Heuristic gain adaptive PID control method for nonlinear pumped storage power unit speed regulating system

Abstract

The invention discloses a heuristic gain adaptive PID control method for a complex nonlinear pumped storage power unit speed regulating system. First, a heuristic gain adaptive PID controller is set up based on a simple and practical parallel PID control structure; then, a fine model of a nonlinear pumped storage power unit speed regulating system is constructed; next, a multi-objective function of nonlinear pumped storage power unit speed regulating system HGS-NPID control parameter optimization is built; and finally, nonlinear pumped storage power unit speed regulating system HGS-NPID control parameters are optimized using a multi-objective artificial sheep flock algorithm. The heuristic gain adaptive PID control method for a nonlinear pumped storage power unit speed regulating system presented by the invention is simple to implement, and has strong real-time performance. The control gain can be adjusted online and adaptively according to the change of the operating point. The method fully adapts to the hydraulic shock and nonlinearity of the pumped storage power unit speed regulating system, and can improve the dynamic quality of the conventional control method under different working conditions of a water head.

Description

technical field [0001] The invention belongs to the field of control optimization of hydraulic generating sets, and more particularly relates to a heuristic gain adaptive PID control method for a speed regulation system of a nonlinear pumped storage generating set. Background technique [0002] As a clean and renewable energy source, pumped storage units play an important role in maintaining the safe and stable operation of the power grid due to their unique advantages such as quick start and stop, flexible operation, and quick response to changes in grid frequency and load. However, due to the reversible design of the pumped-storage unit itself, the low specific speed pump turbine will inevitably have the "S" characteristic area and the pump hump area, resulting in difficulty in starting and connecting to the grid under low head turbine conditions, and violent load shedding conditions. Vibration etc. Therefore, the stability problem of the pumped storage unit is more sever...

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Problems solved by technology

[0004] Based on the existing research, the control method of the pumped storage unit speed control system mainly has the following shortcomings: 1) In the PID control method of the nonlinear pumped storage unit speed control system model, the fixed control gain parameters are difficult to adapt to the change of water head and working conditions 2) In the nonlinear control method of the simplified model of the speed regulation system of the pumped storage unit, the simplified model is difficult to represent the water hammer and strong nonlinearity of the speed regulation system, which has a certain gap with the actual situation of the project. It is difficult to obtain accurate control parameters with engineering application value; 3) The existing nonlinear controllers are often complex in structure, and the principle of "simplicity first" is ignored to a certain extent, and it is difficult to apply to engineering practice

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