船用蒸汽动力装置调节/保护多目标控制问题研究
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摘要
船用的蒸汽动力装置是船舶的主要设备,在其运行过程中,负荷变化频繁、幅度大,对系统的响应性能要求高,而其中的机炉系统控制则是蒸汽动力装置控制中的一个难点。由于其具有非线性、强耦合、参数时变、大迟延等特性,采用常规的控制策略往往不能满足系统的要求。因此锅炉与汽轮机在运行过程中,特别是大变工况过程中要兼顾船舶安全性和快速性,两者的协调控制显得尤为重要。本文在分析了机炉系统动态特性模型的基础上,对其进行控制方法研究。
本文首先根据船用蒸汽动力装置复杂的气动热力过程分别建立了船舶锅炉模型和汽轮机电液控制系统非线性模型。接着进行了仿真计算,从机理上分析所得模型的正确性。由此得到的船用蒸汽动力装置非线性模型是分析机组特性、研究其控制规律、并对控制系统进行设计和仿真的基础。
其次,在现有的船舶蒸汽动力装置的控制方案的基础上,本文采用了锅炉侧采用直接能量平衡(DEB)控制方法的锅炉跟随汽轮机的控制系统。接着分析了DEB控制系统的物理规律。然后通过仿真得出船用蒸汽动力装置在大范围变工况和小范围变工况时的各个参数动态响应,最后提出了船用蒸汽动力装置在大范围变工况时的安全性和快速性之间的矛盾。
船用蒸汽动力装置运行时,工况经常大范围变化的快速响应与安全性之间的矛盾,决定船用蒸汽动力装置控制的特殊性。为此论文在结合船舶蒸汽动力装置的安全运行要求的基础上,论述了船舶蒸汽动力装置的调节/保护的基本思想,给出了船用蒸汽动力装置调节/保护的控制结构,并提出了一种基于Max/Min的切换规则并在此基础上设计PI控制器,最后分析了基于Max/Min的切换规则的存在的问题,给出了解决的方法。最后通过仿真验证了—基于切换控制的船用蒸汽动力装置调节/保护的控制方法能够较好的解决船用蒸汽动力装置工况大范围变化时的快速响应与安全性之间的矛盾。
为满足船舶在紧急工况下的安全性和快速性的统一,根据船用汽轮机的特点—存在倒车汽轮机,提出了结合正倒车汽轮机协调控制的方法,最后通过仿真计算验证了正倒车协调方法的有效性。
Ship steam power equipment is one of the most important equipments of ship. when it was running, the loads varied frequently, and the varying range is big. So it required a high response performance for the system. Furthermore, the boiler-turbine control is one difficulty of the steam power equipment control. Because the characters of nonlinear, strong coupling, time-vary and big delay, routine control strategy can't satisfy the requirements of the system. It is important for both to be coordinated better during the operation of the boiler and the turbine, especially off-design working condition. Based on the analysis of the dynamic characters of the boiler-turbine system, this dissertation researched the mathematic modeling and control of the coordinated system.
First, establish the nonlinear model of the boiler-turbine by it’s complex thermodynamic process which include improving the existed thermodynamic model of the boiler and establishing the Digital Electro-Hydraulic control of model. In nature, it is a two-input and two-output of the nonlinear characteristics model. Then we do a series of simulation calculation using this model, and validate the correctness of the model from the side of physics. Analyze the model characteristic, research its control law, and design the controller system are on the basis of the nonlinear components model. The components model also the basis to establish real-time model and expansion the research of performance parameters.
Based on analyzing two basic schemes—boiler followed turbine and turbine followed boiler in the traditional boiler-turbine control system, this dissertation expatiated the principle of coordinated control system and given its structure diagram. Then we use the control strategy of boiler followed turbine. The DEB (Direct Energy Balance) control scheme, which is now widely in practice, is able to realize the thought of Gain Scheduling and Static decoupling, partially neutralize the nonlinearity of the system Then we give dynamic response of every parameter in the small and big loads varying.
The paper considered the control problems of ship steam power equipment and the contradiction between the high maneuverability and safety due to the big loads varying frequently. The paper analyzed the control tasks, safe boundaries during working, the boiler-turbine working conditions. And the paper expounded the multi-objective control problem is a multi-model control problem, and proposed the multi-loop control system in structure, and according to the Max/Min switching strategy to control. Then we design the PI control system. Based on this switching strategy, analyze the problem of switching strategy and give the solution of the problem. Finally, we validate the correctness of the model by simulation calculation.
Moreover, according to the properties of ship main turbine it has reverse turbine. In order to meet the combination of control strategy on the safety and flexibility, we propose a feasible solution to advance and reverse conditions. Finally, we validate the correctness of the model by simulation calculation.
本文首先根据船用蒸汽动力装置复杂的气动热力过程分别建立了船舶锅炉模型和汽轮机电液控制系统非线性模型。接着进行了仿真计算,从机理上分析所得模型的正确性。由此得到的船用蒸汽动力装置非线性模型是分析机组特性、研究其控制规律、并对控制系统进行设计和仿真的基础。
其次,在现有的船舶蒸汽动力装置的控制方案的基础上,本文采用了锅炉侧采用直接能量平衡(DEB)控制方法的锅炉跟随汽轮机的控制系统。接着分析了DEB控制系统的物理规律。然后通过仿真得出船用蒸汽动力装置在大范围变工况和小范围变工况时的各个参数动态响应,最后提出了船用蒸汽动力装置在大范围变工况时的安全性和快速性之间的矛盾。
船用蒸汽动力装置运行时,工况经常大范围变化的快速响应与安全性之间的矛盾,决定船用蒸汽动力装置控制的特殊性。为此论文在结合船舶蒸汽动力装置的安全运行要求的基础上,论述了船舶蒸汽动力装置的调节/保护的基本思想,给出了船用蒸汽动力装置调节/保护的控制结构,并提出了一种基于Max/Min的切换规则并在此基础上设计PI控制器,最后分析了基于Max/Min的切换规则的存在的问题,给出了解决的方法。最后通过仿真验证了—基于切换控制的船用蒸汽动力装置调节/保护的控制方法能够较好的解决船用蒸汽动力装置工况大范围变化时的快速响应与安全性之间的矛盾。
为满足船舶在紧急工况下的安全性和快速性的统一,根据船用汽轮机的特点—存在倒车汽轮机,提出了结合正倒车汽轮机协调控制的方法,最后通过仿真计算验证了正倒车协调方法的有效性。
Ship steam power equipment is one of the most important equipments of ship. when it was running, the loads varied frequently, and the varying range is big. So it required a high response performance for the system. Furthermore, the boiler-turbine control is one difficulty of the steam power equipment control. Because the characters of nonlinear, strong coupling, time-vary and big delay, routine control strategy can't satisfy the requirements of the system. It is important for both to be coordinated better during the operation of the boiler and the turbine, especially off-design working condition. Based on the analysis of the dynamic characters of the boiler-turbine system, this dissertation researched the mathematic modeling and control of the coordinated system.
First, establish the nonlinear model of the boiler-turbine by it’s complex thermodynamic process which include improving the existed thermodynamic model of the boiler and establishing the Digital Electro-Hydraulic control of model. In nature, it is a two-input and two-output of the nonlinear characteristics model. Then we do a series of simulation calculation using this model, and validate the correctness of the model from the side of physics. Analyze the model characteristic, research its control law, and design the controller system are on the basis of the nonlinear components model. The components model also the basis to establish real-time model and expansion the research of performance parameters.
Based on analyzing two basic schemes—boiler followed turbine and turbine followed boiler in the traditional boiler-turbine control system, this dissertation expatiated the principle of coordinated control system and given its structure diagram. Then we use the control strategy of boiler followed turbine. The DEB (Direct Energy Balance) control scheme, which is now widely in practice, is able to realize the thought of Gain Scheduling and Static decoupling, partially neutralize the nonlinearity of the system Then we give dynamic response of every parameter in the small and big loads varying.
The paper considered the control problems of ship steam power equipment and the contradiction between the high maneuverability and safety due to the big loads varying frequently. The paper analyzed the control tasks, safe boundaries during working, the boiler-turbine working conditions. And the paper expounded the multi-objective control problem is a multi-model control problem, and proposed the multi-loop control system in structure, and according to the Max/Min switching strategy to control. Then we design the PI control system. Based on this switching strategy, analyze the problem of switching strategy and give the solution of the problem. Finally, we validate the correctness of the model by simulation calculation.
Moreover, according to the properties of ship main turbine it has reverse turbine. In order to meet the combination of control strategy on the safety and flexibility, we propose a feasible solution to advance and reverse conditions. Finally, we validate the correctness of the model by simulation calculation.
引文
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2 Bruce.P.Gibbs, etc. Application of Nonlinear Model-Based Predictive Control to Fossil Power Plants, Proc. Of the 30th conference on Decision and Control, England, 1991
3曾德良.汽包锅炉的动态模型结构与负荷/压力增量预测模型.中国电机工程学报. 2000(12):75-79
4 Liu changliang. Nonlinear Boiler Model of 300MW Power Unit for system Dynamic Performance studies,2001 IEEE ISIE, Vo1.2,June,2006, Pusan, Korea
5 K.J. Astrom, R.D. Bell. Dynamic models for Boiler-turbine-alternator Units: Data Logs and Parameter Estimation for a 160MW Unit. Dep. Automatic Contr. Lund Institute Tech. Lund, Sweden, RepLUTFD2/(TFRT-3192), 1987:1-137
6曾德良. 500MW机组锅炉模型及实验分析.中国电机工程学报. 2000,20(12):75-79
7张贻深.对协调控制系统中几种锅炉主控前馈信号的分析.电力技术. 1986(9)
8张贻深. 200MW供热单元机组协调控制系统.华北电力学院学报. 2007(3)
9李遵基.单元机组数字式协调控制系统.电力系统自动化. 2006(3),53-57
10牛玉广. SPEC200Micro自整定功能的应用.自动化仪表. 1989(5),31-33
11陈彦桥. 200MW直流单元机组协调控制系统设计与应用.华北电力技术. 2000(1):6-8
12李希武.直接能量平衡法(DEB)控制系统分析.中国电力. 2000(6):65-69
13翁—武,于达仁,徐基豫.锅炉跟随控制的构成—兼论直接能量平衡控制的动态特性.动力工程. 2001, 21(1): 1050-1053, 1009页
14 Chen K W, Asok R. Robust Wide-Range Control of Steam-Electric Power Plants. IEEE Transactions on Control Systems Technology, 1997,6(1):74-88P
15 Tan W, Marquez H J, Chen T W. Multivariable Robust Controller Design for a Boiler System. IEEE Transactions on Control Systems Technology,2002, 10(5): 735-742P
16 Frederic L M, Gilles D. Design of a Controller for a Steam Generator of a Power Plant Using Robust Control and Genetic Algorithm[C]. Proceedings of IEEE International Conference on Control Applications, Glasgow, Scotland, U. K, 2002, 1050-1055P
17 Hogg B W, El-Rabaie N M. Generalized predictive control of steam pressure in a drum boiler. IEEE Transactions on Energy Conversion, 1990,6(3): 485-492P
18 Hogg B W, El-Rabaie N M. Multivariable generalized predictive control of a boiler system. IEEE Transactions on Energy Conversion, 1991, 6(2):282-288P
19 Lu S, Hogg B W. Predictive coordinated control for power-plant steam pressure and power output. Control eng. Practice, 1997, 5(1): 79-84P
20 Prasad G, Irwin G W, Swidenbank E, Hogg B W. Plant-wide predictive control for a thermal power plant based on physical plant model. IEEE Proceedings-Control Theory and Applications, 2000, 147(5): 523-537P
21于达仁,翁一武,王仲奇.火电单元机组的柔性控制.中国电机工程学报. 2002, 22(7): 129-133页
22 Mortensen J H, Moelbak T, Andersen P, Pedersen T S. Optimization of boiler control to improve the load-following capability of power-plant units.Control Engineering Practice, 1998, 6: 1551-1539P
23 IsidoriA. Nonlinear Control Systems (Second Edition).New York, Springer-verlag, l989
24 Bolek W, Sasiadek S, Wisniewski T. Li. Nearization of non-linear MIMO model of large power plant station. Proceedings of American Control Conference, 2000:4435-4436P
25葛友,李春文.反馈线性化方法在锅炉—汽轮机系统控制中的应用.清华大学学报(自然科学版). 2001, 41(7): 125-128页
26房方,刘吉臻,谭文.单元机组协调系统的非线性内模控制.中国电机工程学报. 2004, 24(4): 195-199页
27王东风.锅炉—汽轮机系统的逆系统控制方法.自动化与仪器仪表. 2001, 27(1): 12-13, 19页
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