Parameter Identification And PID Parameter Optimization On Hydraulic Turbine Speed Regulation System

The hydraulic turbine governing system is a non-minimum phase closed-loop system with complex structure,great nonlinear and time-varying parameters.The traditional simple mechanism analysis usually cannot obtain its more accurate system model.By examining the system’s dynamic features,this research builds the model structure of the hydraulic turbine governing system.The unknown parameters in the system model structure are identified online using the least square method and the recursive method,and a relatively complete nonlinear model of the turbine speed control system is established,which has reference significance for the study of the dynamic performance of the turbine speed control system.The traditional PID controller is difficult to take into account the technical challenges of stability,control accuracy,and reaction speed in the development of hydraulic turbine governor control method,this paper combines the weed optimization algorithm and the core idea of clustering,forming a new kind of clustering weed algorithm,through the new algorithm PID parameter optimization.The control performance of hydraulic turbine speed control system has been significantly improved in response speed and control precision.The main results and conclusions of this study are as follows:(1)Structure and modeling analysis of hydraulic turbine governing system.This paper expounds the working principle of the whole system of hydraulic turbine speed control system,the functional characteristics of each part of the system and the division of labor and cooperation between each subsystem.The dynamic characteristics of each subsystem are analyzed,and several reference models are provided for the same subsystem according to the differences of subsystem types and operating conditions.The simulation model based on SIMULINK platform is established,which lays the foundation for the parameter identification and PID parameter optimization of the subsequent turbine speed control system.(2)Research on parameter identification of hydraulic turbine governing system based on recursive least square method.The least square method based on forgetting factor is used to identify the parameters of the hydraulic turbine speed control system.The basic principle of system parameter identification and the derivation process of least square method and recursive method are introduced in detail.The system is divided into three parts: governor and hydraulic servo system,pressure diversion system and turbine torque and generator and load.The subsystem identification is carried out respectively,which effectively avoids the problem of identification parameters can not be separated due to the cross-coupling between subsystems.The feasibility and accuracy of the identification method were verified by the SIMULINK simulation model.(3)PID parameter Optimization of hydraulic turbine speed regulation system based on Clustering Invasive Weed Optimization(CIWO).Aiming at the shortcomings of traditional PID control,such as low precision and slow response speed,clustering weed invasion optimization algorithm is introduced to optimize PID parameters.Through frequency disturbance experiment and load disturbance simulation experiment,it is concluded that the regulation time of PID governor of turbine is reduced,the overkill is reduced,and the system control performance is improved.