Model-based control system design for steam turbine based on Functional Mock-up interface (FMI/FMU)

摘要

This paper exploits the authors recent work where real-time simulator of the steam turbine was developed using mathematical-physical modeling. Consequently, this work focuses on exact feedback controller design. Firstly, the steam turbine model was linearized for operations in the so-called island and national grid mode. Further, the generalized robustness regions method was applied to design 2DOF PI/PID controller for both working modes. Fulfilling design requirements (sensitivity function limits, gain and phase margins) ensures the required robustness of feedback loop. Using export to FMU (Functional Mock-up Unit), the resulted controller was validated in real-time in both SiL (Software-in-the-Loop) and HiL (Hardware-in-the-Loop) schemes. The presented procedure allows rapid optimization/re-tuning/adaptation of controller in case the model is changed. It is supposed that similar procedure will be applied on other energetic devices (water turbine, power generator, drum boiler, etc.).