System and method for a load anticipation feature and its tuning method for a generating set

• US 9,574,511 B2
• Filed: 05/21/2015
• Issued: 02/21/2017
• Est. Priority Date: 07/24/2014
• Status: Active Grant

• Current Assignee: Basler Electric Company
• Original Assignee: Basler Electric Company
• Inventors: Kim, Kiyong, Burnworth, Jeffrey A.
• Primary Examiner(s): WONG, YUEN H
• Application Number:
  US14/718,504
• Publication Number:
  US 20160025023A1
• Time in Patent Office: 642 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/30 including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
• CPC Class Codes: B60W 20/15 Control strategies specially adapted for achieving a particular effect
• CPC Class Codes: B60W 2510/0638 Engine speed
• CPC Class Codes: B60W 2510/081 Speed
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/1884 Avoiding stall or overspeed of the engine
• CPC Class Codes: B60W 40/107 Longitudinal acceleration
• CPC Class Codes: F02B 63/04 for electric generators
• CPC Class Codes: F02D 31/001 Electric control of rotation speed
• CPC Class Codes: F02D 41/083 taking into account engine load variation, e.g. air-conditionning
• CPC Class Codes: H02P 9/02 Details of the control
• CPC Class Codes: Y10S 903/902 Prime movers comprising electrical and internal combustion motors

Abstract

A method, system and computer software for providing a load anticipation feature for a diesel generating set including a diesel engine, a generator, a speed governor, and an automatic voltage regulator generator in a power system and computer data processor apparatus and computer executable instructions for ascertaining an equivalent linear speed control system whose response approximately matches the non-linear speed response of the diesel generating set; ascertaining at least one programmable parameter of the load anticipation feature based on a real power load applied to the diesel generating set and a desired speed response of the linear speed control system; generating a control output based on a measured real power load and at least one programmable parameter of the load anticipation feature; the speed governor receiving the control output and adjusting the speed of the diesel engine based on the control output.

Claims

1. A method for providing a load anticipation feature for a diesel generating set including a diesel engine, a generator, a speed governor, and an automatic voltage regulator, the method comprising steps of:

determining using particle swarm optimization, by a computer data processor, an equivalent linear speed control system, a response of the equivalent linear speed control system approximately matching a non-linear speed response of the diesel generating set, by;

determining an actual value of the non-linear speed response of the diesel generating set based on a real power load;

calculating a response of the equivalent linear speed control system using the real power load and a speed deviation;

determining a first fitness evaluation to find a self best value for each particle in a group of linear speed control particles and a global best value of the group of linear speed control particles by comparing the calculated response to the actual value of the non-linear speed response;

determining, using the particle swarm optimization, by the computer data processor, at least one programmable parameter of the load anticipation feature based on the real power load applied to the diesel generating set and a desired speed response of the linear speed control system by;

determining a desired speed response, Δ

ω

_d(k), of the linear speed control system using a real power output, P_E(k), over a predetermined period of time;

calculating a response of the equivalent linear speed control system and the load anticipation feature, Δ

ω

_m(k), based on the real power output;

determining a second fitness evaluation of the particle to find a self best value for each particle in a group of load anticipation feature particles and a global best value of the group of load anticipation feature particles by comparing the desired speed response to the calculated response of the equivalent linear speed control system and the load anticipation feature;

measuring the real power load applied to the diesel generating set by a sensor electrically coupled to the diesel generating set;

determining, by the automatic voltage regulator, a control output based on the measured real power load and the at least one programmable parameter of the load anticipation feature; and

controlling the speed governor, by the automatic voltage regulator, the speed governor adjusting the speed of the diesel engine based on the control output.

2. The method of claim 1 wherein the step of determining the equivalent linear speed control system further comprises a step of determining a set of programmable parameters of the linear speed control system using particle swarm optimization, the set of programmable parameters determined by a predetermined number of particles, wherein a position of each particle represents a different set of programmable parameters;

and further comprises steps of, for each particle;

a. initializing each particle position;

b. determining an actual value of the speed response of the diesel generating set based on a generator real power load;

c. calculating a response of the equivalent linear speed control system with a selected particle position using a generator real power load and the speed deviation;

d. determining the first fitness evaluation of the particle to find a self best value for each particle and a global best value of all of the predetermined number of particles by comparing the calculated response to the actual value of the speed response; and

e. updating the particle position and a velocity for each particle based on the determined self best value and global best value.

3. The method of claim 2 wherein the set of programmable parameters of the equivalent linear speed control system comprise at least one of:

H=total engine inertia, T_A=actuator time constant, K_P, K_I, K_D=(PID) controller parameters and Speed Droop.

4. The method of claim 1 wherein the step of determining the linear speed control system further comprises steps of:

determining a set of programmable parameters of the equivalent linear speed control system using particle swarm optimization, the set of programmable parameters determined by a fixed number of particles, wherein a position of each particle represents a different set of programmable parameters; and

for each set of programmable parameters;

Step 0;

initializing Iteration Counter=0;

Step 1;

determining an actual speed control system, Δ

ω

(k), for the diesel engine using the real power output, P_E(k), of the generator as a predetermined number of samples, k=1, . . . , N, over a predetermined period of time;

Step 2;

initializing each particle position to typical values based on the specifications of the equipment in the diesel generating set and each particle velocity to zero;

Step 3;

initializing Particle Counter=0;

Step 4;

calculating the equivalent linear speed control system response, Δ

ω

_m(k), with a selected particle position, based on the real power output, P_E(k), k=1, . . . , N;

Step 5;

calculating the first fitness function;

5. The method of claim 4 wherein the set of programmable parameters of the equivalent linear speed control system comprise at least one of:

H=total engine inertia, T_A=actuator time constant, K_P, K_I, K_D=(PID) controller parameters and Speed Droop.

6. The method of claim 1 wherein the step of determining at least one programmable parameter of the load anticipation feature further comprises a step of determining a set of programmable parameters of the load anticipation feature using particle swarm optimization, the set of programmable parameters determined by a predetermined number of particles;

and

for each particle;

a. initializing a particle position;

b. determining a desired speed response of the equivalent linear speed control system based on the generator rated real power load;

c. calculating a speed response of the linear speed control system and the load anticipation feature with a selected particle position using the real power load and the speed deviation;

d. determining the second fitness evaluation of the particle to find a self best value and a global best value by comparing the calculated speed response to the desired speed response; and

e. updating the position and a velocity for each particle based on the determined self best value and global best value.

7. The method of claim 6 wherein the set of programmable parameters of the load anticipation feature comprise at least one of:

T_W=washout time constant, K_W=output gain, T_LEAD=phase lead constant, and T_LAG=lag time constant.

8. The method of claim 1 wherein the step of determining at least one programmable parameter of the load anticipation feature further comprises a step of:

determining a set of programmable parameters of the load anticipation feature using particle swarm optimization, the set of programmable parameters determined by a fixed number of particles, wherein a position of each particle represents a different set of programmable parameters; and

for each set of programmable parameters;

Step 0;

initializing the Iteration Counter=0;

Step 1;

determining a desired speed response, Δ

ω

_d(k), of the linear speed control system using the real power output, P_E(k), as a predetermined number of samples, k=1, . . . , N, over a predetermined period of time;

Step 2;

initializing each particle position and each particle velocity to zero;

Step 3;

initializing Particle Counter=0;

Step 4;

calculating the response of the equivalent linear speed control system and the load anticipation feature, Δ

ω

_m(k), with a selected particle position, based on the real power output, P_E(k), k=1, . . . , N;

Step 5;

calculating the second fitness function;

9. The method of claim 8 wherein the set of programmable parameters of the load anticipation feature comprise at least one of:

T_W=washout time constant, K_W=output gain, T_LEAD=phase lead constant, and T_LAG=lag time constant.

10. The method of claim 1 wherein the desired speed response, Δ

ω

_d(k), of the equivalent linear speed control system is determined based on a scaling factor and the actual speed response of the diesel generating set.

11. The method of claim 1 wherein the step of controlling the speed governor further comprises a step of blocking the control output to the speed governor when the measured real power load is less than or equal to a predetermined percentage of the generator'"'"'s rated power load.

12. The method of claim 1 wherein the step of controlling to the speed governor further comprises a step of enabling the control output to the speed governor when a rate of change of the real power load exceeds a programmable amount.

13. The method of claim 1 wherein the step of determining, using the particle swarm optimization, the at least one programmable parameter of the load anticipation feature is performed by the automatic voltage regulator.

14. A system for providing a load anticipation feature for a diesel generating set including a diesel engine, a generator, a speed governor, and an automatic voltage regulator, the system comprising:

a computer data processor apparatus operatively coupled to a non-transitory computer memory containing computer executable instructions, that when executed by one or more processors, cause the one or more processors to;

determine, using particle swarm optimization, an equivalent linear speed control system, a response of the linear speed control system approximately matching the non-linear speed response of the diesel generating set by;

determining an actual value of the non-linear speed response of the diesel generating set based on a real power load;

calculating a response of the equivalent linear speed control system using the real power load and a speed deviation;

determining a first fitness evaluation to find a self best value for each particle in a group of linear speed control particles and a global best value of the group of linear speed control particles by comparing the calculated response to the actual value of the non-linear speed response;

determine, using the particle swarm optimization, at least one programmable parameter of the load anticipation feature based on a real power load applied to the diesel generating set and a desired speed response of the linear speed control system by;

determining a desired speed response, Δ

ω

_d(k), of the linear speed control system using the real power output, P_E(k), over a predetermined period of time;

calculating a response of the equivalent linear speed control system and the load anticipation feature, Δ

ω

_m(k), based on the real power output;

determining a second fitness evaluation of the particle to find a self best value for each particle in a group of load anticipation feature particles and a global best value of the particles in a group of load anticipation feature particles by comparing the desired speed response to the response of the equivalent linear speed control system and the load anticipation feature; and

implement the linear speed control system and the load anticipation feature;

a sensor to measure the real power load applied to the diesel generating set;

an input data interface structure for receiving a measurement of the real power load applied to the diesel generating set,

the automatic voltage regulator having an automatic voltage regulator computer data processor apparatus having an automatic voltage regulator communications interface and operatively coupled to an automatic voltage regulator non-transitory computer memory containing automatic voltage regulator computer executable instructions, the automatic voltage regulator computer data processor apparatus for executing the automatic voltage regulator computer executable instructions to generate a control output based on the measured real power load and the at least one programmable parameter of the load anticipation feature; and

the speed governor including a communications interface operatively coupled to the communications interface of the automatic voltage regulator computer data processor apparatus, the speed governor communications interface receiving the automatic voltage regulator control output transmitted from the computer data processor apparatus communications interface, the speed governor adjusting the speed of the diesel engine based on the control output.

15. The system of claim 14 wherein the computer executable instructions that when executed by one or more processors, cause the one or more processors to determine the linear speed control system, further causes the one or more processors to:

determine a set of programmable parameters of the equivalent linear speed control system using the particle swarm optimization, the set of programmable parameters determined by a predetermined number of particles, wherein the position of each particle represents a different set of programmable parameters; and

for each particle;

a. initializing each particle position;

b. determining an actual value of the speed response of the diesel generating set based on a generator real power load;

c. calculating a response of the equivalent linear speed control system with a selected particle position using the real power load and the speed deviation;

d. determining the first fitness evaluation of the particle to find a self best value for each particle and a global best value of all of the predetermined number of particles by comparing the calculated response to the actual value of the speed response; and

e. updating the particle position and a velocity for each particle based on the determined self best value and global best value.

16. The system of claim 15 wherein the set of programmable parameters of the equivalent linear speed control system comprise at least one of:

H=total engine inertia, T_A=actuator time constant, K_P, K_I, K_D=(PID) controller parameters and Speed Droop.

17. The system of claim 14 wherein the computer executable instructions that when executed by one or more processors, cause the one or more processors to determine the linear speed control system, further causes the one or more processors to:

determine a set of programmable parameters of the linear speed control system using particle swarm optimization, the set of programmable parameters determined by a fixed number of particles, wherein the position of each particle represents a different set of programmable parameters; and

for each set of programmable parameters;

Step 0;

initializing Iteration Counter=0;

Step 1;

determining an actual speed control system, Δ

ω

(k), for the diesel engine using the real power output, P_E(k), of the generator as a predetermined number of samples, k=1, . . . , N, over a predetermined period of time;

Step 2;

initializing each particle position to typical values based on the specifications of the equipment in the diesel generating set and each particle velocity to zero;

Step 3;

initializing Particle Counter=0;

Step 4;

calculating the equivalent linear speed control system response, Δ

ω

_m(k), with a selected particle position, based on the real power output, P_E(k), k=1, . . . , N;

Step 5;

calculating the first fitness function;

18. The system of claim 17 wherein the set of programmable parameters of the equivalent linear speed control system comprise at least one of:

H=total engine inertia, T_A=actuator time constant, K_P, K_I, K_D=(PID) controller parameters and Speed Droop.

19. The system of claim 14 wherein the computer executable instructions that when executed by one or more processors, cause the one or more processors to determine at least one programmable parameter of the load anticipation feature, further cause the one or more processors to:

determine a set of programmable parameters of the load anticipation feature using particle swarm optimization, the set of programmable parameters determined by a predetermined number of particles; and

for each particle;

a. initializing a particle position,

b. determining a desired speed response of the equivalent linear speed control system based on the generator rated real power load;

c. calculating a speed response of the linear speed control system and the load anticipation feature with a selected particle position using the real power load and the speed deviation;

d. determining the second fitness evaluation of the particle to find a self best value for each particle and a global best value of all of the predetermined number of particles by comparing the calculated speed response to the desired speed response; and

e. updating the particle position and a velocity for each particle based on the determined self best value and global best value.

20. The system of claim 19 wherein the set of programmable parameters of the load anticipation feature comprise at least one of:

T_W=washout time constant, K_W=output gain, T_LEAD=phase lead constant, and T_LAG=lag time constant.

21. The system of claim 14 wherein the computer executable instructions that when executed by one or more processors, cause the one or more processors to determine at least one programmable parameter of the load anticipation feature, further cause the one or more processors to:

determine a set of programmable parameters of the load anticipation feature using particle swarm optimization, the set of programmable parameters determined by a fixed number of particles, wherein the position of each particle represents a different set of programmable parameters; and

for each set of programmable parameters;

Step 0;

initializing the Iteration Counter=0;

Step 1;

determining a desired speed response, Δ

ω

_d(k), of the linear speed control system using the real power output, P_E(k), as a predetermined number of samples, k=1, . . . , N, over a predetermined period of time;

Step 2;

initializing each particle position and each particle velocity to zero;

Step 3;

initializing Particle Counter=0;

Step 4;

calculating the response of the equivalent linear speed control system and the load anticipation feature, Δ

ω

_m(k), with a selected particle position, based on the real power output, P_E(k), k=1, . . . , N;

Step 5;

calculating the second fitness function;

22. The system of claim 21 wherein the set of programmable parameters of the load anticipation feature comprise at least one of:

T_W=washout time constant, K_W=output gain, T_LEAD=phase lead constant, and T_LAG=lag time constant.

23. The system of claim 14 wherein the desired speed response, Δ

ω

_d(k), of the equivalent linear speed control system is determined based on a scaling factor and the actual speed response of the diesel generating set.

24. The system of claim 14 wherein the computer executable instructions, that when executed by the one or more processors, cause the one or more processors further to provide the control output to the speed governor further comprises a step of blocking the control output to the speed governor when the measured real power load is less than or equal to a predetermined percentage of the generator'"'"'s rated power load.

25. The system of claim 14 wherein the computer executable instructions, that when executed by the one or more processors, cause the one or more processors further to enable the transmission of the control output to the speed governor when the rate of change of the real power load applied to the diesel generating set exceeds a programmable amount.

26. The system of claim 14 wherein the automatic voltage regulator computer data processor apparatus includes the computer data processor apparatus.