CN102052233A - Water turbine regulating system module used for stability analysis of power system - Google Patents

Water turbine regulating system module used for stability analysis of power system Download PDF

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Publication number
CN102052233A
CN102052233A CN2010106024317A CN201010602431A CN102052233A CN 102052233 A CN102052233 A CN 102052233A CN 2010106024317 A CN2010106024317 A CN 2010106024317A CN 201010602431 A CN201010602431 A CN 201010602431A CN 102052233 A CN102052233 A CN 102052233A
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model
output
regulator
pid
servomotor
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徐广文
刘昌玉
黄青松
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Electric Power Research Institute of Guangdong Power Grid Co Ltd
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Electric Power Research Institute of Guangdong Power Grid Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/20—Hydro energy

Abstract

The invention discloses a water turbine regulating system module used for the stability analysis of a power system. The module consists of an electronic regulator model, a hydraulic executing mechanism model and a water turbine model, wherein the electronic regulator model calculates the output of a regulator accruing to an input machine set frequency signal; the hydraulic executing mechanism model calculates the output of a servomotor according to the input of the regulator; and the water turbine model calculates the power output of a water turbine according to the input of the servomotor. In the water turbine regulating system module used for the stability analysis of the power system, the structure is advanced and clear, the model parameter significance is definite and is convenient to acquire, the modeling process is rapid, the data organization and analysis time are saved greatly, the modeling efficiency is improved, the actual curvature tolerance of the model and the field is high, and the overall technology is mature.

Description

A kind of power system stability analysis Adaptive System of Water-Turbine Engine module
Technical field
The present invention relates to a kind of simulation calculation Adaptive System of Water-Turbine Engine module, specifically be meant a kind of a kind of power system stability analysis Adaptive System of Water-Turbine Engine module that is used for.
Background technique
At present, the domestic power system stability Adaptive System of Water-Turbine Engine model analyzing used PSD-BPA transient stability program and provide is made of mechanical hydraulic-pressure type speed regulator model and two of desirable hydraulic turbine models.The Adaptive System of Water-Turbine Engine model that PSD-BPA transient stability program provides as shown in Figure 1, the block diagram of mechanical hydraulic-pressure type speed regulator is as shown in Figure 2.
Following formula is the model of desirable water turbine:
G t ( s ) = 1 - T w s 1 + 0.5 T w s
Along with development of technology, the defective of aforementioned Adaptive System of Water-Turbine Engine model has influenced the power system stability precision of analysis, makes big heavy discount of validity that it instructs operation of power networks.Wherein: at first, mechanical hydraulic-pressure type speed regulator model has not met actual conditions, because according to the regulation of power industry standard, hydrogovernor has now generally adopted electronic controller to add the structure of hydraulic actuator; Secondly, mechanical hydraulic-pressure type speed regulator model does not comprise nonlinear elements such as artificial rotating speed dead band, stator movement speed amplitude limit and guide vane opening amplitude limit; At last, desirable hydraulic turbine model is in the desirable free of losses of supposition water turbine and crosses under the condition that water system is a rigid model and obtain that phantom error was big when the machinery of water turbine was exerted oneself under the simulation transient stability.
Therefore, need badly and a kind of proper actual conditions, nonlinear element are provided, consideration is comprehensive, simulation accuracy is high, modeling is convenient and has the Adaptive System of Water-Turbine Engine model that power system stability is analyzed that is applicable to of application value.
Summary of the invention
The objective of the invention is to avoid deficiency of the prior art and provide that a kind of proper actual conditions, nonlinear element are considered comprehensively, simulation accuracy is high, modeling is convenient and have the Adaptive System of Water-Turbine Engine module that is applicable to the power system stability analysis of application value.
Above-mentioned purpose of the present invention adopts following technological scheme to realize: a kind of power system stability analysis Adaptive System of Water-Turbine Engine module, it is characterized in that: this module is made up of electronic controller model, hydraulic actuator model and three models of hydraulic turbine model, wherein, described electronic controller model calculates regulator output according to the unit frequency signal of input, described hydraulic actuator model is according to the output of regulator input calculating servomotor, the power output that water turbine is calculated in input according to servomotor of described hydraulic turbine model.
Described electronic controller model is a PID type regulator model, and the frequency difference Δ F (S) of PID regulator is to regulator output Y in this model PID(S) transfer function characterizes as follows:
Y PID ( S ) ΔF ( S ) = K P + K D × S 1 + T 1 v × S + K I S 1 + K I S × b P
In the formula: K P---proportional gain;
K I---storage gain;
K D---DG Differential Gain;
T 1v---derivative time constant;
b P---the coefficient of attitude slip forever;
Δ F (S)---frequency difference (F c-F g) laplace transformation;
F g---the machine class frequency;
F c---frequency is given;
S---Laplace operator;
Y PID(S)---the laplace transformation of regulator output.
Regulator output Y in the described hydraulic actuator model liquid PID(S) transfer function to servomotor output Y (S) characterizes as follows:
Y ( S ) Y PID ( S ) = K c K c + Ty × S + T y 1 × T y × S 2
In the formula: K c---electric liquid conversion links coefficient;
T Y1---the auxiliary receiver reaction time;
T y---the servomotor reaction time;
Y---servomotor stroke output;
Y (S)---the laplace transformation of servomotor output.
As follows to the transfer function sign of water turbine power output P (S) in the hydraulic turbine model by servomotor output Y (S):
P ( S ) Y ( S ) = b 3 S 3 + b 2 S 2 + b 1 S + b 0 a 4 S 4 + a 3 S 3 + a 2 S 2 + a 1 S + a 0
In the formula: b 3, b 2, b 1, b 0---system's output factor;
a 4, a 3, a 2, a 1, a 0---system's input coefficient;
P---water turbine power output;
P (S)---the laplace transformation of water turbine power output.
Electronic controller model of the present invention is a PID type regulator model, and the hydraulic actuator model is an auxiliary receiver type Hydrawlic Slave System model, and hydraulic turbine model is a nonlinear model, comprises artificial rotating speed dead band and Y in the electronic controller model PIDTwo nonlinear elements of amplitude limit comprise main control valve amplitude limit and two nonlinear elements of guide vane opening amplitude limit link in the hydraulic actuator model.
Along with development of computer, hydrogovernor develops into current digital hydraulic speed regulator by initial mechanical hydraulic-pressure type.The digital hydraulic speed regulator is made of digital governer and hydraulic pressure execution architecture two-part, and digital governer generally adopts PID control law in parallel, and hydraulic actuator has three kinds on electro-hydraulic servo type, auxiliary receiver type and pilot servomotor type.Transfer function according to these three kinds of hydraulic actuators, it can be divided into single order, second-order system two classes, wherein the electro-hydraulic servo type is a first-order system, and remaining is a second-order system, if the responsive time constant of auxiliary receiver or pilot servomotor is little to can ignore the time, can be equal to first-order system.
One of technical measures of model refinement adopt to add the speed regulator model that hydraulic actuator forms by the PID type controller and meet the speed regulator actual conditions, model intrinsic parameter meaning clearly, obtain Y easily PIDThe simulation accuracy height of signal.
Power system frequency changes constantly, the adjusting unit output that the speed regulator of the unit that is incorporated into the power networks can not stop thereupon, and often this goes down to accelerate equipment attrition.System frequency fluctuation in the certain limit allows, unit can not participate in regulating in this band frequency scope, therefore electronic controller is provided with a certain size artificial rotating speed dead band, so that fixing unit load, in order to prevent that Hydropower Unit from exceeding power or entering the irregular operation zone, electronic controller also can be to Y PIDCarry out amplitude limit.
Two of the technical measures of model refinement add artificial rotating speed dead band and Y in the electronic controller model PIDTwo nonlinear elements of amplitude limit are realistic, accurately artificial actual action situation.
Water turbine internal flow complicated movement, and its water-carriage system is often quite complicated, presents stronger nonlinear characteristics, and it is very complicated to set up the hydraulic turbine model of considering catchment channel.Explain with ideal model, then too simple, can't reflect the time of day of equipment, reduced stability calculation result's reference value.
Three of the technical measures of model refinement, the non-linear hydraulic turbine model of employing can shorten the modeling time, improves the model emulation precision, the high expense of avoiding complicated catchment channel hydraulic turbine model to set up simultaneously.
Compared with prior art, the present invention has following remarkable result:
1) Adaptive System of Water-Turbine Engine module of the present invention conforms to actual Adaptive System of Water-Turbine Engine formation, and each constituent element intrinsic parameter meaning of model is clear and definite, obtains easily;
2) each constituent element nonlinear element consideration is thorough in the Adaptive System of Water-Turbine Engine module of the present invention, presses close to reality, can accurately simulate the actual act situation;
3) non-linear hydraulic turbine model is easy to identification in the Adaptive System of Water-Turbine Engine module of the present invention, can reflect the time of day of equipment more accurately;
4) Adaptive System of Water-Turbine Engine module technology maturation of the present invention, model accuracy improves greatly;
5) Adaptive System of Water-Turbine Engine module of the present invention is set up different unit model needed times weak points, and expense is low.
Description of drawings
Below in conjunction with the drawings and specific embodiments the present invention is done and to describe in further detail.
Fig. 1 is the Adaptive System of Water-Turbine Engine model framework chart that provides in the PSD-BPA transient stability program in the prior art;
Fig. 2 is the block diagram of mechanical hydraulic-pressure type speed regulator in the prior art;
Fig. 3 is an Adaptive System of Water-Turbine Engine module overall structure block diagram of the present invention;
Fig. 4 is an electronic controller model framework chart in the Adaptive System of Water-Turbine Engine module of the present invention;
Fig. 5 is a hydraulic actuator model framework chart in the Adaptive System of Water-Turbine Engine module of the present invention;
Fig. 6 is a hydraulic turbine model block diagram in the Adaptive System of Water-Turbine Engine module of the present invention.
The identical identical meaning of symbolic representation among Fig. 3 to Fig. 6 among the present invention.In addition, Y PIDBe regulator output, Y MaxFor regulator (or servomotor) is exported maximum amplitude limit, E fBe artificial rotating speed dead band, Y MinFor regulator (or servomotor) is exported minimum amplitude limit, σ MaxFor main control valve is exported maximum amplitude limit, σ MinFor main control valve is exported minimum amplitude limit, Y is the output of servomotor stroke, u mBe the main control valve dead band, P is the output of water turbine power.
Embodiment
Extremely shown in Figure 6 as Fig. 3, power system stability analysis of the present invention is made up of electronic controller model, hydraulic actuator model and three models of hydraulic turbine model with the Adaptive System of Water-Turbine Engine module, wherein, the electronic controller model calculates regulator output according to the unit frequency signal of input, the hydraulic actuator model is according to the output of regulator input calculating servomotor, the hydraulic turbine model power output that water turbine is calculated in input according to servomotor.
The electronic controller model is a PID type regulator model, its block diagram as shown in Figure 4, the frequency difference Δ F (S) of PID regulator is to regulator output Y in this model PID(S) transfer function characterizes as follows:
Y PID ( S ) ΔF ( S ) = K P + K D × S 1 + T 1 v × S + K I S 1 + K I S × b P
In the formula: K P---proportional gain;
K I---storage gain;
K D---DG Differential Gain;
T 1v---derivative time constant;
b P---the coefficient of attitude slip forever;
Δ F (S)---frequency difference (F c-F g) laplace transformation;
F g---the machine class frequency;
F c---frequency is given;
S---Laplace operator;
Y PID(S)---the laplace transformation of regulator output.
The hydraulic actuator model framework chart as shown in Figure 5, the regulator of hydraulic actuator output Y in this model PID(S) transfer function to servomotor output Y (S) characterizes as follows:
Y ( S ) Y PID ( S ) = K c K c + Ty × S + T y 1 × T y × S 2
In the formula: K c---electric liquid conversion links coefficient;
T Y1---the auxiliary receiver reaction time;
T y---the servomotor reaction time;
Y (S)---the laplace transformation of servomotor output.
The hydraulic turbine model block diagram as shown in Figure 6, water turbine part is as follows to the transfer function sign of water turbine power output P (S) by servomotor output Y (S) in this model:
P ( S ) Y ( S ) = b 3 S 3 + b 2 S 2 + b 1 S + b 0 a 4 S 4 + a 3 S 3 + a 2 S 2 + a 1 S + a 0
In the formula: b 3, b 2, b 1, b 0---system's output factor;
a 4, a 3, a 2, a 1, a 0---system's input coefficient;
P (S)---the laplace transformation of water turbine power output.
Power system stability analysis of the present invention is made of PID type regulator, auxiliary receiver type Hydrawlic Slave System and water turbine three department patterns with the Adaptive System of Water-Turbine Engine model, has considered artificial rotating speed dead band, Y simultaneously PIDAmplitude limit, main control valve amplitude limit and four nonlinear elements of guide vane opening amplitude limit link.
When carrying out emulation, PID type regulator model calculates Y according to the unit frequency signal of input PIDExport, insert the adjusting parameter of actual measurement, can obtain the good simulation result of precision.Regulate parameter K P, K I, K D, T 1v, E fAnd b PCan according to NBS " test of water turbine control system " (GB/T9652.2-2007) and power industry standard " water turbine electro-hydraulic control system and device are adjusted the test guide rule " (DL/T 496-2001) measure regulator output (Y under the different condition PID) to the big or small frequency difference (F of difference c-F g) response, calculate according to this, judge and obtain concrete numerical value, Y Max, Y MinConsistent with actual value.
When carrying out emulation, auxiliary receiver type Hydrawlic Slave System is finished regulator output (Y PID) to the conversion of servomotor stroke output (Y).The time constant of electricity liquid conversion links is very little, can ignore, and therefore uses COEFFICIENT K cExpression gets final product.On transfer function, the hydraulic actuator of hydrogovernor producer manufacturing both at home and abroad all is first-order system basically at present, if ignore the reaction time constant of auxiliary receiver, i.e. T Y1=0, then auxiliary receiver type Hydrawlic Slave System becomes first-order system.So select the auxiliary receiver type Hydrawlic Slave System model of second order wider with Adaptive System of Water-Turbine Engine model hydraulic actuator department pattern applicability as the power system stability analysis.Mechanical property has determined hydraulic actuator to have the speed of certain rotating speed dead band, stator switch and amplitude limit up and down.According to NBS " test of water turbine control system " (GB/T 9652.2-2007) and power industry standard " water turbine electro-hydraulic control system and device are adjusted the test guide rule " (DL/T 496-2001), the rotating speed dead band of measuring speed regulator is as the main control valve dead band, measure the shortest unlatching of stator, shut-in time with definite main control valve output violent change, the amplitude limit that stator is opened, closed is determined according to actual conditions.
Catchment channel-water turbine presents stronger nonlinear characteristics, for reflecting the time of day of equipment better, improves stability calculation result's reference value, adopts nonlinear model that water turbine is carried out emulation.Measure the response of the power of the assembling unit output of different operating point, pick out the hydraulic turbine model of the different operating points of representing with the high-order transfer function according to this guide vane opening.Carry out emulation at the hydraulic turbine model that carries out choosing near the emulation operating point when power system stability is analyzed.
Power system stability analysis Adaptive System of Water-Turbine Engine module of the present invention, structure advanced person, clear, the model parameter meaning is clear and definite, obtain conveniently, modeling process is quick, saves data to arrange, analysis time greatly, improves modeling efficiency, model and on-the-spot actual Percent of contact area height, the overall technology maturation.

Claims (2)

1. power system stability analysis Adaptive System of Water-Turbine Engine module, it is characterized in that: this module is made up of electronic controller model, hydraulic actuator model and three models of hydraulic turbine model, wherein, described electronic controller model calculates regulator output according to the unit frequency signal of input, described hydraulic actuator model is according to the output of regulator input calculating servomotor, the power output that water turbine is calculated in input according to servomotor of described hydraulic turbine model.
2. power system stability analysis Adaptive System of Water-Turbine Engine module according to claim 1 is characterized in that: described electronic controller model is a PID type regulator model, and the frequency difference Δ F (S) of PID regulator is to regulator output Y in this model PID(S) transfer function characterizes as follows:
Y PID ( S ) ΔF ( S ) = K P + K D × S 1 + T 1 v × S + K I S 1 + K I S × b P
In the formula: K P---proportional gain;
K I---storage gain;
K D---DG Differential Gain;
T 1v---derivative time constant;
b P---the coefficient of attitude slip forever;
Δ F (S)---frequency difference (F c-F g) laplace transformation;
F g---the machine class frequency;
F c---frequency is given;
S---Laplace operator;
Y PID(S)---the laplace transformation of regulator output.
Regulator output Y in the described hydraulic actuator model liquid PID(S) transfer function to servomotor output Y (S) characterizes as follows:
Y ( S ) Y PID ( S ) = K c K c + Ty × S + T y 1 × T y × S 2
In the formula: K c---electric liquid conversion links coefficient;
T Y1---the auxiliary receiver reaction time;
T y---the servomotor reaction time;
Y (S)---the laplace transformation of servomotor output.
As follows to the transfer function sign of water turbine power output P (S) in the hydraulic turbine model by servomotor output Y (S):
P ( S ) Y ( S ) = b 3 S 3 + b 2 S 2 + b 1 S + b 0 a 4 S 4 + a 3 S 3 + a 2 S 2 + a 1 S + a 0
In the formula: b 3, b 2, b 1, b 0---system's output factor;
a 4, a 3, a 2, a 1, a 0---system's input coefficient;
P (S)---the laplace transformation of water turbine power output.
CN2010106024317A 2010-12-23 2010-12-23 Water turbine regulating system module used for stability analysis of power system Pending CN102052233A (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102830352A (en) * 2012-07-26 2012-12-19 广东电网公司电力科学研究院 Simulation test method of field isolated network and system thereof
CN103590969A (en) * 2013-11-20 2014-02-19 华中科技大学 PID hydraulic turbine governor parameter optimization method based on multi-working-condition time domain response
CN103593508A (en) * 2013-10-23 2014-02-19 广东电网公司电力科学研究院 Universal simulation platform for large-sized pumped storage power stations
CN103807090A (en) * 2013-11-22 2014-05-21 南方电网科学研究院有限责任公司 Impact type water turbine regulating system for electric power system stability analysis
CN104504224A (en) * 2015-01-16 2015-04-08 大连理工大学 Simulation method of hydraulic turbine set transient state model
CN105065191A (en) * 2015-07-16 2015-11-18 国家电网公司 Method for stabilizing system after accelerating high-head hydro-power generating unit load reduction
CN105449698A (en) * 2015-05-13 2016-03-30 国网河南省电力公司电力科学研究院 Novel hydroelectric generating set load and frequency controller
CN110159480A (en) * 2019-04-26 2019-08-23 昆明理工大学 A kind of hydrogovernor control unit and method for building up with hydraulic pressure phase lead compensation
CN110778447A (en) * 2019-11-04 2020-02-11 云南电网有限责任公司电力科学研究院 No-load PID parameter optimization method for speed regulator of mixed-flow hydraulic generator

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* Cited by examiner, † Cited by third party
Title
《水轮机调节》 20100531 沈祖诒 水轮机调节 中国水利水电出版社 188-191 , *
沈祖诒: "《水轮机调节》", 31 May 2010, 中国水利水电出版社 *

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102830352B (en) * 2012-07-26 2014-12-17 广东电网公司电力科学研究院 Simulation test method of field isolated network and system thereof
CN102830352A (en) * 2012-07-26 2012-12-19 广东电网公司电力科学研究院 Simulation test method of field isolated network and system thereof
CN103593508A (en) * 2013-10-23 2014-02-19 广东电网公司电力科学研究院 Universal simulation platform for large-sized pumped storage power stations
CN103590969A (en) * 2013-11-20 2014-02-19 华中科技大学 PID hydraulic turbine governor parameter optimization method based on multi-working-condition time domain response
CN103590969B (en) * 2013-11-20 2016-04-20 华中科技大学 Based on the PID hydrogovernor parameter optimization method of multi-operating mode time domain response
CN103807090A (en) * 2013-11-22 2014-05-21 南方电网科学研究院有限责任公司 Impact type water turbine regulating system for electric power system stability analysis
CN103807090B (en) * 2013-11-22 2019-02-22 南方电网科学研究院有限责任公司 A kind of impulse turbine regulating system for Power System Stability Analysis
CN104504224B (en) * 2015-01-16 2017-12-01 大连理工大学 A kind of emulation mode of water turbine set transient Model
CN104504224A (en) * 2015-01-16 2015-04-08 大连理工大学 Simulation method of hydraulic turbine set transient state model
CN105449698A (en) * 2015-05-13 2016-03-30 国网河南省电力公司电力科学研究院 Novel hydroelectric generating set load and frequency controller
CN105449698B (en) * 2015-05-13 2017-11-28 国网河南省电力公司电力科学研究院 A kind of new hydroelectric generating set load and frequency controller
CN105065191A (en) * 2015-07-16 2015-11-18 国家电网公司 Method for stabilizing system after accelerating high-head hydro-power generating unit load reduction
CN105065191B (en) * 2015-07-16 2017-07-28 国家电网公司 It is a kind of to accelerate the stable method of system after high water head Hydropower Unit load shedding
CN110159480A (en) * 2019-04-26 2019-08-23 昆明理工大学 A kind of hydrogovernor control unit and method for building up with hydraulic pressure phase lead compensation
CN110778447A (en) * 2019-11-04 2020-02-11 云南电网有限责任公司电力科学研究院 No-load PID parameter optimization method for speed regulator of mixed-flow hydraulic generator

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Application publication date: 20110511