CN106712615B - The control method of Gas Turbine Generating Units in energy mix electric system - Google Patents
The control method of Gas Turbine Generating Units in energy mix electric system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
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- G06F30/17—Mechanical parametric or variational design
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/25—Special adaptation of control arrangements for generators for combustion engines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2103/00—Controlling arrangements characterised by the type of generator
- H02P2103/20—Controlling arrangements characterised by the type of generator of the synchronous type
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Abstract
The invention discloses a kind of control method of Gas Turbine Generating Units in energy mix electric system, comprising steps of one, establish the mathematical model of gas turbine generating system under island mode；Two, design controller and using controller control gas turbine: 1, Dynamic Surface Design, 2, utilize Backstepping design Robust adaptive controller, 3, designed reliability controller.The control method of Gas Turbine Generating Units in energy mix electric system of the present invention controls complicated non-linear gas turbine engine systems by the Robust adaptive controller of design, enough obtains preferable control effect；And it being capable of safeguards system reliably working when load disturbance or when actuator failures by the Control for Dependability device of design control gas turbine engine systems.
Description
Technical Field
The invention relates to the field of power generation of hybrid energy power systems, in particular to a power control and reliable control method applied to a gas turbine power generation system.
Background
At present, the haze phenomenon is severe, the environmental problem is increasingly prominent, the construction of a new energy (including solar energy, wind energy and the like) power generation system is accelerated, the energy conversion efficiency is improved, and the proportion of fossil fuel in a power system is adjusted to be very important. However, photovoltaic power generation and wind power generation in new energy systems utilize solar energy and wind energy, both of which have intermittent characteristics. Under the condition of no illumination or insufficient wind power, the energy generated by photovoltaic power generation and wind power generation is insufficient to meet the power demand of a load side. The gas turbine generator set taking natural gas or liquid fuel as fuel has unique advantages, and can be used as a supplementary energy source in an electric network. There are many documents that develop research on the fusion control strategy of natural gas with wind power generation, photovoltaic power generation and battery power generation systems. Moreover, with the rising of the proportion of natural gas and liquid fuel in primary energy and the maturity of the gas turbine technology, the proportion of the gas turbine in power generation equipment in China is gradually increased, and a total energy system taking the gas turbine as a core becomes the development trend of thermal power in China. Therefore, a hybrid power system incorporating clean energy such as natural gas is one of effective ways to solve the environmental pollution caused by fossil fuels.
With the research and solution of people on practical problems and the maturity of control theory, the control theory of the gas turbine is gradually developed and breaks through the classical PID algorithm, and the advanced control algorithm mainly comprises fuzzy control, fuzzy neural network, predictive control, robust control, internal model control, feedback linearization control and the like, and is also introduced into the control algorithm. However, in the most important rotational speed control link of the gas turbine, a PID controller or a lead-lag transfer function is adopted for processing. However, for a complex gas turbine system with nonlinear multivariable, when the load demand on the load side changes, the gas turbine power generation system will be disturbed, and the control methods of the two often cannot achieve the expected control effect. Moreover, influence of actuator faults on the gas turbine is ignored, so that a gas turbine power generation system cannot reliably work, and disturbance can be generated on the whole hybrid system or a power grid.
Disclosure of Invention
In view of the above, the present invention provides a method for controlling a gas turbine generator set in a hybrid power system, so as to solve the problem in the prior art that the power generation system cannot reliably operate due to the fact that actuator faults are ignored in gas turbine control, and solve the problem that a conventional PID algorithm is mostly adopted in a rotational speed control link of a gas turbine, and the control effect of a complex nonlinear multivariable gas turbine system is not good enough.
The invention discloses a control method of a gas turbine generator set in a mixed energy power system, which comprises the following steps:
firstly, establishing a mathematical model of a gas turbine power generation system in an island mode:
wherein x is1Represented by gas turbine speed, x2For the inlet gas flow W of the turbinef2，x3Is the combustion chamber fuel flow Wf，x4The fuel quantity is adjusted by a valve and then enters the fuel pump, wherein u is a rotating speed control signal; t iseThe torque is the electromagnetic torque of the permanent magnet synchronous motor, and J is the moment of inertia; t isCDIs a turbine cycle time parameter, wherein a, b, c are valve position constants, Ka,TaAs a fuel transmission system parameter, kfIs a minimum load constant, where kfHas a value range of kl～(1-kl)；
Considering the actuator failure case, the above equation can be rewritten as:
wherein,for the state matrix, u, y are controller inputs and outputs, giFor controller gain, θiA matrix of representative parameters is then generated,is a perturbation term; wherein u isaFor the actual controller input, u is the design controller input, ρ (t) represents the health factor of the actuator, and thus the actual controller is uaρ (t) u, where ρ (t) 0 indicates complete actuator failure and ρ (t) 1 indicates normal actuator operation; taking 0 < rho (t) < 1 because the fault condition of the actuator is considered;
designing a controller and controlling the gas turbine by using the controller;
1. dynamic surface design
By transformation of coordinates
z1＝x1-yd
zi＝xi-αif
Wherein, ydFor designed rotational speed reference value, wherein αifIs a filter;
defining an error surface:
yi＝αif-αi-1
wherein, αiIs a virtual controller, satisfies
ξ thereiniFor filtering parameters, ξi> 0, and αif(0)＝αi-1(0)；
2. Designing a robust adaptive controller by utilizing a back stepping method:
wherein c isiIs a parameter, and ci＞0，Is thetaiAn estimated value of (d);
3. designing a reliability controller:
u＝N(ζ)η
where u is the design controller input, so the actual controller is uaρ (t) u, where ρ (t) represents the health factor of the actuator; ρ (t) ═ 0 represents that the actuator completely fails, and ρ (t) ═ 1 represents that the actuator normally works; taking 0 < rho (t) < 1 because the fault condition of the actuator is considered; n (zeta) is Nussbaum function, and N (zeta) is equal to exp (zeta)2)cos((pi/2)ζ),ζ∈R，k4And iota is the normal number.
The invention has the beneficial effects that:
1. the control method of the gas turbine generator set in the hybrid energy power system controls the complex nonlinear gas turbine system through the designed robust adaptive controller, and can obtain a better control effect.
2. The control method of the gas turbine generator set in the hybrid energy power system controls the gas turbine system through the designed reliability controller, and can ensure the reliable work of the system when the load is disturbed or the actuator fails.
Drawings
FIG. 1 is a schematic diagram of the basic components of a gas turbine generator set.
FIG. 2 is a block diagram of a gas turbine fuel system.
FIG. 3 is a schematic diagram of the main control system of the gas turbine.
FIG. 4 is a simplified system model architecture diagram of a gas turbine power generation system in island mode.
Fig. 5 is a graph of rotational speed tracking.
FIG. 6 shows an actual controller uaPlot as a function of sample time.
FIG. 7 is a parameter estimationPlot as a function of sample time.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1, the gas turbine generator set is mainly composed of a gas turbine, a permanent magnet synchronous motor PMSM, a power electronic converter such as a rectification inverter, a filter, a load, and the like. The gas turbine mainly comprises a compressor, a combustion chamber and a turbine. Air enters the compressor, is compressed into high-pressure gas and is mixed with fuel sprayed into the combustion chamber and fully combusted, the discharged high-temperature high-pressure gas pushes the turbine to rotate so as to push the permanent magnet synchronous motor to generate electricity, and the process converts chemical energy contained in the fuel into electric energy to supply a load.
The fuel system of the gas turbine comprises a valve position system and a fuel transmission system, and the block structure is shown in figure 2. The control signal and the rotating speed signal act together to generate a fuel signal UfThe fuel signal acting on a valve to control the amount W of fuel entering the combustion chamberf. Wherein, in order to avoid the gas turbine working under the low load state, the fuel in the combustion chamber is ensured not to be lower than the fuel quantity required by stable combustion, therefore, the minimum load constant kfTo ensure stable combustion in the combustion chamber, wherein kfHas a value range of kl～(1-kl)。
In the gas turbine, after fuel and high-pressure air are mixed and sufficiently combusted in a combustion chamber, high-temperature and high-pressure gas is discharged. The gas enters the turbine along with the pipeline, and pushes the turbine blades to rotate so as to generate mechanical energy. The mechanical energy drives the permanent magnet synchronous motor to generate electric energy. Turbine torque TmFrom the turbine speed ω and the amount of gas W entering the turbinef2Co-act to produce, in its output function, an expression f1As follows:
f1＝1.3(Wf-0.23)+0.5(1-ω)。
the control system of the gas turbine mainly comprises a temperature control link, a speed control link and an acceleration control link. The temperature control link mainly controls the combustion chamber of the gas turbine not to be over-temperature or over-pressure, ensures that the gas turbine works under the proper temperature condition, and ensures the normal and stable work of each part of the system. The acceleration control link mainly works under two conditions: firstly, in the starting process of the gas turbine, the rotating speed is limited to be increased too fast when the rotating speed reaches the working rotating speed in the starting link; and secondly, in the load shedding process, an acceleration control link is used for preventing the machine from dynamically overspeed. These three control links give three fuel stroke signals: the Fuel Stroke Reference, abbreviated as FSR, is the Fuel Stroke signal FSRT generated by the temperature controller, the Fuel Stroke signal FSRN generated by the rotational speed controller, and the Fuel Stroke signal FSRA generated by the acceleration controller, respectively. The minimum system MIN selects the minimum of these three control signals as the fuel stroke signal FSR of the fuel system, as shown in fig. 3.
In order to better study the influence of the rotational speed control of the gas turbine generator set on the system, a temperature control link and an acceleration control link are usually omitted. Based on the above analysis, the system architecture 1 is simplified in view of a gas turbine power generation system in island mode, and the system shown in fig. 4 is obtained according to the simplified model proposed by William i.rowen.
The control method of the gas turbine generator set in the mixed energy power system comprises the following steps:
firstly, establishing a mathematical model of a gas turbine power generation system in an island mode:
wherein x is1Represented by gas turbine speed, x2For the inlet gas flow W of the turbinef2，x3Is the combustion chamber fuel flow Wf，x4The fuel quantity is adjusted by a valve and then enters the fuel pump, wherein u is a rotating speed control signal; t iseThe torque is the electromagnetic torque of the permanent magnet synchronous motor, and J is the moment of inertia; t isCDIs a turbine cycle time parameter, wherein a, b, c are valve position constants, Ka,TaAs a fuel transmission system parameter, kfIs a minimum load constant, where kfHas a value range of kl～(1-kl)；
Considering the actuator failure case, the above equation can be rewritten as:
wherein,for the state matrix, u, y are controller inputs and outputs, giFor controller gain, θiA matrix of representative parameters is then generated,is a perturbation term; wherein u isaFor the actual controller input, u is the design controller input, ρ (t) represents the health factor of the actuator, and thus the actual controller is uaρ (t) u, where ρ (t) 0 indicates complete actuator failure and ρ (t) 1 indicates normal actuator operation; taking 0 < rho (t) < 1 because the fault condition of the actuator is considered;
designing a controller and controlling the gas turbine by using the controller;
1. dynamic surface design
By transformation of coordinates
z1＝x1-yd
zi＝xi-αif
Wherein, ydFor designed rotational speed reference value, wherein αifIs a filter;
defining an error surface:
yi＝αif-αi-1
wherein, αiIs a virtual controller, satisfies
Wherein, ξiFor filtering parameters, ξi> 0, and αif(0)＝αi-1(0)；
2. Designing a robust self-adaptive virtual controller by utilizing a back stepping method:
wherein c isiIs a parameter, and ci＞0，Is thetaiAn estimated value of (d);
3. designing a reliability controller:
u＝N(ζ)η
where u is the design controller input, so the actual controller is uaρ (t) u, where ρ (t) represents the health factor of the actuator; ρ (t) ═ 0 represents that the actuator completely fails, and ρ (t) ═ 1 represents that the actuator normally works; taking 0 < rho (t) < 1 because the fault condition of the actuator is considered; n (zeta) is Nussbaum function, and N (zeta) is equal to exp (zeta)2)cos((pi/2)ζ),ζ∈R，k4And iota is the normal number.
The following is a simulation verification of the control method of the gas turbine generator set in the hybrid energy power system of the embodiment.
The actuator health factor is taken as ρ ═ 0.8+0.2cos ((pi/4) t), and the Nussbaum function is taken as N (ζ) ═ exp (ζ)2) cos ((pi/2) ζ), the simulation parameter value ζ is 1, and the iota is 0.0001. The simulation results are shown in fig. 5, 6 and 7 below.
As can be seen from fig. 5 to 7, there is a deviation between the actual controller and the design controller when an actuator failure occurs. The reliable control designed in this embodimentThe controller can quickly track the given value, and the controller can also quickly adjust to contain the fault of the actuator, thereby realizing reliable work. Estimation of parameters from FIG. 7Fast stabilization indicates that the system is rapidly stabilized. The simulation verifies that the controller can work reliably and the rotating speed can reach the preset value quickly.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (1)
1. The control method of the gas turbine generator set in the hybrid energy power system is characterized in that: the method comprises the following steps:
firstly, establishing a mathematical model of a gas turbine power generation system in an island mode:
wherein x is1Represented by gas turbine speed, x2For the inlet gas flow W of the turbinef2，x3Is the combustion chamber fuel flow Wf，x4Is the amount of fuel entering after valve adjustment, wherein u is a rotating speed control signal, TeIs the electromagnetic torque of the permanent magnet synchronous motor, J is the moment of inertia, TCDIs a turbine cycle time parameter, wherein a, b, c are valve position constants, Ka,TaAs a fuel transmission system parameter, kfIs a minimum load constant, where kfHas a value range of kl～(1-kl)；
Considering the case of actuator failure, the above equation can be rewritten as:
wherein,for the state matrix, u, y are controller inputs and outputs, giFor controller gain, θiA matrix of representative parameters is then generated,Δias disturbance term, uaFor the actual controller input, u is the design controller input, ρ (t) represents the health factor of the actuator, and thus the actual controller is uaρ (t) u, where ρ (t) 0 indicates complete actuator failure and ρ (t) 1 indicates normal actuator operation; taking 0 < rho (t) < 1 because the fault condition of the actuator is considered;
designing a controller and controlling the gas turbine by using the controller;
1. dynamic surface design
By transformation of coordinates
z1＝x1-yd
zi＝xi-αif
Wherein, ydFor designed rotational speed reference value, wherein αifIs a filter;
defining an error surface:
yi＝αif-αi-1
wherein, αiIs a virtual controller, satisfies
ξ thereiniFor filtering parameters, ξi> 0, and αif(0)＝αi-1(0)；
2. Designing a robust self-adaptive virtual controller by utilizing a back stepping method:
wherein c isiIs a parameter, and ci＞0，Is thetaiAn estimated value of (d);
3. designing a reliability controller:
ua＝ρ(t)N(ζ)η
wherein the actual controller is uaP (t) u is input into a design controller, p (t) represents a health factor of an actuator, and 0 < p (t) < 1 is taken in consideration of actuator fault conditions; n (zeta) is Nussbaum function, and N (zeta) is equal to exp (zeta)2)cos((pi/2)ζ),ζ∈R，k4And iota is the normal number.
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| CN107313861B (en) * | 2017-08-17 | 2018-12-07 | 青岛格莱瑞智能控制技术有限公司 | The Robust adaptive controller of Gas Turbine Generating Units |
| CN110492809B (en) * | 2019-08-26 | 2020-09-04 | 青岛大学 | Asynchronous motor dynamic surface discrete fault-tolerant control method based on neural network approximation |
| CN113078644B (en) * | 2021-05-13 | 2023-02-24 | 贵州大学 | Self-adaptive event trigger control method of permanent magnet synchronous generator coupled chaotic network system |
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| CN101078373A (en) * | 2007-07-05 | 2007-11-28 | 东北大学 | Combustion controlling device and controlling method for mini combustion turbine |
| CN101131571A (en) * | 2007-08-15 | 2008-02-27 | 华北电力大学 | PID parameter setting method for monobloc generator group coordination and control system |
| US7425771B2 (en) * | 2006-03-17 | 2008-09-16 | Ingeteam S.A. | Variable speed wind turbine having an exciter machine and a power converter not connected to the grid |
| CN103511086A (en) * | 2013-07-31 | 2014-01-15 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | Differential rotational speed control method for gas turbine-synchronous generator unit |
| CN105464814A (en) * | 2015-12-30 | 2016-04-06 | 中国航空工业集团公司沈阳发动机设计研究所 | Control method of dual-shaft gas turbine in sudden load change state |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7425771B2 (en) * | 2006-03-17 | 2008-09-16 | Ingeteam S.A. | Variable speed wind turbine having an exciter machine and a power converter not connected to the grid |
| CN101078373A (en) * | 2007-07-05 | 2007-11-28 | 东北大学 | Combustion controlling device and controlling method for mini combustion turbine |
| CN101131571A (en) * | 2007-08-15 | 2008-02-27 | 华北电力大学 | PID parameter setting method for monobloc generator group coordination and control system |
| CN103511086A (en) * | 2013-07-31 | 2014-01-15 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | Differential rotational speed control method for gas turbine-synchronous generator unit |
| CN105464814A (en) * | 2015-12-30 | 2016-04-06 | 中国航空工业集团公司沈阳发动机设计研究所 | Control method of dual-shaft gas turbine in sudden load change state |
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