核电站蒸汽发生器水位的软约束预测控制

姜頔; 刘向杰; 孔小兵

doi:10.16383/j.aas.2018.c170647

核电站蒸汽发生器水位的软约束预测控制

doi: 10.16383/j.aas.2018.c170647

华北电力大学控制与计算机工程学院北京 102206

基金项目:

国家自然科学基金 61673171

中央高校基本科研业务费专项基金 2017MS033

国家自然科学基金 61533013

国家自然科学基金 U1709211

国家自然科学基金 61603134

中央高校基本科研业务费专项基金 2017ZZD004

详细信息

作者简介:
姜頔华北电力大学控制与计算机工程学院博士研究生.2012年获得上海电力学院自动化工程学院学士学位.主要研究方向为核反应堆蒸汽供应系统的优化控制.E-mail:fyjiangdi@ncepu.edu.cn

孔小兵华北电力大学控制与计算机工程学院讲师. 2008年获华北电力大学自动化系学士学位.主要研究方向为模型预测控制理论及其在能源电力系统控制中的应用.E-mail: kongxiaobing@ncepu.edu.cn

通讯作者:
刘向杰华北电力大学控制与计算机工程学院教授.1989年获得东北大学自控系工业电气自动化专业学士学位.1997年获得东北大学自动化研究中心博士学位.主要研究方向为先进控制策略在电力过程控制中的应用.本文通信作者.E-mail:liuxj@ncepu.edu.cn

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出版历程
- 收稿日期: 2017-11-16
- 录用日期: 2018-03-16
- 刊出日期: 2019-06-20

Soft Constrained MPC on Water Level Control in Steam Generator of a Nuclear Power Plant

School of Control and Computer Engineering, North China Electric Power University, Beijing 102206

Funds:

Supported by National Natural Science Foundation of China 61673171

Fundamental Research Funds for the Central Universities 2017MS033

Supported by National Natural Science Foundation of China 61533013

Supported by National Natural Science Foundation of China U1709211

Supported by National Natural Science Foundation of China 61603134

Fundamental Research Funds for the Central Universities 2017ZZD004

More Information

Author Bio:
Ph. D. candidate at the School of Control and Computer Engineering, North China Electric Power University. He received his bachelor degree from Shanghai University of Electric Power in 2012. His main research interest is optimal control of nuclear steam supply system

Lecturer at the School of Control and Computer Engineering, North China Electric Power University. She received her bachelor degree from North China Electric Power University in 2008. Her research interest covers model predictive control and its application in power industry

Corresponding author: LIU Xiang-Jie Professor at the School of Control and Computer Engineering, North China Electric Power University. He received his bachelor degree from Northeastern University in 1989, and the Ph. D. degree from the Research Center of Automation, Northeastern University in 1997. His main research interest is application of advanced control strategy in power process control. Corresponding author of this paper

摘要

摘要: 核电站的蒸汽发生器（U-tube steam generator，UTSG）水位控制对核反应堆安全运行至关重要.模型预测控制（Model predictive control，MPC）具有内在的约束处理能力，是UTSG水位控制的有效方法.然而在大范围变功率情况下，水位硬约束会降低水位的控制性能，甚至导致系统不稳定.本文基于UTSG的分段线性输入输出模型，设计了水位软约束MPC.离线计算终端约束集，减少在线计算量，保证稳定性；引入两种松弛变量来放宽水位约束和终端约束集；在蒸汽流量扰动和功率变化情况下的仿真结果表明了算法的有效性.
- 模型预测控制 /
- 软约束 /
- 蒸汽发生器 /
- 非最小相位系统
Abstract: In the nuclear power plant, the water level control of the U-tube steam generator (UTSG) plays a vital role on the safety of the nuclear reactor operation. Model predictive control (MPC) has been a quite effective way of controlling the water level of UTSG, due to its water level constraint handling ability. However, when the nuclear power plant is working under wide load changing condition, the water level hard constraint may deteriorate the closed-loop control performance and even cause instability. This paper presents a soft constrained MPC on the UTSG water level control based on the linear parameter varying (LPV) model. A terminal constraint set is computed off-line to reduce the online computation burden and ensure stability. Slack variables are introduced in the MPC formulation to relax the water level and terminal constraint in a straightforward way. Simulations under both the steam disturbance and the power-level changing show the effectiveness of the proposed controllers.
- Model predictive control /
- soft constraint /
- steam generator /
- non-minimum phase system
注释:

1) 本文责任编委梅生伟

HTML全文

图 1 UTSG结构示意图

Fig. 1 Schematic of a U-tube steam generator

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图 2 UTSG模拟结构图

Fig. 2 Block diagram of the UTSG model

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图 3 硬约束对UTSG零极点的影响

Fig. 3 The influence of hard constraint on the zero pole of UTSG

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图 4 硬约束MPC有可行解的蒸汽范围

Fig. 4 The feasible steam range of activated hard constraint MPC

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图 5 Pareto最优曲线

Fig. 5 Pareto optimal front

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图 6 约束MPC示意图

Fig. 6 Soft constrained MPC schematic diagram

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图 7 约束MPC水位响应

Fig. 7 Hard constrained MPC water level response

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图 8 不同约束处理对水位的影响

Fig. 8 The effect of different constraint handling on water level

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图 9 不同MPC的性能指标

Fig. 9 The cost functions for different MPCs

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图 10 水位偏差和松弛变量的关系

Fig. 10 The relationship between water level deviation and slack variables

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图 11 软约束MPC水位响应

Fig. 11 Water level response of soft constrained MPC

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图 12 不同约束处理方式闭环控制性能

Fig. 12 The closed loop cost functions of different constraint handling

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图 13 高负荷下无约束和软约束MPC控制比较

Fig. 13 Comparison of unconstrained and soft constrained MPC control under high power

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表 1 软约束MPC计算量

Table 1 The computation of soft constrained MPC

状态个数	控制量个数	控制时域	决策变量个数	等式约束个数	不等式约束个数	最小时间	最大时间	平均时间
5	1	10	32	50	86	90 ms	302 ms	147 ms

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