水轮机调节系统模型及其控制策略研究
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摘要
水力发电是我国电能供给的重要来源之一,在电网系统中担负着调频、调峰等重要角色,对保障电网频率电压的稳定、平衡电网负荷需求平衡,起到十分重要的作用。水力发电系统是一个包括水力系统、水轮发电机组、调速系统、励磁系统等子系统组成的复杂非线性大系统,其中水轮机调节系统调节性能的好坏是影响电网系统频率性能的重要因素之一,因此深入研究水力发电水轮机调节系统调节方式对于提高电力系统频率稳定质量、提高电力系统稳定性具有十分重要的现实意义。
本论文以水电站水轮机调节系统为研究中心,以提高水轮机调节系统输出性能为研究目的,根据实际水电站水轮发电系统水工结构的不同,系统性地从模型分类、建模方法、控制策略三方面对水轮机调节系统提出了研究思路,对水轮机调节系统模型及控制策略等多个方面内容进行深入研究。
全文共5章,各章节主要内容可归纳如下：
第1章绪论：简要回顾国内外水电站水轮机调节系统模型及相关控制方法研究现状和研究进展,论述开展水电站水轮机调节系统模型及控制策略研究的必要性、重要性。针对目前实际运行水电站水轮机调节系统水力子系统水工结构的不同,提出本论文的主要研究内容。
第2章水轮机调节系统模型分析：根据目前实际水轮机发电系统水力子系统的实际水工结构形式,以水力学中的连续性方程和能量守恒方程为基础,充分考虑流体瞬变流变化对水轮机发电系统的影响,系统提出分析建立了进水口-单压力管道-水轮发电机组(无调压室)水轮机调节系统模型、进水口-引水隧洞-调压室-压力管道-水轮发电机组(有调压室)水轮机调节系统模型和进水口-引水隧洞-调压室-一管多机水轮发电机组(一管多机)水轮机调节系统模型,并利用时域分析法和频域分析法对模型进行特性分析。
第3章单压力引水管水轮机调节系统控制策略：根据实际运行水电站水力系统的不同水流特点,把单压力引水管(无调压室)水轮机调节系统划分为刚性水体水轮机调节系统和弹性水体水轮机调节系统。对刚性水体水轮调节系统模型,根据PID控制器便于掌握且易于工程实现等特点,针对刚性水体水轮机调节系统模型特点,应用尼科尔斯PID设计理论方法,建立了适用于该理论的水轮机调节系统控制结构,推导了简单易懂的PID控制参数调整规律。对弹性水体水轮机调节系统模型,结合鲁棒控制优异的抗干扰及抗参数摄动性能,设计H∞双回路鲁棒控制策略,设计了基于H∞鲁棒控制理论的双回路水轮机调节控制系统,有针对性地提高了水轮机调节系统控制性能。
第4章有调压室水轮机调节系统控制策略：以进水口-引水隧洞-调压室-压力管道-水轮发电机组(有调压室)水轮机调节系统模型为研究对象,构建了有调压室水轮机调节系统5阶非线性模型和刚性水体有调压室水轮机调节系统模型。对所建立的5阶水轮机调节系统非线性模型,首次应用多性能指标非线性控制方法进行水轮机调节系统设计,实现了对模型全状态变量的监控,改善了系统的稳定性,扩展了多性能指标非线性设计方法在水轮机调节系统领域的应用。针对所建立的刚性水体效应下有调压室水轮机调节系统模型本身所具有的多干扰特点,应用现代鲁棒控制H。设计方法对水轮机调节系统进行设计,应用于系统的参数干扰和负荷干扰仿真结果表明了该方法对有调压室水轮机调节系统具有比较好的控制效果。
第5章对全文所做的主要工作和取得的成果进行总结,提出未来有待进一步研究的内容。
Hydraulic power is the important power supply sourse in our country, it plays very important roles in power system such as frequency modulating, keeping the power system voltage in stable state and counterpoising the power system load in balance state.The hydraulic power system is a large complicated nonlinear system that includes hydraulic subsystem, hydro turbine generator unit subsystem, speed control subsystem, excitation control subsystem, among which, the performance of hydro turbine governor subsystem is one of important factors. So it has very important realistic significance that the hydro turbine governor system is particularly researched for improving the quqlity of power system frequency and stability.
Tightly focusing on hydro turbine governor system, aiming at the output performance of hydro turbine governor system, according to different hydraulic structure of practical hydraulic power generator system, this paper has made deep research on several aspects of hydro turbine governor system model and its control strategy from the point of model category, modeling method and control strategy.
The whole thesis consists of5chapters, each chapter of main contents can be summarized as follows:
Chapter1introduction:A brief review has been given for current research status of the domestic and international hydro turbine governor system model and its control stategy theory. The necessity and fundamentality were discussed in this paper for carrying on the research of hydro turbine governor system model and its control strategy. The paper's main contents were put forward based on different hydraulic structure of practical hydraulic power generator system.
Chapter2hydro turbine governor system model analysis:according to different hydraulic structure of practical hydraulic power generator system, combining with continuity equation and energy conservation equation of hydraulic thesis, detailedly considering the effect given by hydraulic transient flow, the hydro turbine governor system models of individual penstock(no surge), tunnel-surge-penstock-generator unit(with surge), common tunnel-individual penstock-generator unit (same tunnel multi-unit) were put forward systematically. Then the model characteristic was analysed by the method of time domain analysis and frequency domain analysis.
Chapter3Individual penstock hydro turbine governor system control strategy: According to the different transient flow characteristic, the individual penstock hydro turbine governor system was classified as unelastic and elastic model. For unelastic model, the Nichols PID hydro turbine governor system control framework was established by appling the Nichols PID controller design method. The simple PID control parameters tunning rule was deducted. For elastic model, considering the excellent anti-interference and anti-parameter error ability of advanced robust control, the double loop H∞robust control scheme was proposed for elastic model. By use of the method, the system control performance was improved from the simulation results.
Chapter4Hydro turbine governor system control strategy with surge:For tunnel-surge-penstock-generator unit(with surge) hydro turbine governor system, the5order nonlinear model was set up For the first time, the hydro turbine governor control system was designed by use of multi-index nonlinear control design method, all the model state variables could be controlled. The simulation results demonstrate that the method can effectively improve the system stabilities. According to multi-disturbance features of unelastic hydro turbine governor system, by use of H∞, robust control theory, a double-circuit robust control strategy for hydro turbine speed control system is proposed. The parameter and power system load disturbance simulation result demonstrate that H∞robust control design method has excellent control performance for hydro turbine governor system with surge.
The5th chapter summarizes the main work of full text and achievements of the dissertation. Finally, the future research contents have been put forward.
本论文以水电站水轮机调节系统为研究中心,以提高水轮机调节系统输出性能为研究目的,根据实际水电站水轮发电系统水工结构的不同,系统性地从模型分类、建模方法、控制策略三方面对水轮机调节系统提出了研究思路,对水轮机调节系统模型及控制策略等多个方面内容进行深入研究。
全文共5章,各章节主要内容可归纳如下：
第1章绪论：简要回顾国内外水电站水轮机调节系统模型及相关控制方法研究现状和研究进展,论述开展水电站水轮机调节系统模型及控制策略研究的必要性、重要性。针对目前实际运行水电站水轮机调节系统水力子系统水工结构的不同,提出本论文的主要研究内容。
第2章水轮机调节系统模型分析：根据目前实际水轮机发电系统水力子系统的实际水工结构形式,以水力学中的连续性方程和能量守恒方程为基础,充分考虑流体瞬变流变化对水轮机发电系统的影响,系统提出分析建立了进水口-单压力管道-水轮发电机组(无调压室)水轮机调节系统模型、进水口-引水隧洞-调压室-压力管道-水轮发电机组(有调压室)水轮机调节系统模型和进水口-引水隧洞-调压室-一管多机水轮发电机组(一管多机)水轮机调节系统模型,并利用时域分析法和频域分析法对模型进行特性分析。
第3章单压力引水管水轮机调节系统控制策略：根据实际运行水电站水力系统的不同水流特点,把单压力引水管(无调压室)水轮机调节系统划分为刚性水体水轮机调节系统和弹性水体水轮机调节系统。对刚性水体水轮调节系统模型,根据PID控制器便于掌握且易于工程实现等特点,针对刚性水体水轮机调节系统模型特点,应用尼科尔斯PID设计理论方法,建立了适用于该理论的水轮机调节系统控制结构,推导了简单易懂的PID控制参数调整规律。对弹性水体水轮机调节系统模型,结合鲁棒控制优异的抗干扰及抗参数摄动性能,设计H∞双回路鲁棒控制策略,设计了基于H∞鲁棒控制理论的双回路水轮机调节控制系统,有针对性地提高了水轮机调节系统控制性能。
第4章有调压室水轮机调节系统控制策略：以进水口-引水隧洞-调压室-压力管道-水轮发电机组(有调压室)水轮机调节系统模型为研究对象,构建了有调压室水轮机调节系统5阶非线性模型和刚性水体有调压室水轮机调节系统模型。对所建立的5阶水轮机调节系统非线性模型,首次应用多性能指标非线性控制方法进行水轮机调节系统设计,实现了对模型全状态变量的监控,改善了系统的稳定性,扩展了多性能指标非线性设计方法在水轮机调节系统领域的应用。针对所建立的刚性水体效应下有调压室水轮机调节系统模型本身所具有的多干扰特点,应用现代鲁棒控制H。设计方法对水轮机调节系统进行设计,应用于系统的参数干扰和负荷干扰仿真结果表明了该方法对有调压室水轮机调节系统具有比较好的控制效果。
第5章对全文所做的主要工作和取得的成果进行总结,提出未来有待进一步研究的内容。
Hydraulic power is the important power supply sourse in our country, it plays very important roles in power system such as frequency modulating, keeping the power system voltage in stable state and counterpoising the power system load in balance state.The hydraulic power system is a large complicated nonlinear system that includes hydraulic subsystem, hydro turbine generator unit subsystem, speed control subsystem, excitation control subsystem, among which, the performance of hydro turbine governor subsystem is one of important factors. So it has very important realistic significance that the hydro turbine governor system is particularly researched for improving the quqlity of power system frequency and stability.
Tightly focusing on hydro turbine governor system, aiming at the output performance of hydro turbine governor system, according to different hydraulic structure of practical hydraulic power generator system, this paper has made deep research on several aspects of hydro turbine governor system model and its control strategy from the point of model category, modeling method and control strategy.
The whole thesis consists of5chapters, each chapter of main contents can be summarized as follows:
Chapter1introduction:A brief review has been given for current research status of the domestic and international hydro turbine governor system model and its control stategy theory. The necessity and fundamentality were discussed in this paper for carrying on the research of hydro turbine governor system model and its control strategy. The paper's main contents were put forward based on different hydraulic structure of practical hydraulic power generator system.
Chapter2hydro turbine governor system model analysis:according to different hydraulic structure of practical hydraulic power generator system, combining with continuity equation and energy conservation equation of hydraulic thesis, detailedly considering the effect given by hydraulic transient flow, the hydro turbine governor system models of individual penstock(no surge), tunnel-surge-penstock-generator unit(with surge), common tunnel-individual penstock-generator unit (same tunnel multi-unit) were put forward systematically. Then the model characteristic was analysed by the method of time domain analysis and frequency domain analysis.
Chapter3Individual penstock hydro turbine governor system control strategy: According to the different transient flow characteristic, the individual penstock hydro turbine governor system was classified as unelastic and elastic model. For unelastic model, the Nichols PID hydro turbine governor system control framework was established by appling the Nichols PID controller design method. The simple PID control parameters tunning rule was deducted. For elastic model, considering the excellent anti-interference and anti-parameter error ability of advanced robust control, the double loop H∞robust control scheme was proposed for elastic model. By use of the method, the system control performance was improved from the simulation results.
Chapter4Hydro turbine governor system control strategy with surge:For tunnel-surge-penstock-generator unit(with surge) hydro turbine governor system, the5order nonlinear model was set up For the first time, the hydro turbine governor control system was designed by use of multi-index nonlinear control design method, all the model state variables could be controlled. The simulation results demonstrate that the method can effectively improve the system stabilities. According to multi-disturbance features of unelastic hydro turbine governor system, by use of H∞, robust control theory, a double-circuit robust control strategy for hydro turbine speed control system is proposed. The parameter and power system load disturbance simulation result demonstrate that H∞robust control design method has excellent control performance for hydro turbine governor system with surge.
The5th chapter summarizes the main work of full text and achievements of the dissertation. Finally, the future research contents have been put forward.
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