Model-free self-adaptive PID control method of hydroelectric generating set adjusting system

Abstract

The invention discloses a model-free adaptive PID control method for a hydroelectric generating set adjusting system. The model-free adaptive PID control method is used for effectively regulating andcontrolling a hydroelectric generating set and comprises the following steps of: performing dynamic linear conversion on a nonlinear hydraulic turbine set adjusting system by using a compact format dynamic linearization (CFDL) method; setting initial values of an input quantity and an output quantity of a control system according to historical operation data of the set; introducing a concept of apseudo partial derivative, and setting an initial value; setting a control performance index function and a pseudo partial derivative estimation criterion function; and acquiring current actual outputand expected output, and calculating a system control law in combination with the pseudo partial derivative. Besides, PID control and a model-free adaptive controller (MFAC) based on the CFDL are partially connected in parallel to obtain a new control method, rotating speed oscillation in the starting process of the set can be effectively reduced, better adjusting quality is achieved, and the actual production requirement of a hydropower station is better met.

Description

technical field [0001] The invention relates to a MFAC-PID control method of a regulating system of a hydroelectric generating set, in particular to a model-free adaptive PID control method of a regulating system of a hydroelectric generating set. Background technique [0002] The regulating system of hydropower unit is a complex time-varying and non-minimum phase system with hydraulic-mechanical-electrical coupling, which is composed of water diversion system, hydraulic turbine, generator, load, and governor. Due to the special role of the hydroelectric unit in the power system, the operating conditions of the unit change frequently, which leads to the need to adjust the control parameters accordingly, which makes the control of the unit difficult. In addition, during the transition process of large fluctuations of the unit, some parameters of the regulation system will have large changes, and even exceed its linear range. Control difficulty. The existing linear control m...

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Problems solved by technology

[0003] In order to solve the technical problem that the power system regulates the hydroelectric unit with low quality in the traditional method, the present invention provides a model-free adaptive PID control method for the regulation system of the hydroelectric unit, which is used to effectively control the regulation system of the hydroelectric unit. The method can effectively solve the problems of speed oscillation and steady-state error when the unit is started, has better robustness and stability, and is more in line with the actual needs of hydropower production

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