response speed), the signal of formation finally forms the boiler master instruction as feedforward;
Master control instruction and boiler master instruction according to steam turbine are controlled fired power generating unit.
The PID computing is:
；
The selection principle of its nonlinear function f (x) is: compare with linearity, take bigger control during little error, take less control during mistake, nonlinear function f (x) formula is following:
Wherein: x is the input wire size; δ is the filtering factor of function wave filter, increases δ filter effect is improved, but the carryover effects aggravation; α is a constant, and value between 0 ~ 1 is worth more for a short time, follows the tracks of soon more, and filter effect is poor more.
Adopt fuzzy control in the PID computing; Deviation processing has adopted above-mentioned nonlinear function, and the stable state when its integral element is divided into load instruction no change dynamically becomes the integrating network when becoming integrating network and load instruction change, in the load change process; Suitably weaken integration through dynamic change integrating network; When load does not change, then be cut to stable state and become the integrating network, through deviation and deviation variation rate the power of integral action is blured from adjusting; To reach quick elimination deviation; And reduce the purpose of overshoot, and dynamically become integrating network, stable state and become the rate of change judgement system automatically that the integrating network is meant the instruction of logical foundation load and be in dynamically or stable state, adopt the way that changes integral time to realize the accurately method of control on this basis.
Wherein, 1) load command calculations loop
The main effect of load command calculations part: the load instruction (Automatic Dispatch System) that ADS is provided, operations staff to the target load of machine settings, mains frequency deviation to of the correction of the inner abnormal conditions of correction, the unit of unit load to unit load; Select; And handle; Make it to change into the actual load instruction (ALD) that adapts with unit equipment situation at that time and safe operation situation, as the set-point signal of electromotive power output.
The meaning of an order is following among Fig. 1:
ADS: the load instruction of network control
Wsp: the load instruction that the operations staff sets
W: actual load
RUNBACK: when Important Auxiliary equipment breaks down
FCB: off-grid removal of load, unit house load operation (island operation)
RUNDOWN: when Important Auxiliary equipment is unusual, when the unit output increase was restricted, load descended automatically
RUNUP:, when the unit output reduction is restricted, loads and rise automatically when Important Auxiliary equipment is unusual
BL IN: forbid that load instruction increases (BLOCK INCREASE), BL DE: forbid that it is according to the unit important parameter that the load instruction subtracts (BLOCK DECREASE): fuel (FUEL FLOW), air-supply (AIR FLOW), furnace pressure (FURN PRESS), when feedwater (FWF) and instruction deviation surpasses certain value, produced when perhaps conditioning equipment has reached capacity.
The formation of unit load instruction at first changes requiring to confirm according to external load, " target load selections " is exactly selection according to operations staff's load setting still is that power grid control is instructed.When input is the load instruction that step changes, what export behind the through-rate limiter is a ramp signal with certain slope variation, and slope is exactly the speed of load variations, and it can artificially be set according to load-following capacity and service requirement by the operations staff.Under unit Important Auxiliary equipment failure condition, select different speed and desired value." load Instruction Selection " also is responsible for when unit is in the different methods of operation, and the switching of load instruction is followed the tracks of; So that method of operation unperturbed when switching.If require unit that the frequency departure of electrical network is carried out the Automatic load change correction, the load instruction will add the frequency departure correction, finally export through the revised instruction of frequency departure.
For guarantee the safe operation of unit, just AGC and operations staff's load instruction needs to handle the load instruction (N0) that becomes reality through some.Mainly contain processing capacities such as the load instruction mode is selected, load rate restriction, load height/low clip, loadlock/subtract, RUNBACK, the urgent lifting/lowering of load.
2) unit operation management
The main effect of unit operation mode administrative section:, select suitable unit operation mode according to unit operation condition and requirement.Make boiler master controller and steam turbine master controller when the control power of the assembling unit and main steam pressure, take suitable regulative mode respectively, to produce boiler master instruction and steam turbine master control instruction.
Coordinate power and main vapour pressure that control is meant monoblock boiler and steam turbine coordination control unit.When the load instruction changes; The unit master controller changes the combustion rate of boiler and the throttle flow of steam turbine concurrently; While is suitably limited the regulating action of variation of steam turbine pitch aperture and suitable reinforcement boiler in order to make the main vapour pressure fluctuation in reasonable range with the variation of vapour pressure.Under this coordinated control mode, unit is the variation of load-responsive quickly.Can keep the set steady operation again.
This coordinated control mode design proposal is the DEB mode, i.e. DIRECT ENERGY balance mode, and its design philosophy is mainly:
A. embody the principle of boiler-turbine coordinated control.When workload demand occurring, parallel power controlling and the vapour pressure of participating in of machine stove;
B. the viewpoint with " energy equilibrium " designs coordinated control system." energy " refers to the energy in the unit interval, i.e. " power ".As shown in Figure 2:
Explain: in Fig. 2: A, heat signal P1+ (dPd/dt) heat release signal or abbreviation; It adds that with governing stage vapour pressure P1 the boiler accumulation of energy changes (with the differential representation of drum pressure Pd) and measures, and has represented the fuel quantity (with corresponding air quantity) that gets into boiler to measure indirectly.No matter use which kind of fuel, this measurement all is correct, and it can reflect the change of quantity of fuel, also reflects the change of fuel composition simultaneously, comprises the change of its thermal value.The mechanical fault of fuel delivery system also can obtain quick reflection.It is the same that erect image energy requirement signal must be exempted the influence of boiler disturbance, and heat signal also must be exempted the influence of steamer pusher side disturbance, with the energy of definite statement boiler supplying.Fact of case is also as this, and porthole is opened when big, and P1 raises, and drum pressure is but reducing, and both are balance just in time, and heat signal is constant, and action of this expression steam turbine valve is to not influence of heat signal.
B, P1/PT governing stage vapour pressure P1 are to the effective measured value into the speed regulator valve opening that likens to of main steam pressure PT.The experiment proof; This ratio has linear characteristic in the steam turbine operation scope; And because this measured value is directly taken from steam turbine process mechanism itself, rather than the artificial valve position signal that constitutes, can not receive the non-linear of valve itself and other mechanical problem shadows.Also can not receive any disturbance of boiler side or fuel system is in-problem influences, because under this disturbance, it is proportional that the vapour pressure of governing stage and main steam pressure change, and ratio is constant.C, PS (P1/PT) vapour pressure ratio multiply by the main steam pressure definite value, and the expression steam turbine is demanded the desired signal of energy to boiler.This signal has been set up correct proportionate relationship between steam turbine load and the speed governing door aperture; Do not receive the boiler side disturbing influence; No matter when constant duty or changing load; Or when normal pressure operation or sliding pressure operation, all be correct, it provides a kind of effective means for the coordination between boiler and the steam turbine.In the DEB system, it is as the set-point of fuel-control unit.
Boiler master controller multiply by the main steam pressure definite value as setting value with PS (P1/PT) vapour pressure ratio; Heat signal P1+ (dPd/dt) is as measured value; Carry out the PID computing and (introduce the control of DIRECT ENERGY balancing method; Through non-linearity PID and fuzzy control table technical application), the signal that forms through function curve with boiler assisted instruction and load instruction (LDCOUT) finally forms boiler master instruction (BMOUT) as feedforward.
The steam turbine master control
The steam turbine master controller is a setting value with load instruction (pressure divergence is made modified value); A real power is that measured value carries out the PID computing; The signal that forms through function curve with pressure divergence and pressure set points variable quantity finally forms steam turbine master control instruction (TUBOUT) as feedforward.
The optimal design explanation:
1, the coordinated control system design proposal is DIRECT ENERGY balancing method control (DEB), and DEB control itself has voltage adjustment characteristic, and it uses heat signal to reflect fuel quantity indirectly, the pitch aperture of pressure ratio signal reflection steam turbine.But the pressure ratio signal is also very sensitive to the reaction of signal noise in the actual motion, will further amplify at the noise through signal after the lead compensation, so must be to the effective filtering of energy instruction carrying out.The sensitivity of signal has also been sacrificed in general inertia filtering when overcoming noise.For the retardation signal not again of elimination noise effectively, we adopt limit filtration ALF (AmplitudeLimitingFilter) method in design.Amplitude for its noise of pressure ratio signal is more uniform; ALF is through setting the filtering amplitude based on the signal average; Form a noise filtering band that floats on signal; Noise in filtering band amplitude is effectively overcome, and obtain true reflection greater than the useful signal variable quantity of filtering band amplitude.It is very easy that the filtering amplitude of ALF is adjusted on engineering, just can confirm this setting valve as long as write down and measure the average amplitude of signal noise.(like Fig. 2)
Increase the feedforward of power instruction in the steam turbine master control, the acceleration regulating action that it rose will help the reheater volume hysteresis that system overcomes the resuperheat unit, further improve response speed.
2, the use of non-linearity PID
The output of conventional PID controllers is the linear combination of the PID of deviation signal, therefore can't solve the contradiction between rapidity and the overshoot.In order to solve the contradiction between rapidity and the overshoot, can adopt rational nonlinear characteristic.It is specific as follows:
See Fig. 7,
The PID control law that is called nonlinearity erron.
The principle of choosing nonlinear function f (x) is: compare with linearity, take bigger control during little error, take less control during mistake.Such nonlinear function has a lot, and what the design adopted is the FAL function:
Participate in pid algorithm module control with changed scale among the boiler master figure, become integration control.
3, the application of fuzzy control rule table
In the nonlinear Control of complicacy, adopt rule control sometimes, need set up fuzzy control rule table.Though the bivariate table module is arranged in the algorithmic block of some diffusing control system, be used in the fuzzy control and will receive certain restriction, as have plenty of the binary array algorithmic block of simple 5X5.Fuzzy control table rule divided rank is relevant with its control accuracy, and design adopts traditional functional blocks, adder block, handoff block algorithmic block to realize the fuzzy control rule table of any grade.As shown in Figure 4.
Introduce the boiler regulator deviation, set up fuzzy control rule table, generate fuzzy control signal (BMPFCO).What realize is the fuzzy control rule table of 11X11, after the deviation E obfuscation, after F (x) functional blocks, transfers 0 ~ 10 to; After the deviation variation rate DE obfuscation; After F (x) functional blocks, transfer 1 ~ 11 to, pass through formula 11*E+DE again, required bivariate table is converted into 1 ~ 121 one dimension table.If need the bivariate table of other grades, can according to said method analogize.
Because the coupling of multiparameter, coordinated control system belong to comparatively complicated feedforward and Feedback system.Though energy controller adopts the PID control structure; But very big difference is arranged with traditional PID controller control; Adopted nonlinear function NLFAL module in deviation processing; The PID module adopts the variable element pattern, and the stable state when its integral element is divided into load instruction no change again dynamically becomes the integrating network when becoming integrating network and load instruction change.In the load change process, suitably weaken integration through dynamic change integrating network., then be cut to stable state and become the integrating network when not changing at load, the power of integral action blur from adjusting through deviation and deviation variation rate, reaching quick elimination deviation, and the purpose of minimizing overshoot.
4, boiler assisted instruction (BIR)
Through the use of gamma controller, the steady-state adjustment effect of main vapour pressure will improve.Feedforward adds boiler assisted instruction (BIR) but the improvement of dynamic adjustments process then need be used instruction.In load alternation process, to the different response time to load variations such as air quantity, fuel, desuperheating water, set up different overshoot signals (BIR) such as air-supply, fuel, be used for correction to the dynamic response process.On the other hand, in order in time to replenish accumulation of heat, also must carry out an amount of overshoot to fuel, other parameter also has the overshoot that adapts with it.Through the toning (when load rises) and less stress (the when load descends) effect of each boiler input instruction, quicken the boiler process control, improve the controllability of main vapour pressure and temperature.
Introduce the boiler regulator deviation, set up fuzzy control rule table, generate fuzzy control signal (BMPFCO).What realize is the fuzzy control rule table of 11X11, after the deviation E obfuscation, after F (x) functional blocks, transfers 0 ~ 10 to; After the deviation variation rate DE obfuscation; After F (x) functional blocks, transfer 1 ~ 11 to, pass through formula 11*E+DE again, required bivariate table is converted into 1 ~ 121 one dimension table.If need the bivariate table of other grades, can according to said method analogize.
Because the coupling of multiparameter, coordinated control system belong to comparatively complicated feedforward and Feedback system.Though energy controller adopts the PID control structure; But very big difference is arranged with traditional PID controller control; Adopted nonlinear function NLFAL module in deviation processing; The PID module adopts the variable element pattern, and the stable state when its integral element is divided into load instruction no change again dynamically becomes the integrating network when becoming integrating network and load instruction change.In the load change process, suitably weaken integration through dynamic change integrating network., then be cut to stable state and become the integrating network when not changing at load, the power of integral action blur from adjusting through deviation and deviation variation rate, reaching quick elimination deviation, and the purpose of minimizing overshoot.
4, boiler assisted instruction (BIR)
Through the use of gamma controller, the steady-state adjustment effect of main vapour pressure will improve.Feedforward adds boiler assisted instruction (BIR) but the improvement of dynamic adjustments process then need be used instruction.In load alternation process, to the different response time to load variations such as air quantity, fuel, desuperheating water, set up different overshoot signals (BIR) such as air-supply, fuel, be used for correction to the dynamic response process.On the other hand, in order in time to replenish accumulation of heat, also must carry out an amount of overshoot to fuel, other parameter also has the overshoot that adapts with it.Through the toning (when load rises) and less stress (the when load descends) effect of each boiler input instruction, quicken the boiler process control, improve the controllability of main vapour pressure and temperature.
What should explain at last is: the above is merely the preferred embodiments of the present invention; Be not limited to the present invention; Although the present invention has been carried out detailed explanation with reference to previous embodiment; For a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. the control method for coordinating based on nonlinear Control and fuzzy control is characterized in that, the load instruction that the instruction of the load of network control, operations staff are set selections of loading, after correction as the electric power command signal;
With above-mentioned electric power command signal is that setting value, generator power are that setting value is carried out the PID computing; And (the corresponding power correction curve of pressure divergence when pressure divergence is big, instructs through change of load to pass through function curve with pressure divergence and pressure set points variable quantity; Come change of load; Avoid pressure divergence to strengthen, keep system stability because of increasing and decreasing load) signal that forms is as feedforward, forms the master control instruction of steam turbine;
Multiply by the main steam pressure value with vapour pressure ratio is setting value; Heat signal carries out boiler master PID computing as measured value, and (the load instruction changes and directly changes the boiler master instruction through function curve with the load instruction with the boiler assisted instruction; Rather than the boiler master instruction is adjusted in the variation of wait main vapour pressure again; Can improve the boiler response speed), the signal of formation finally forms the boiler master instruction as feedforward;
Master control instruction and boiler master instruction according to above-mentioned steam turbine are controlled fired power generating unit.
2. the control method for coordinating based on nonlinear Control and fuzzy control according to claim 1 is characterized in that, said PID computing is:
The selection principle of its nonlinear function f (x) is: compare with linearity, take bigger control during little error, take less control during mistake, nonlinear function f (x) formula is following:
Wherein: x is the input wire size; δ is the filtering factor of function wave filter, increases δ filter effect is improved, but the carryover effects aggravation; α is a constant, and value between 0 ~ 1 is worth more for a short time, follows the tracks of soon more, and filter effect is poor more.
3. the control method for coordinating based on nonlinear Control and fuzzy control according to claim 1 and 2; It is characterized in that; Adopt fuzzy control in the said PID computing, deviation processing has adopted above-mentioned nonlinear function, and the stable state when its integral element is divided into load instruction no change dynamically becomes the integrating network when becoming integrating network and load instruction change; In the load change process, through
Dynamically become the integrating networkSuitably weaken integration, when load does not change, then be cut to stable state and become the integrating network, the power of integral action is blured from adjusting through deviation and deviation variation rate.
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