小水电站计算机控制的研究
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摘要
随着自动控制理论的发展和单片机、工业控制机的相继开发和应用，使得计算机控制系统获得迅猛发展，其应用领域越来越广泛。鉴于目前中小型水电站控制质量差，运行效率低下等现状，大量的小型水电站控制设备老化，急需更新换代。本课题依托贵州丰富的水利水电资源，对小水电站的发电机和水轮机采用计算机控制，并进行实时监控。
在水电站中，水轮机调速器是十分重要的设备，它直接关系到电站生产电能的质量。水轮机调节系统是一个典型的高阶、时变、非最小相位系统，而且又是一个参数随工况点改变而变化的非线性系统，为确保其能够稳定、安全、高效的工作，设计并试改进水轮机的计算机控制策略显得尤为重要。采用模糊控制策略结构简单，且具有一定的鲁棒性。仿真实验表明，系统的动态和静态特性有较大的改善，是一种有效的控制策略。
本课题对小水电站的发电机、水轮机的计算机控制、监控进行分析、设计。并对控制系统的结构和特点进行了阐述。集散型控制系统在现代控制系统得到广泛应用，论文首先介绍了集散型控制系统的基本结构和特点，然后提出了水电站计算机控制系统的结构和总体方案。整个系统为一个分层分布式集散控制系统，主要由主控层及现场控制单元构成，可实现对水电站设备的保护、测量、控制及信息远传等功能，实现无人值班。
论文就水电站中水轮机调速器的控制策略进行了详细介绍，重点讨论了水轮机的模糊控制及实现方法，并采用MATLAB的SIMULINK软件进行了仿真实验。
With the development of automatic control theory and with the gradual progress and application of SCM, industrial controller, the computer control system has been much more widely used and promoted. It is urgent to renew the control equipment of hydroelectric power stations of medium and small scale due to their poor performance in the quality and the efficiency at present. This paper plans to monitor and control the generators and hydraulic turbine relying on the abundant hydroelectric resources in Guizhou Privince.
In hydraulic power stations, speed governor of the hydraulic turbines is of great importance and is directly related to the quality of electric energy production. Hydraulic turbine adaptive system is a typical one with high rank, time-varying, non-minimum phase; moreover, it is a nonlinear system whose parameters vary with operating conditions. It is vital to design and advance the computer control strategies of hydraulic turbines to ensure their stability, security and efficiency. The control strategy with fuzzy has a simple structure and robustness. Simulation tests indicate that it can improve the static and dynamic state characteristics and is reliable.
This paper discusses the design of the computer control and monitor of generators and hydraulic turbines in small hydroelectric power stations, with the illumination on the structure and characteristics of control system. Aggregation-distribution control system is widely used in modern control systems. First the basic structure and characteristics of aggregation-distribution control system are introduced, and then the structure of computer control system in hydraulic power stations and the general plans are described. Entire system is a stratified, distributed aggregation-distribution control system, which is mainly made of the main control layer and the on-site control unit. It can realize the functions such as equipment protecting, measuring, controlling and message-passing etc., thus unmanned watch is feasible.
This paper introduces the control strategies of governor in hydraulic turbines. It also emphasizes on the fuzzy control of hydro turbine and the method of fulfillment; moreover it has been simulated by SIMULINK of MATLAB software package.
在水电站中，水轮机调速器是十分重要的设备，它直接关系到电站生产电能的质量。水轮机调节系统是一个典型的高阶、时变、非最小相位系统，而且又是一个参数随工况点改变而变化的非线性系统，为确保其能够稳定、安全、高效的工作，设计并试改进水轮机的计算机控制策略显得尤为重要。采用模糊控制策略结构简单，且具有一定的鲁棒性。仿真实验表明，系统的动态和静态特性有较大的改善，是一种有效的控制策略。
本课题对小水电站的发电机、水轮机的计算机控制、监控进行分析、设计。并对控制系统的结构和特点进行了阐述。集散型控制系统在现代控制系统得到广泛应用，论文首先介绍了集散型控制系统的基本结构和特点，然后提出了水电站计算机控制系统的结构和总体方案。整个系统为一个分层分布式集散控制系统，主要由主控层及现场控制单元构成，可实现对水电站设备的保护、测量、控制及信息远传等功能，实现无人值班。
论文就水电站中水轮机调速器的控制策略进行了详细介绍，重点讨论了水轮机的模糊控制及实现方法，并采用MATLAB的SIMULINK软件进行了仿真实验。
With the development of automatic control theory and with the gradual progress and application of SCM, industrial controller, the computer control system has been much more widely used and promoted. It is urgent to renew the control equipment of hydroelectric power stations of medium and small scale due to their poor performance in the quality and the efficiency at present. This paper plans to monitor and control the generators and hydraulic turbine relying on the abundant hydroelectric resources in Guizhou Privince.
In hydraulic power stations, speed governor of the hydraulic turbines is of great importance and is directly related to the quality of electric energy production. Hydraulic turbine adaptive system is a typical one with high rank, time-varying, non-minimum phase; moreover, it is a nonlinear system whose parameters vary with operating conditions. It is vital to design and advance the computer control strategies of hydraulic turbines to ensure their stability, security and efficiency. The control strategy with fuzzy has a simple structure and robustness. Simulation tests indicate that it can improve the static and dynamic state characteristics and is reliable.
This paper discusses the design of the computer control and monitor of generators and hydraulic turbines in small hydroelectric power stations, with the illumination on the structure and characteristics of control system. Aggregation-distribution control system is widely used in modern control systems. First the basic structure and characteristics of aggregation-distribution control system are introduced, and then the structure of computer control system in hydraulic power stations and the general plans are described. Entire system is a stratified, distributed aggregation-distribution control system, which is mainly made of the main control layer and the on-site control unit. It can realize the functions such as equipment protecting, measuring, controlling and message-passing etc., thus unmanned watch is feasible.
This paper introduces the control strategies of governor in hydraulic turbines. It also emphasizes on the fuzzy control of hydro turbine and the method of fulfillment; moreover it has been simulated by SIMULINK of MATLAB software package.
引文
[1] 景雷等，面向目标的水轮发电机组智能模糊控制。中国电机工程学报，1996，16
[2] 王印松等，水轮发电机组水轮发电机组有功功率的模糊控制。电力系统及其自动化学报，1997.4
[3] 王玲花等，水轮机调速器控制策略研究综述。水利水电科技进展，2002.2
[4] .曹玉胜等，智能权函数模糊控制在水轮机调节系统中的应用，2001.3
[5]. 张志学等，水轮机调速系统的PID参数模糊整定，2002.1
[6]. 魏克新等，MATLAB语言与自动控制系统设计，机械工业出版社
[7]. 章卫国等，模糊控制理论与应用，西北工业大学出版社
[8]. YeLuqing,WeiShouping,ZengYuming.Multi-processor-based Fault To lerant Adaptive Parameter-optimized Governor for Water Turbine. In:ProcMiniand Microprocessors and Their App.Sant-Feliu(Spain):1985.57～622
[9].VisioliA.Fuzzy Logic Based Set-point Weight Tuning of PID Controllers.IEEE Transon Syst,Man,Cybern,1999,29(6):587～5923
[10]. Zhao ZY,To mizukaM,IsakaS.Fuzzy Gain Scheduling of PID Controllers. IEEE Transon Syst,Man,Cybern,1993,23(5):1392～13984
[11].VisioliA.Tuning of PID Controllers with Fuzzy Logic.IEE Proceedings——Control Theory and Applications,2001,148(1):1～85
[12].王印松，商国才.一种适用于非最小相位系统的模糊控制方法。控制与决策，1999(1):51～556
[13].李植鑫，陈启卷.水轮机调节系统Fuzzy控制的研究.武汉水利电力大学学报，1989，22(5)7
[14].张建明，模糊控制器在水轮机调节中的应用.大电机技术，1993(4)
[15].水轮机调速器控制策略研究 水利水电科技进展 2002.4（P56-58）
[16].基于在线学习的水轮发电机组智能控制系统研究 电力系统自动
1997.4（P21-24）
[17].计算机控制系统 清华大学出版社 1999.9
[18].一种适用于非最小相位系统的控制方法 控制与决策 1999.1（P51-55）
[19].模糊控制理论与应用 西北工业大学出版社 2000.10
[20].单片机应用文集 北京航空航天大学 1998.2
[21].单片机原理与接口技术 北京航空航天大学 2003.9
[22].常近时 水力机械过渡过程 北京:机械工业出版社,1991.102～1082
[23].JN克里夫琴科主编 常兆堂等译 水电站动力装置中的过渡过程 北京:水利出版社,1981.143～1463
[24].戎月莉 计算机模糊控制原理及应用 北京:北京航空大学出版社,1995.10～154
[25].张振良 应用模糊数学 重庆:重庆大学出版社,1991.87～9
[26].M.Santos,S.Dormido,JM Dela Cruz.Derivati veactionin PID-fuzzy controllers.Cybernetics and 27.System,1996,27:413_4244
[27].Wu Zhiqiao,Masaharu Mizumoto.PID type fuzzy controller and parameters adaptive method.Fuzzy Setsand Systems,1996,78:23_255
[28].CL Chen,CT Hiseh.User-friendly design method for fuzzy logic controller.IEE ProcControl Theory Appl,1996,143(4):358-3666
[29].Han xiongLi,HBGatland.A new methodology for designinga fuzzy logic controller.IEEE TransSyst Man Cyber,1995,25(3):505-512
[30].Lee,C.C..Fuzzy Logic in Control Systems:Fuzzy Logic Controller-Part & .IEEE Trans.on Syst. Man&Cy-ber,1990,20(2):404～4358
[31].R.Hechi-Nielsen.Theory of the Back Propagation Neural Network,Porc.of IJCNN,1989,1:593～603
[32].沈祖诒.水轮机调节.北京:中国水利水电出版社,1998
[33]王彩华,宋连天.模糊论方法学.北京:中国建筑工业出版社,1988.441～467
[34]易继锴，侯媛彬，《智能控制技术》，北京工业大学出版社，1999.9
[35].relind Getal.Optimal PID Gain Schedule for Hydro-generators-Design and Application.IEEET ranson En-ergy Conversion.1989.9,4(3)2
[36] Malik OPetal.An Intelligent Self-Improving Control Strategy with a Variable Structure and Time-Varing Parameters for Water Turbine Governor.Revue Generaledel Elctricite,Paris:1989,(4)5
[37] Lansbeerry JE,WozniakL.Optimal Hydrogenerator Governor Tuning with a Genetic Algorithm.IEEE Transon Energy Conversion，1992.12.7(4):623～6286
[2] 王印松等，水轮发电机组水轮发电机组有功功率的模糊控制。电力系统及其自动化学报，1997.4
[3] 王玲花等，水轮机调速器控制策略研究综述。水利水电科技进展，2002.2
[4] .曹玉胜等，智能权函数模糊控制在水轮机调节系统中的应用，2001.3
[5]. 张志学等，水轮机调速系统的PID参数模糊整定，2002.1
[6]. 魏克新等，MATLAB语言与自动控制系统设计，机械工业出版社
[7]. 章卫国等，模糊控制理论与应用，西北工业大学出版社
[8]. YeLuqing,WeiShouping,ZengYuming.Multi-processor-based Fault To lerant Adaptive Parameter-optimized Governor for Water Turbine. In:ProcMiniand Microprocessors and Their App.Sant-Feliu(Spain):1985.57～622
[9].VisioliA.Fuzzy Logic Based Set-point Weight Tuning of PID Controllers.IEEE Transon Syst,Man,Cybern,1999,29(6):587～5923
[10]. Zhao ZY,To mizukaM,IsakaS.Fuzzy Gain Scheduling of PID Controllers. IEEE Transon Syst,Man,Cybern,1993,23(5):1392～13984
[11].VisioliA.Tuning of PID Controllers with Fuzzy Logic.IEE Proceedings——Control Theory and Applications,2001,148(1):1～85
[12].王印松，商国才.一种适用于非最小相位系统的模糊控制方法。控制与决策，1999(1):51～556
[13].李植鑫，陈启卷.水轮机调节系统Fuzzy控制的研究.武汉水利电力大学学报，1989，22(5)7
[14].张建明，模糊控制器在水轮机调节中的应用.大电机技术，1993(4)
[15].水轮机调速器控制策略研究 水利水电科技进展 2002.4（P56-58）
[16].基于在线学习的水轮发电机组智能控制系统研究 电力系统自动
1997.4（P21-24）
[17].计算机控制系统 清华大学出版社 1999.9
[18].一种适用于非最小相位系统的控制方法 控制与决策 1999.1（P51-55）
[19].模糊控制理论与应用 西北工业大学出版社 2000.10
[20].单片机应用文集 北京航空航天大学 1998.2
[21].单片机原理与接口技术 北京航空航天大学 2003.9
[22].常近时 水力机械过渡过程 北京:机械工业出版社,1991.102～1082
[23].JN克里夫琴科主编 常兆堂等译 水电站动力装置中的过渡过程 北京:水利出版社,1981.143～1463
[24].戎月莉 计算机模糊控制原理及应用 北京:北京航空大学出版社,1995.10～154
[25].张振良 应用模糊数学 重庆:重庆大学出版社,1991.87～9
[26].M.Santos,S.Dormido,JM Dela Cruz.Derivati veactionin PID-fuzzy controllers.Cybernetics and 27.System,1996,27:413_4244
[27].Wu Zhiqiao,Masaharu Mizumoto.PID type fuzzy controller and parameters adaptive method.Fuzzy Setsand Systems,1996,78:23_255
[28].CL Chen,CT Hiseh.User-friendly design method for fuzzy logic controller.IEE ProcControl Theory Appl,1996,143(4):358-3666
[29].Han xiongLi,HBGatland.A new methodology for designinga fuzzy logic controller.IEEE TransSyst Man Cyber,1995,25(3):505-512
[30].Lee,C.C..Fuzzy Logic in Control Systems:Fuzzy Logic Controller-Part & .IEEE Trans.on Syst. Man&Cy-ber,1990,20(2):404～4358
[31].R.Hechi-Nielsen.Theory of the Back Propagation Neural Network,Porc.of IJCNN,1989,1:593～603
[32].沈祖诒.水轮机调节.北京:中国水利水电出版社,1998
[33]王彩华,宋连天.模糊论方法学.北京:中国建筑工业出版社,1988.441～467
[34]易继锴，侯媛彬，《智能控制技术》，北京工业大学出版社，1999.9
[35].relind Getal.Optimal PID Gain Schedule for Hydro-generators-Design and Application.IEEET ranson En-ergy Conversion.1989.9,4(3)2
[36] Malik OPetal.An Intelligent Self-Improving Control Strategy with a Variable Structure and Time-Varing Parameters for Water Turbine Governor.Revue Generaledel Elctricite,Paris:1989,(4)5
[37] Lansbeerry JE,WozniakL.Optimal Hydrogenerator Governor Tuning with a Genetic Algorithm.IEEE Transon Energy Conversion，1992.12.7(4):623～6286