舰船核动力系统二回路控制策略研究
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摘要
控制系统是舰船核动力装置的“神经中枢”系统，其控制品质的优劣直接影响着核动力装置功能的实现和运行安全性。舰船核动力装置二回路系统的控制策略，是实现核动力装置的高度自动化、提高核动力装置二回路系统的集散控制水平、保障系统运行可靠性和安全性的有效手段。对于提高舰船核动力装置的使用性能和作战能力具有重要的意义。
本文在查阅、分析国内外陆上核电站与核潜艇等相关文献资料的基础上，采用两相集总参数化建模方法，首次建立了舰船核动力装置二回路系统的简化集总参数数学模型。主要包括蒸汽发生器的简化集总参数动态数学模型、汽轮机的数学模型、冷凝器的简化集总参数动态数学模型、凝给水泵的数学模型以及管道与阀门的简化模型等。利用Matlab/Simulink平台对上述各子系统数学模型进行了建模仿真，采用模块化建模的思想对子系统数学模型进行了标准化封装。在此基础上，对核动力二回路各子系统的动态特性进行了仿真计算，仿真结果表明了本文所提出的二回路系统数学模型的正确性。这为制订舰船核动力系统二回路的控制策略奠定了理论基础。
基于本文建立的舰船核动力装置二回路系统的仿真模型，根据查阅的陆上核电站与核潜艇控制系统的设计方法，设计了基于经典控制理论的常规PID的核动力装置二回路的控制系统，包括反应堆运行控制系统、蒸汽排放控制系统、蒸汽发生器的水位控制系统、汽轮发电机的转速-功率控制系统、冷凝器的水位控制系统、过冷度控制系统、真空度控制系统、给水泵的转速控制系统等。为了验证本文所设计的控制系统的有效性，对二回路各子系统进行了变工况动态仿真计算，仿真结果表明了所提出的常规PID控制系统能够满足舰船核动力控制系统的控制要求。
在常规PID控制的基础上，根据模糊控制理论，设计了基于常规PID控制系统的蒸汽发生器的模糊水位控制系统，包括模糊水位控制、模糊自适应PID水位控制、模糊-PID复合水位控制。仿真结果表明模糊控制具有超调量小、调节时间短、鲁棒性强等优点，特别适用于蒸汽发生器这类具有多变量、大滞后、强耦合的非线性系统。在此基础上，根据神经网络控制理论，将模糊控制与神经网络控制相结合，设计了蒸汽发生器的自适应神经网络模糊水位控制系统。仿真结果表明自适应神经网络模糊控制，既具有模糊控制的推理能力，又具有神经网络的自适应、自学习能力。模糊神经网络控制是一种更加完善的智能控制策略。
系统层面上，为了解决核动力二回路系统内外能量供求不平衡的问题，设计了系统级的智能协调控制系统，即反应堆-蒸汽发生器-汽轮机的协调控制系统。在二回路系统主蒸汽压力偏差过大时，协调控制系统能够提前打开蒸汽发生器的给水阀以及提前发出指令控制反应堆控制棒动作，同时限制汽轮机进汽阀的过快打开，既保证了汽轮机负荷响应的快速性，又保证了主蒸汽压力的稳定性。
最后，在对核动力装置二回路系统仿真的基础上，提出了一套适用于新型舰船核动力的控制策略，包括系统级的控制策略与子系统控制策略，即系统协调控制策略、蒸汽发生器的水位控制策略、汽轮发电机组的综合控制策略、泵阀的集总控制策略以及核动力装置二回路的运行管理。
The control system is the “nerve centre” system of marine nuclear power plant, itscontrol quality directly influences the function realization of marine nuclear power plant. Thecontrol strategy of the secondary circuit of marine nuclear power plant is the effective meansfor realizing the higher automatization of the nuclear power plant, improving the level of thedistributing control system (DCS) of the secondary circuit system of the nuclear power plantand improving the credibility of the secondary circuit system. Therefore, it has greatsignificance for improving the functional performance and the combat capability of marinenuclear power plant.
Correlative literature and datum which are about the nuclear power plant and nuclearsubmarines at home and abroad are referred and analyzed. This paper firstly establishes thesimplified lumped parameter models for the secondary circuit of the nuclear power system, byusing two-phase lumped parameter modeling methods. These models mainly comprise thesimplified lumped parameter mathematic model for steam generator, turbine mathematicmodel, the simplified lumped parameter mathematic model for condenser, pump mathematicmodel and the simplified model for pipeline and valve. These mathematic models above aresimulated on Matlab/Simulink platform. The idea of modularization modeling is implementedfor the encapsulation of each subsystem models. Modeling calculation is carried out on thebasis of the simulation models to verify the dynamic characteristics. The correctness of thesecondary circuit mathematic models is shown by the simulation results which lay atheoretical foundation for formulating the control strategy of the secondary circuit of marinenuclear power plant.
The conventional PID control system of the secondary circuit of nuclear power plantsbased on classical control theory is designed, using the simulation model of the secondarycircuit system established before. The design method of control system for nuclear powerplants and nuclear submarines is referred. The control systems of the secondary circuit ofnuclear power system mainly contain reactor operation control system, steam dischargingcontrol system, steam generator water level control system, steam turbine-generator unitspeed-power control system, condenser water level control system, vacuum and condensatesubcooling degree control system and pump speed control system. Modeling calculation ofreducing load is carried out to verify the validity of the control systems designed above. Thesimulation results prove that the conventional PID control system of the secondary circuit based on classical control theory could meet the need of the targets of marine nuclear powercontrol system.
The fuzzy control system for water level control of steam generator is designed based onconventional PID control, according as fuzzy control theory. Three level control methods aredesigned: fuzzy level control, fuzzy adapting PID level control and fuzzy-PID level control.Simulation results show that fuzzy control has such excellence as smaller overshoot, shorteradjusting time and stronger robustness. It especially fits to nonlinear systems like steamgenerator with multivariable, large time lagged and stronger coupling. Adaptive neuro-fuzzylevel control system of steam generator is designed based on the fuzzy control system,according as neuron network control theory. Simulation results show that the adaptiveneuro-fuzzy level control system has not only inference ability of fuzzy control system, butalso adaptive and self-studying abilities. It is a more perfectly intelligent control strategy.
The intelligent coordinated control system (CCS), namely reactor-steam generator-steamturbine CCS, at system level is designed to solve the problem of inside and outside energyunbalance of the secondary circuit. The intelligent coordinated control system acts when themain steam pressure deviation of the secondary circuit is bigger than the set value. It couldopen the feedwater valve of steam generator and command control rods to act in advance,meanwhile, restrict the steam valve of steam turbine not to open quickly. As a result, therapidity of turbine’s response to power load is ensured, so is the stability of the main steampressure.
Finally, a series of control strategies based on the modeling simulation above areproposed for our national new type marine nuclear power plants, including the controlstrategies at system level and the control strategies at device level: the overall coordinatedcontrol strategy, the water level control strategy of steam generator, the integrated controlstrategy of steam turbine, the centralized control strategy of pumps and valves and theoperation management of the secondary circuit of nuclear power plants.
本文在查阅、分析国内外陆上核电站与核潜艇等相关文献资料的基础上，采用两相集总参数化建模方法，首次建立了舰船核动力装置二回路系统的简化集总参数数学模型。主要包括蒸汽发生器的简化集总参数动态数学模型、汽轮机的数学模型、冷凝器的简化集总参数动态数学模型、凝给水泵的数学模型以及管道与阀门的简化模型等。利用Matlab/Simulink平台对上述各子系统数学模型进行了建模仿真，采用模块化建模的思想对子系统数学模型进行了标准化封装。在此基础上，对核动力二回路各子系统的动态特性进行了仿真计算，仿真结果表明了本文所提出的二回路系统数学模型的正确性。这为制订舰船核动力系统二回路的控制策略奠定了理论基础。
基于本文建立的舰船核动力装置二回路系统的仿真模型，根据查阅的陆上核电站与核潜艇控制系统的设计方法，设计了基于经典控制理论的常规PID的核动力装置二回路的控制系统，包括反应堆运行控制系统、蒸汽排放控制系统、蒸汽发生器的水位控制系统、汽轮发电机的转速-功率控制系统、冷凝器的水位控制系统、过冷度控制系统、真空度控制系统、给水泵的转速控制系统等。为了验证本文所设计的控制系统的有效性，对二回路各子系统进行了变工况动态仿真计算，仿真结果表明了所提出的常规PID控制系统能够满足舰船核动力控制系统的控制要求。
在常规PID控制的基础上，根据模糊控制理论，设计了基于常规PID控制系统的蒸汽发生器的模糊水位控制系统，包括模糊水位控制、模糊自适应PID水位控制、模糊-PID复合水位控制。仿真结果表明模糊控制具有超调量小、调节时间短、鲁棒性强等优点，特别适用于蒸汽发生器这类具有多变量、大滞后、强耦合的非线性系统。在此基础上，根据神经网络控制理论，将模糊控制与神经网络控制相结合，设计了蒸汽发生器的自适应神经网络模糊水位控制系统。仿真结果表明自适应神经网络模糊控制，既具有模糊控制的推理能力，又具有神经网络的自适应、自学习能力。模糊神经网络控制是一种更加完善的智能控制策略。
系统层面上，为了解决核动力二回路系统内外能量供求不平衡的问题，设计了系统级的智能协调控制系统，即反应堆-蒸汽发生器-汽轮机的协调控制系统。在二回路系统主蒸汽压力偏差过大时，协调控制系统能够提前打开蒸汽发生器的给水阀以及提前发出指令控制反应堆控制棒动作，同时限制汽轮机进汽阀的过快打开，既保证了汽轮机负荷响应的快速性，又保证了主蒸汽压力的稳定性。
最后，在对核动力装置二回路系统仿真的基础上，提出了一套适用于新型舰船核动力的控制策略，包括系统级的控制策略与子系统控制策略，即系统协调控制策略、蒸汽发生器的水位控制策略、汽轮发电机组的综合控制策略、泵阀的集总控制策略以及核动力装置二回路的运行管理。
The control system is the “nerve centre” system of marine nuclear power plant, itscontrol quality directly influences the function realization of marine nuclear power plant. Thecontrol strategy of the secondary circuit of marine nuclear power plant is the effective meansfor realizing the higher automatization of the nuclear power plant, improving the level of thedistributing control system (DCS) of the secondary circuit system of the nuclear power plantand improving the credibility of the secondary circuit system. Therefore, it has greatsignificance for improving the functional performance and the combat capability of marinenuclear power plant.
Correlative literature and datum which are about the nuclear power plant and nuclearsubmarines at home and abroad are referred and analyzed. This paper firstly establishes thesimplified lumped parameter models for the secondary circuit of the nuclear power system, byusing two-phase lumped parameter modeling methods. These models mainly comprise thesimplified lumped parameter mathematic model for steam generator, turbine mathematicmodel, the simplified lumped parameter mathematic model for condenser, pump mathematicmodel and the simplified model for pipeline and valve. These mathematic models above aresimulated on Matlab/Simulink platform. The idea of modularization modeling is implementedfor the encapsulation of each subsystem models. Modeling calculation is carried out on thebasis of the simulation models to verify the dynamic characteristics. The correctness of thesecondary circuit mathematic models is shown by the simulation results which lay atheoretical foundation for formulating the control strategy of the secondary circuit of marinenuclear power plant.
The conventional PID control system of the secondary circuit of nuclear power plantsbased on classical control theory is designed, using the simulation model of the secondarycircuit system established before. The design method of control system for nuclear powerplants and nuclear submarines is referred. The control systems of the secondary circuit ofnuclear power system mainly contain reactor operation control system, steam dischargingcontrol system, steam generator water level control system, steam turbine-generator unitspeed-power control system, condenser water level control system, vacuum and condensatesubcooling degree control system and pump speed control system. Modeling calculation ofreducing load is carried out to verify the validity of the control systems designed above. Thesimulation results prove that the conventional PID control system of the secondary circuit based on classical control theory could meet the need of the targets of marine nuclear powercontrol system.
The fuzzy control system for water level control of steam generator is designed based onconventional PID control, according as fuzzy control theory. Three level control methods aredesigned: fuzzy level control, fuzzy adapting PID level control and fuzzy-PID level control.Simulation results show that fuzzy control has such excellence as smaller overshoot, shorteradjusting time and stronger robustness. It especially fits to nonlinear systems like steamgenerator with multivariable, large time lagged and stronger coupling. Adaptive neuro-fuzzylevel control system of steam generator is designed based on the fuzzy control system,according as neuron network control theory. Simulation results show that the adaptiveneuro-fuzzy level control system has not only inference ability of fuzzy control system, butalso adaptive and self-studying abilities. It is a more perfectly intelligent control strategy.
The intelligent coordinated control system (CCS), namely reactor-steam generator-steamturbine CCS, at system level is designed to solve the problem of inside and outside energyunbalance of the secondary circuit. The intelligent coordinated control system acts when themain steam pressure deviation of the secondary circuit is bigger than the set value. It couldopen the feedwater valve of steam generator and command control rods to act in advance,meanwhile, restrict the steam valve of steam turbine not to open quickly. As a result, therapidity of turbine’s response to power load is ensured, so is the stability of the main steampressure.
Finally, a series of control strategies based on the modeling simulation above areproposed for our national new type marine nuclear power plants, including the controlstrategies at system level and the control strategies at device level: the overall coordinatedcontrol strategy, the water level control strategy of steam generator, the integrated controlstrategy of steam turbine, the centralized control strategy of pumps and valves and theoperation management of the secondary circuit of nuclear power plants.
引文
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