单元机组协调控制系统的先进控制策略研究
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摘要
协调控制系统是单元制发电机组的控制中枢,是现代电站自动化系统中最为核心的组成单元。本文应用线性多变量控制及非线性控制的相关原理和方法研究了单元机组协调控制系统的设计、整定、工程实现等问题,致力于推动先进控制策略的工程应用,提高协调控制系统对过程非线性的适应能力。
论文的研究内容及取得的主要成果体现在以下五个方面:
①通过广泛的选择和比较,在机理分析的基础上,确定了贯穿全文的研究基础—单元机组的简化非线性模型。该模型结构简单、特征突出、具有代表性,适于协调控制系统的设计与综合。
②对线性多变量方法在协调控制系统中的应用做了系统、深入的研究。分别基于多变量解耦和多变量内模方法设计出具有PID形式的协调控制器,两种方法相辅相成、互为验证;论文进一步结合理论分析与现场试验,给出了具有较高实用价值的控制器整定方法与步骤。
③通过总体结构设计,综合前馈、反馈、多模型等控制手段,在解决大量工程技术问题的基础上,成功地将线性多变量协调控制器的设计和整定方法应用于330MW单元机组。
④应用反馈线性化原理及其扩展算法,对协调控制系统进行了直接非线性控制的研究。通过引入可测状态变量,推导出反馈控制律的简化形式,有效地降低了伪线性机炉系统的积分阶次;同时结合二自由度I-PD控制结构,较好地解决了伪线性系统对扰动敏感、鲁棒性差的问题。
⑤从提高实用性的角度,探讨了将非线性策略应用于协调控制系统优化的可行性,研究了以非线性稳定逆为前馈环节的协调控制系统的输出跟踪控制结构。仿真试验表明:线性系统理论与非线性系统理论的有机结合,能够有效地提高协调控制系统的负荷跟随能力。
A coordinated control system is the control center of a power generation unit, and is the core of a modern power plant. This dissertation studies the design, tuning, and implementation of the coordinated control system of a power unit via linear multivariable and nonlinear control theories and methods, with the motivation to apply advanced control strategies in engineering practice and to improve the adaptability of the coordinated control system to the process nonlinearities.The main contributions of this dissertation are summarized as follows:(1) A simplified nonlinear model of a power unit is chosen as the basis of this dissertation by extensive selection and comparison based on physical principles. The typical model has a simple structure and can represent a wide range of power units, so it is suited for the design and synthesis of coordinated control systems.(2) A systematic research on the applications of linear multivariable methods in the coordinated control systems is done. A coordinated controller with a PID form is designed via decoupling method and internal model control method separately. Combining with the field tests, a practical tuning procedure for the coordinated controller is proposed.(3) The proposed design and tuning method for linear multivariable coordinated controllers are successfully applied to a 330MW power unit, by the overall structure design and combination with many control methods such as feed-forward, feedback and multi-model.(4) A direct nonlinear control of the coordinated system is studied via feedback linearization theory and its extension. By introducing measurable state variables, a simplified form of feedback control law is deduced, which can reduce the integral order of the pseudo-linear boiler-turbine system. Combining with a two-degree-of-freedom I-PD control structure, the proposed method can improve the robustness of the pseudo-linear system.
论文的研究内容及取得的主要成果体现在以下五个方面:
①通过广泛的选择和比较,在机理分析的基础上,确定了贯穿全文的研究基础—单元机组的简化非线性模型。该模型结构简单、特征突出、具有代表性,适于协调控制系统的设计与综合。
②对线性多变量方法在协调控制系统中的应用做了系统、深入的研究。分别基于多变量解耦和多变量内模方法设计出具有PID形式的协调控制器,两种方法相辅相成、互为验证;论文进一步结合理论分析与现场试验,给出了具有较高实用价值的控制器整定方法与步骤。
③通过总体结构设计,综合前馈、反馈、多模型等控制手段,在解决大量工程技术问题的基础上,成功地将线性多变量协调控制器的设计和整定方法应用于330MW单元机组。
④应用反馈线性化原理及其扩展算法,对协调控制系统进行了直接非线性控制的研究。通过引入可测状态变量,推导出反馈控制律的简化形式,有效地降低了伪线性机炉系统的积分阶次;同时结合二自由度I-PD控制结构,较好地解决了伪线性系统对扰动敏感、鲁棒性差的问题。
⑤从提高实用性的角度,探讨了将非线性策略应用于协调控制系统优化的可行性,研究了以非线性稳定逆为前馈环节的协调控制系统的输出跟踪控制结构。仿真试验表明:线性系统理论与非线性系统理论的有机结合,能够有效地提高协调控制系统的负荷跟随能力。
A coordinated control system is the control center of a power generation unit, and is the core of a modern power plant. This dissertation studies the design, tuning, and implementation of the coordinated control system of a power unit via linear multivariable and nonlinear control theories and methods, with the motivation to apply advanced control strategies in engineering practice and to improve the adaptability of the coordinated control system to the process nonlinearities.The main contributions of this dissertation are summarized as follows:(1) A simplified nonlinear model of a power unit is chosen as the basis of this dissertation by extensive selection and comparison based on physical principles. The typical model has a simple structure and can represent a wide range of power units, so it is suited for the design and synthesis of coordinated control systems.(2) A systematic research on the applications of linear multivariable methods in the coordinated control systems is done. A coordinated controller with a PID form is designed via decoupling method and internal model control method separately. Combining with the field tests, a practical tuning procedure for the coordinated controller is proposed.(3) The proposed design and tuning method for linear multivariable coordinated controllers are successfully applied to a 330MW power unit, by the overall structure design and combination with many control methods such as feed-forward, feedback and multi-model.(4) A direct nonlinear control of the coordinated system is studied via feedback linearization theory and its extension. By introducing measurable state variables, a simplified form of feedback control law is deduced, which can reduce the integral order of the pseudo-linear boiler-turbine system. Combining with a two-degree-of-freedom I-PD control structure, the proposed method can improve the robustness of the pseudo-linear system.
引文
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[9] 刘红波,李少远,柴天佑.协调控制系统多变量PID控制器的自整定方法[J].自动化仪表,2003,26(6):10-15.
[10] Fang F, Tan W, Liu J Z. Tuning of coordinated controllers for boiler-turbine units[J]. 自动化学报, 2005, 31(2): 291-296.
[11] 徐志强.火电厂热工控制的大范围线性化方法[D].哈尔滨工业大学工学博士论文,2002.
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[13] 翁一武,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[J].动力工程,2001,21(1):1050-1053,1009.
[14] 李希武.直接能量平衡法(DEB)协调控制系统分析[J].中国电力,2000,33(6):65-69
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[16] Tan W, Liu J Z, Fang F, Chen Y Q. Tuning of PID controllers for boiler-turbine units[J]. ISA Transactions, 2004, 43(4): 571-583.
[17] Chen K W, Asok R. Robust Wide-Range Control of Steam-Electric Power Plants[J]. IEEE Transactions on Control Systems Technology, 1997, 5(1): 74-88.
[18] Tan W, Marquez H J, Chen T W. Multivariable Robust Controller Design for a Boiler System[J]. IEEE Transactions on Control Systems Technology, 2002, 10(5): 735-742.
[19] 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, 1050～1055.
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[22] Lu S, Hogg B W. Predictive co-ordinated control for power-plant steam pressure and power output[J]. Control eng. Practice, 1997, 5(1): 79-84.
[23] Prasad G, Irwin G W, Swidenbank E, Hogg B W. Plant-wide predictive control for a thermal power plant based on physical plant model[J], lEE Proceedings-Control Theory and Applications, 2000, 147(5): 523-537.
[24] 于达仁,翁一武,王仲奇.火电单元机组的柔性控制[J].中国电机工程学报,2002,22(7):129-133.
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