引入积分微分的水轮机调速器最优控制  

Optimal Control Scheme of the Hydro-turbine Regulation System Introducing Integral and Derivative

作　　者：郑阳 闫双庆 刘宛莹 程远楚[1] 肖志怀[1] 陈启卷[1] ZHENG Yang;YAN Shuangqing;LIU Wanying;CHENG Yuanchu;XIAO Zhihuai;CHEN Qijuan(School of Power and Mechanical Engineering,Wuhan University,Wuhan 430072,China;School of Water Resources and Hydropower Engineering,Wuhan University,Wuhan 430072,China)

机构地区：[1]武汉大学动力与机械学院,湖北省武汉市430072 [2]武汉大学水利水电学院,湖北省武汉市430072

出　　处：《水电与抽水蓄能》2024年第4期59-62,73,共5页Hydropower and Pumped Storage

基　　金：湖北省自然科学基金资助项目“大型水电站流激超低频振荡机理研究”(2022CFD165);中国电机工程学会“青年人才托举工程”资助项目“抽水蓄能机组‘S’特性影响机制与稳定性控制”(JLB-2023-247)。

摘　　要：水轮机调速器的先进控制对水电机组及其互联电力系统安全稳定运行具有重要意义。针对原始线性二次型控制存在静态误差,且难以处理非零状态轨迹跟踪等问题,在水轮机调节系统的微分方程模型中引入转速误差积分和微分两个增广状态变量,构建调节系统增广微分方程组模型,并在此基础上提出一种引入积分微分的调速器最优控制算法。数值仿真表明,所提控制算法较传统PID方法在不同运行工况下均具有更好的综合控制性能,且控制器参数设置简便,对工况变化不敏感,具有较PID算法更好的工况适应性。The advanced control of hydro-turbine governors is of great significance for the safe and stable operation of hydropower units and their interconnected power systems.In response to the defects such as the static error in the original linear quadratic control and the difficulty in handling non-zero state trajectory tracking,two augmented state variables,i.e.,speed error integral and its differential,are introduced into the differential equation model of the hydraulic turbine governing system to construct an augmented differential equation system model for the turbine regulation system.On this basis,a governor optimal control algorithm that containing the PID ideology by introducing integral and derivative(PID-LQR)is proposed.Numerical simulation shows that the proposed control algorithm has better comprehensive control performances than the traditional PID scheme under different operating conditions.Furthermore,the controller parameter setting is simple and insensitive to changes in operating conditions,thus to have better adaptability to operating conditions than the PID algorithm.

关 键 词：水轮机调节系统 最优控制 PID算法 增广状态 

分 类 号：TV732.6[水利工程—水利水电工程]