抽水蓄能机组分数阶PID控制及参数优化研究
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摘要
由于抽水蓄能机组水泵水轮机调节系统结构复杂,工况类型多且转换频繁,容易受水泵水轮机全特性曲线反"S"特性的影响,因此其运行稳定问题比一般机组更加严峻,严重时甚至会影响到电网的供电质量和安全稳定。本文针对传统PID控制在抽水蓄能机组应用中的不足,提出了抽水蓄能机组的分数阶PID(FOPID)控制及其参数优化方法。为提高FOPID控制参数优化效果,提出了一种模糊引力搜索算法(FGSA),该算法在迭代搜索过程中,对引力衰减指数进行动态的模糊推理,使之随搜索代数的改变不断自适应调整,从而通过控制引力常数的大小实现对算法局部和全局搜索进行动态调整,提高算法优化能力。以我国某抽水蓄能电站机组为研究对象建立其调节系统仿真模型,运用不同优化方法和控制规律的组合控制策略进行控制,对比试验结果表明,本文提出的FGSA-FOPID控制策略能有效改善抽水蓄能机组水泵水轮机调节系统在空载工况下频率扰动时的动态性能。
Because of the complex structure, complicated operation modes and frequently switching of operating conditions, the pumped storage unit(PSU) is easily tends to fall into the "S" feature area. Compared to conventional hydroelectric generating unit, it faces more stability problems and risk of deteriorating the power supply quality and stability of the entire grid. Respect to the disadvantages of PID control on PSU, this paper proposed fractional PID(FOPID) control and corresponding parameter optimization method. In order to improve the effectiveness of parameter optimization of FOPID control, a fuzzy gravitational search algorithm(FGSA) is proposed. In the searching process, the FGSA tunes the gravitational attenuation index adaptively by fuzzy inference. By controlling the value of the gravitational constant, the exploration and exploitation of the algorithm can be adjusted dynamically as to improve the ability of the algorithm to optimize parameters. An actual pumped storage power station unit is taken into consideration in our country. Based on comparisons of the control strategies combined of different optimization methods and PID control rules, it's found that the proposed FGSA-FOPID control strategy can effectively improve the dynamic performance of pumped storage unit regulating system under unload condition with speed disturbance.
Because of the complex structure, complicated operation modes and frequently switching of operating conditions, the pumped storage unit(PSU) is easily tends to fall into the "S" feature area. Compared to conventional hydroelectric generating unit, it faces more stability problems and risk of deteriorating the power supply quality and stability of the entire grid. Respect to the disadvantages of PID control on PSU, this paper proposed fractional PID(FOPID) control and corresponding parameter optimization method. In order to improve the effectiveness of parameter optimization of FOPID control, a fuzzy gravitational search algorithm(FGSA) is proposed. In the searching process, the FGSA tunes the gravitational attenuation index adaptively by fuzzy inference. By controlling the value of the gravitational constant, the exploration and exploitation of the algorithm can be adjusted dynamically as to improve the ability of the algorithm to optimize parameters. An actual pumped storage power station unit is taken into consideration in our country. Based on comparisons of the control strategies combined of different optimization methods and PID control rules, it's found that the proposed FGSA-FOPID control strategy can effectively improve the dynamic performance of pumped storage unit regulating system under unload condition with speed disturbance.
引文
[1]曹明良.抽水蓄能电站在我国电力工业发展中的重要作用[J].水电能源科学,2009,27(2):212-214.
[2]Cai X,Tong D,Zhang L.A new governor control algorithm to suppress the pumped-storage unit"S"shape characteristic influence[C].24th Chinese Control and Decision Conference(CCDC),Taiyuan,China,2012.
[3]周建中,赵峰,李超顺.基于GSA的水轮机调速系统非线性PID控制参数优化方法研究[J].水电能源科学,2014,32(12):127-130.
[4]薛定宇,赵春娜.分数阶系统的分数阶PID控制器设计[J].控制理论与应用.2007,24(5):771-776.
[5]姚舜才,潘宏侠.粒子群优化同步电机分数阶鲁棒励磁控制器[J].中国电机工程学报,2010,30(21):91-97.
[6]Fang H,Chen L,Shen Z.Application of an improved PSO algorithm to optimal tuning of PID gains for water turbine governor.Energy Convers Manage 2011,52(4):1763-70.
[7]康玲.基于遗传算法的水轮机调速器参数优化方法[J].水电能源科学,1999,17(1):32-34.
[8]Jiang C,Ma Y,Wang C.PID controller parameters optimization of hydroturbine governing systems using deterministic chaotic mutation evolutionary programming(DCMEP)[J].Energy Conversion and Management,2006,47(9):1222-1230.
[9]寇攀高,周建中,何耀耀,等.基于菌群-粒子群算法的水轮发电机组PID调速器参数优化[J].中国电机工程学报.2009,29(26):101-106.
[10]Rashedi Esmat,Nezamabadi-pour Hossein,Saryazdi Saeid.GSA:a gravitational search algorithm[J].Information Science,2009,179(13):2232-2248.
[11]李超顺,周建中,肖剑.基于改进引力搜索算法的励磁控制PID参数优化.华中科技大学学报(自然科学版),2012,40(10):119-122.
[12]Li C,Zhou J.Parameters identification of hydraulic turbine governing system using improved gravitational search algorithm[J].Energy Conversion and Management,2011,52(1):374-381.
[13]Chen Z,Yuan X,Tian H,Ji B.Improved gravitational search algorithm for parameter identification of water turbine regulation system.Energy Conversion and Management,2014,78:306-315.
[14]Li C,Li H,Kou P.Piecewise function based gravitational search algorithm and its application on parameter identification of AVR system.Neurocomputing,2014,124:139-148.
[15]康玲,叶鲁卿,李朝晖.基于MATLAB的抽水蓄能机组控制系统的仿真研究[J].大电机技术,1999,(1):55-59.
[16]林宵汉,陈乃祥,李辉,等.水泵水轮机转轮特性描述新方法及其工程应用[J].清华大学学报(自然科学版),1999,39(4):73-75.
[2]Cai X,Tong D,Zhang L.A new governor control algorithm to suppress the pumped-storage unit"S"shape characteristic influence[C].24th Chinese Control and Decision Conference(CCDC),Taiyuan,China,2012.
[3]周建中,赵峰,李超顺.基于GSA的水轮机调速系统非线性PID控制参数优化方法研究[J].水电能源科学,2014,32(12):127-130.
[4]薛定宇,赵春娜.分数阶系统的分数阶PID控制器设计[J].控制理论与应用.2007,24(5):771-776.
[5]姚舜才,潘宏侠.粒子群优化同步电机分数阶鲁棒励磁控制器[J].中国电机工程学报,2010,30(21):91-97.
[6]Fang H,Chen L,Shen Z.Application of an improved PSO algorithm to optimal tuning of PID gains for water turbine governor.Energy Convers Manage 2011,52(4):1763-70.
[7]康玲.基于遗传算法的水轮机调速器参数优化方法[J].水电能源科学,1999,17(1):32-34.
[8]Jiang C,Ma Y,Wang C.PID controller parameters optimization of hydroturbine governing systems using deterministic chaotic mutation evolutionary programming(DCMEP)[J].Energy Conversion and Management,2006,47(9):1222-1230.
[9]寇攀高,周建中,何耀耀,等.基于菌群-粒子群算法的水轮发电机组PID调速器参数优化[J].中国电机工程学报.2009,29(26):101-106.
[10]Rashedi Esmat,Nezamabadi-pour Hossein,Saryazdi Saeid.GSA:a gravitational search algorithm[J].Information Science,2009,179(13):2232-2248.
[11]李超顺,周建中,肖剑.基于改进引力搜索算法的励磁控制PID参数优化.华中科技大学学报(自然科学版),2012,40(10):119-122.
[12]Li C,Zhou J.Parameters identification of hydraulic turbine governing system using improved gravitational search algorithm[J].Energy Conversion and Management,2011,52(1):374-381.
[13]Chen Z,Yuan X,Tian H,Ji B.Improved gravitational search algorithm for parameter identification of water turbine regulation system.Energy Conversion and Management,2014,78:306-315.
[14]Li C,Li H,Kou P.Piecewise function based gravitational search algorithm and its application on parameter identification of AVR system.Neurocomputing,2014,124:139-148.
[15]康玲,叶鲁卿,李朝晖.基于MATLAB的抽水蓄能机组控制系统的仿真研究[J].大电机技术,1999,(1):55-59.
[16]林宵汉,陈乃祥,李辉,等.水泵水轮机转轮特性描述新方法及其工程应用[J].清华大学学报(自然科学版),1999,39(4):73-75.