CN103020476B - Method and system for assessing relay protection dynamic characteristics of high-voltage direct-current power transmission line - Google Patents
Method and system for assessing relay protection dynamic characteristics of high-voltage direct-current power transmission line Download PDFInfo
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Abstract
The invention discloses a method and system for assessing relay protection dynamic characteristics of a high-voltage direct-current power transmission line. The method comprises the following steps: simulating computed result data; extracting basic electric quantity data related with direct-current line protection; extracting protection required characteristic quantity through a constructed characteristic quantity function module; forming a dynamic characteristic curve of the direct-current line protection characteristic quantity; computing computational boundary conditions for direct-current power transmission line protection; and carrying out direct-current line protection assessments to obtain assessment values, wherein the assessments include constant value assessment of direct-current line protection, global assessment of direct-current power transmission line protection, assessment of specific state protection performance and assessment of influence of related factors on protection performance. Due to the adoption of the method and system, the working efficiency and the accuracy of protection performance assessment and research can be greatly improved, and good practical benefits are achieved.
Description
Technical field
The present invention relates to high voltage power transmission field, in particular a kind of HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure.
Background technology
High voltage dc transmission technology is the effective means realizing electric energy Large Copacity, long-distance transmissions.DC power transmission line is the passage of DC transmission system power delivery, and the work that can it reliable and stable plays vital effect for the stable operation of whole DC transmission system.DC power transmission line length also makes the probability of line failure greatly increase while increasing, data from Operation of Electric Systems show, occur in fault in HVDC (High Voltage Direct Current) transmission system nearly 50% relevant with DC power transmission line, tremendous influence is caused to the stability and security of system cloud gray model.Therefore, high requirement is proposed to the reliability of DC power transmission line relay protection system and stability.
For protection of direct current supply line, the protected species that different manufacturers adopts and allocation plan have certain otherness, and it is also not identical that each protection realizes principle, and typical relaying configuration scheme as shown in Figure 1, 2.Can see from Fig. 1 and Fig. 2, in current DC transmission system, route protection many employings traveling-wave protection is as main protection, adopts other protection forms such as the protection of voltage jump amount, under-voltage protection and differential protection to protect in support.DC line fault recovery sequence sequence can be triggered to carry out subsequent treatment after relay protection action.
The synchronizing calculation method of relay protection in AC transmission system is through accumulation for many years; a set of maturation, complete system are formed; what the method for parsingization can be adopted to carry out protecting adjusts and verification, also can carry out rationally effective assessment for a certain relay protecting method simultaneously.By comparison, in the DC power transmission line relay protection extensively adopted at present, the calculating of each definite value cannot adopt the method for parsingization to carry out, chief reason is that the characteristic that fault traveling wave is propagated along DC line under DC line fault condition is complicated, is thus difficult to adopt the method for parsingization quantitatively to calculate; After simultaneous faults, the controlled systemic effect impact of the transient characterisitics of electric parameters significantly.In current DC power transmission line relay protection, the definite value of each protection is all provide on the basis of reference value in design protection producer, obtains after operation department carries out suitable adjustment according to actual conditions.The correlative factor that the basis of protection definite value and needs are considered is all indefinite, and in actual motion, DC line relay protection once repeatedly occurred the situation such as malfunction, tripping, had a strong impact on the operation that DC transmission system is reliable and stable.After each accident, fault recorder data when can only occur according to accident, carries out suitable adjustment to the relevant definite value of DC line relay protection.Therefore, the fixed value calculation of DC power transmission line relay protection lacks reliable theoretical foundation, and the reliability of the definite value that adopts of current protection, sensitivity and influence factor etc. all cannot carry out effective evaluation and analysis.
In current each DC transmission system, the definite value of DC line relay protection is all provide recommendation by design protection producer, and on this basis, operation department comes into operation after suitably adjusting according to the concrete feature of straight-flow system.In actual motion, if after the accident such as the relay protection generation malfunction of DC line or tripping, when carrying out suitable adjustment to avoid similar fault to occur according to data such as the failure wave-recordings in accident process to its definite value, protection can not correctly respond.On the other hand, the definite value of DC power transmission line relay protection, the reliability of protected mode and sensitivity and influence factor etc. are carried out the content such as assessing, have not yet to see relevant research data.
Mainly there is the defect of following two aspects in existing DC power transmission line relay protection:
(1) shortcoming existing for defining method of current DC power transmission line relay protection constant value is the basis of protection definite value and needs the correlative factor of consideration all indefinite; the calculating of definite value does not have the unification that can follow, systematized computing method; namely in each DC transmission system, the definite value of DC power transmission line relay protection all sets separately for this DC transmission system, a set of computing method cannot be adopted to obtain for the definite value of DC line protection in different DC transmission system.This makes the adaptive setting of DC power transmission line relay protection cannot form unified system as the relay protection setting calculation of AC transmission system, under the general frame being thus difficult to it to include in together with AC system relay protection relay protection of power system.
(2) definite value of current DC line protection is by manufacturer's recommended, and adopts after running department's adjustment.When after the improper action of protection; also suitably can only adjust definite value according to fault recorder data and the on-the-spot experience run; the rationality of definite value, validity and Correlative Influence Factors are difficult to carry out rationally effective assessment; and then the reliability etc. of allocation plan of route protection itself and protection also cannot effectively be assessed, the reliability of protection is difficult to obtain substantive raising.
Therefore, prior art has yet to be improved and developed.The present invention is under the subsidy of National 863 planning item fund, a kind of HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure provided and system, has applicability extensive, the feature that efficiency is high.
Summary of the invention
The object of the present invention is to provide a kind of HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure; be intended to solve prior art suitably to adjust definite value according to fault recorder data and the on-the-spot experience run; and the reliability etc. of allocation plan of route protection itself and protection also cannot effectively be assessed, the reliability of protection is difficult to obtain the substantive problem improved.
Technical scheme of the present invention is as follows:
A kind of HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure, wherein, comprises the following steps:
Step 1: simulation result data;
Step 2: extract the basic electrical data that DC line protection is relevant;
Step 3: extract the characteristic quantity needed for protection by the characteristic quantity functional module of structure;
Step 4: form DC line protection characteristic quantity dynamic characteristic;
Step 5: calculate the boundary condition that protection of direct current supply line calculates;
Step 6: carry out DC line protection assessment, draw assessed value, comprises the assessment of DC line protection definite value, the assessment of protection of direct current supply line total evaluation, particular state protective value and correlative factor to protective value impact evaluation.
Described HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure, wherein, the concrete grammar of described DC line protection definite value assessment is:
Substitute into the existing definite value of this criterion, analyze itself and protection feature amount dynamic characteristic relation and and protection act boundary value between relation, the reliability coefficient that this definite value of backwards calculation has and sensitivity coefficient.
Described HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure, wherein, described protection of direct current supply line total evaluation concrete grammar for: first assess respectively by the current definite value of the method described in the preceding paragraph to each criterion in this protection of direct current supply line entirety; Then analyze the reliability of current each definite value and sensitivity to this protection reliability on the whole and the impact of sensitivity, the reliability that namely assessment protection is overall and sensitivity by which criterion and definite value thereof limit respectively.
Described HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure, wherein, the concrete grammar of described particular state protective value assessment is: application electromagnetic transients program obtains the basic electric parameters under described particular state; Then protection characteristic of correspondence amount functional module is adopted to extract the dynamic perfromance of each characteristic quantity under this particular state; The dynamic characteristic formed with each characteristic quantity of this protection and trip boundary contrast, and analyze the action situation of protection and each criterion thereof under this particular state.
Described HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure, wherein, described correlative factor to the concrete grammar of protective value impact evaluation is: the PSCAD/EMTDC emulation carrying out transition resistance change or the change of protective device sampling rate, obtains basic electrical data; The dynamic response characteristic extracting protection feature amount and the Changing Pattern embodied with the change of transition resistance or protective device sampling rate thereof; The dynamic characteristic formed with this protection feature amount and trip boundary contrast, and analyze its change brought the reliability of current protection definite value and sensitivity and impact.
Beneficial effect of the present invention: the present invention by the proposition of DC power transmission line relay protection dynamic perfromance appraisal procedure be each protection of direct current supply line under different relaying configuration scheme provide set of system, the evaluation scheme of strong operability.By adopting this evaluation scheme; reliability and the sensitivity of the definite value of existing line protection and the configured in one piece mode of protection can be assessed; the performance protected under research particular state; the impact that the change analyzing correlative factor brings aspects such as protection act characteristics; the performance of objective appraisal protection and effect, analysis can restrict the factor of its reliability and sensitivity, for fixed value modification and protected mode optimization are provided fundamental basis thus.The proposition of DC line relay protection dynamic perfromance appraisal procedure, also makes us all have more deep understanding and understanding to the dynamic perfromance and function etc. of various DC line protection mode and allocation plan thereof.
Accompanying drawing explanation
Fig. 1 existing DC power transmission line relay protection Typical Disposition scheme one.
Fig. 2 DC power transmission line relay protection Typical Disposition scheme two.
Fig. 3 DC transmission system running status combines.
The protection domain of Fig. 4 positive pole route protection and dependent failure distribution.
The effect of Fig. 5 protection feature amount functional module and effect example.
Fig. 6 protection feature amount dynamic characteristic example.
Fig. 7 protects definite value to assess implementation.
Fig. 8 protects total evaluation implementation.
Fig. 9 specific run state protection performance assessment implementation.
Figure 10 correlative factor is to protective value impact evaluation implementation.
Figure 11 DC line protection dynamic perfromance estimation flow figure.
Embodiment
For making object of the present invention, technical scheme and advantage clearly, clearly, developing simultaneously referring to accompanying drawing, the present invention is described in more detail for embodiment.
For enable the adaptive setting work of the DC line relay protection under different DC transmission system have reliable theoretical foundation, in order to each definite value in clear and definite DC power transmission line relay protection calculating principle and Correlative Influence Factors, in order to carry out the Efficient Evaluation of reliability, sensitivity to the definite value of existing protection of direct current supply line and relaying configuration etc., develop a set of HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure and system.The protection of direct current supply line adaptive setting that is developed as of this appraisal procedure and system provides unified, reliable theoretical foundation; understanding that can be more deep and understand DC line and respectively protect dynamic perfromance in failure conditions; thus Efficient Evaluation assessment is carried out to the rationality, reliability etc. of the definite value of protection and the configuration of protection, significantly can improve the efficiency of the work such as DC power transmission line relay protection setting calculation and the assessment of protection dynamic property.
Analytical calculation under fault and disturbed conditions is important means and the Basic Ways of carrying out relay protection research; and the singularity of electric system itself determines its electric protection hard to carry on research and provides enough field datas; consider that DC line fault analysis is difficult to adopt parsingization method to carry out the actual conditions studied at present simultaneously, required for the present invention derive from the correlation computations of to build DC transmission system model and carrying out in electromagnetic transients program PSCAD/EMTDC for the basic data studying the protection of direct current supply line dynamic response under fault and disturbed conditions.
Fault based on simulation analysis and perturbation analysis mainly need the factor of consideration two aspect: the running status of DC transmission system and affect the fault type of DC line protection.
Visibly differently with conventional AC transmission system be; DC transmission system has the multiple method of operation (the bipolar method of operation, one pole the earth method of operation, the monopolar metallic return method of operation) and power transmission mode (minimum through-put power can be 10% rated power), needs to make a concrete analysis of the protection of direct current supply line under different running method and power transmission mode combination.Consider the method for operation of DC transmission system and the combination of power transmission mode, draft as shown in Figure 3 combination of sets for the protection of the dynamic analysis of characteristic quantity.
Emergency protection scope in order to researching DC line protection can be divided into two classes, in district and external area error:
(1) troubles inside the sample space, is the fault that this polar curve road occurs.The each protection feature amount of main research changes the regularity presented with position of failure point on this polar curve road;
(2) external area error, mainly comprises: the valve side fault (now fault component can have an impact to traveling-wave protection along line propagation after smoothing reactor) of circuit two ends smoothing reactor; Rectification side AC system bus-bar fault (voltage fluctuation now caused can impact traveling-wave protection); Inverter side AC system bus-bar fault (now to produce the degree of commutation failure fault the most serious for inverter, and the voltage fluctuation then caused impacts traveling-wave protection) and to the fault (coupling between itself and this polar curve road can have an impact to the traveling-wave protection of this polar curve road) on polar curve road.
To be installed on the protection on positive DC transmission line of electricity, when the protection domain of relay protection and adaptive setting, the distribution of the fault type of required consideration as shown in Figure 4, and the specific descriptions about fault are as shown in table 1.
| Scope | Numbering | Failure-description |
| In district | d1 | The earth fault that on this polar curve road, diverse location occurs |
| Outside district | d2 | To the earth fault that diverse location on polar curve road occurs |
| Outside district | d3 | The earth fault of rectification side smoothing reactor valve side, this polar curve road |
| Outside district | d4 | The earth fault of inverter side smoothing reactor valve side, this polar curve road |
| Outside district | d5 | Rectification side ac bus three phase short circuit fault |
| Outside district | d6 | Inverter side ac bus three phase short circuit fault |
The specific descriptions of table 1 fault type
Often kind of protection of direct current supply line forms by corresponding Protection criteria, and Protection criteria is made up of protection feature amount.For the traveling-wave protection in the relaying configuration scheme one shown in Fig. 1, its protection act equation is:
Can be seen by formula (1); this protection is made up of three criterions; a protection feature amount is comprised respectively in each criterion; i.e. voltage change ratio du/dt, voltage variety Δ u and current change quantity Δ i; the value of certain characteristic quantity detected when protective device is greater than the definite value of its correspondence, then this criterion starts, if three criterions all start; then protection act, sends trigger pulse to start follow-up fault handling sequence.For each protection, the response condition of protection feature amount under different running status and under different faults condition, i.e. dynamic perfromance is emphasis and the starting point of DC line protection research and Performance Evaluation.
According to the ultimate principle that each protection realizes; develop the functional module for extracting various protection feature amount; the response of characteristic quantity can be extracted easily, to detect the actual effect of the functional module of voltage jump amount du/dt as shown in Figure 5 in the protection of voltage jump amount in the allocation plan two shown in Fig. 2 from the basic electric parameters relevant to protection.
As shown in Figure 6, DC power transmission line respectively protect in characteristic quantity all can obtain its dynamic response under different straight-flow system running status and different faults condition in this way.Classify by fault type to data on this basis, calculate, the eigenwert responded under obtaining fault condition, obtains dynamic response characteristic curve and the trip boundary condition of each protection feature amount.The dynamic characteristic of each protection feature amount obtained in this way and trip boundary condition carry out protecting the basis of dynamic perfromance assessment.
Based on DC power transmission line each protection feature amount dynamic characteristic; obtain the trip boundary of route protection; calculate the variation range of the reliability of each criterion and the possible of sensitivity thus; and then determine to protect overall reliability and the space variable of sensitivity; clearly protect overall reliability and sensitivity retrained by wherein which criterion, material is thus formed protection of direct current supply line evaluation of dynamic system.Introduce DC line relay protection and definite value thereof in existing DC transmission system, assess according to the standard of dynamic property evaluation system, mainly comprise: reliability, the sensitivity assessment of existing protection definite value; The global reliability of existing protection, sensitivity assessment; Protection act situation analysis under given system running state and associated change information condition; The assessment that the change of correlative factor (as: protective relaying device sample frequency, transition resistance etc.) affects relay protection.The major function of DC power transmission line relay protection dynamic perfromance assessment and implementation are as shown in Fig. 7-Figure 10.
Fig. 7 is the schematic diagram of DC line protection definite value assessment.To when in a protection of DC line, the definite value of certain criterion is assessed, first need according to the method shown in formula (1), from emulated data, extract the basic electric parameters relevant to this Protection criteria to go forward side by side the RESPONSE CALCULATION of line correlation characteristic quantity, form the dynamic response curve of this characteristic quantity, determine its trip boundary under the outer fault condition of district's inner region, then the definite value substituting into this criterion analyze itself and protection act curve relation and and protection act boundary value between relation, the reliability coefficient that this definite value of backwards calculation has and sensitivity coefficient, prove its reliability and the state of sensitivity residing in evaluation system, the size of the ability that the sensitivity nargin had and the correlative factor that can tolerate (as transition resistance) affect.The nargin space of the trip boundary in appraisement system and reliability sensitivity is determined by simulation result, what need assessment is the position of current definite value in reliability sensitivity space, with clear and definite its, also there is great nargin, the impact etc. of much transition resistances can be tolerated.
Fig. 8 is the schematic diagram of protection of direct current supply line total evaluation.When carrying out total evaluation to certain protection of DC line, first will assess respectively the current definite value of criterion each in this protection, the flow process that its implementation and step press Fig. 7 realizes.On this basis this protection is carried out on the whole to the assessment of reliability and sensitivity; this protection of Main Analysis is under current definite value; the reliability that protection is overall and sensitivity by which criterion and definite value thereof limit respectively, protect overall sensitivity nargin and can tolerate the capacity of water of the factor impacts such as transition resistance.
Figure 9 shows that the implementation that the performance respectively protected DC line under given service condition is assessed, its main evaluation process is as follows: under given straight-flow system running status, the model that application electromagnetic transients program PSCAD/EMTDC builds carries out simulation calculation, obtains the basic electric parameters under designated state; This protection characteristic of correspondence amount functional module is adopted to extract the dynamic perfromance of each characteristic quantity under this designated state; The dynamic characteristic formed by formula (1) content with each characteristic quantity of this protection and trip boundary contrast, and analyze the action situation of protection and each criterion thereof under this running status.
Figure 10 shows that the implementation that DC line protection dynamic property influence factor is assessed.Mainly comprise transition resistance and the reliability of protective device sampling rate two aspect on DC line protection and the impact of sensitivity.The intensity of the dynamic response of major effect protection feature amount when transition resistance or protective device sampling rate change, and then the dynamic characteristic of protection feature amount and the change of trip boundary can be brought.Transition resistance and the impact evaluation of protective device sampling rate are mainly taked as under type: the EMTDC emulation carrying out transition resistance change or the change of protective device sampling rate, obtains basic electrical data; The dynamic response characteristic extracting protection feature amount and the variation tendency embodied with the change of transition resistance or protective device sampling rate thereof; Contrast with the dynamic characteristic formed according to formula (1) content and trip boundary, analyze the change that it brings the reliability of current protection definite value and sensitivity.
Based on the result data that above-mentioned electromagnetic transient simulation calculates, carry out the assessment of protection of direct current supply line dynamic perfromance, its main flow process as shown in figure 11, comprises the following steps:
Step 1: simulation result data;
Step 2: extract the basic electrical data that DC line protection is relevant;
Step 3: extract the characteristic quantity needed for protection by the characteristic quantity functional module of structure;
Step 4: form DC line protection characteristic quantity dynamic characteristic;
Step 5: calculate the boundary condition that protection of direct current supply line calculates;
Step 6: carry out DC line protection assessment, comprises the assessment of DC line protection definite value, the assessment of protection of direct current supply line total evaluation, particular state protective value and correlative factor to protective value impact evaluation.
The proposition of DC power transmission line relay protection dynamic perfromance appraisal procedure be each protection of direct current supply line under different relaying configuration scheme provide set of system, the evaluation scheme of strong operability.By adopting this evaluation scheme; reliability and the sensitivity of the definite value of existing line protection and the configured in one piece mode of protection can be assessed; the performance protected under research particular state; the impact that the change analyzing correlative factor brings aspects such as protection act characteristics; the performance of objective appraisal protection and effect, analysis can restrict the factor of its reliability and sensitivity, for fixed value modification and protected mode optimization are provided fundamental basis thus.The proposition of DC line relay protection dynamic perfromance appraisal procedure, also makes us all have more deep understanding and understanding to the dynamic perfromance and function etc. of various DC line protection mode and allocation plan thereof.
Should be understood that, application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (4)
1. a HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure, is characterized in that, comprise the following steps:
Step 1: simulation result data;
Step 2: extract the basic electrical data that DC line protection is relevant;
Step 3: extract the characteristic quantity needed for protection by the characteristic quantity functional module of structure;
Step 4: form DC line protection characteristic quantity dynamic characteristic;
Step 5: calculate the boundary condition that protection of direct current supply line calculates;
Step 6: the assessment carrying out DC line protection reliability and sensitivity, comprise the assessment of DC line protection definite value, protection of direct current supply line total evaluation, the assessment of particular state protective value and correlative factor are to protective value impact evaluation, wherein the concrete grammar of DC line protection definite value assessment is: substitute into this definite value, the reliability coefficient that this definite value of backwards calculation has based on the dynamic characteristic of criterion and trip boundary and sensitivity coefficient, judge the size of the nargin between the sensitivity under the sensitivity of criterion under this definite value and trip boundary, analyze the transition resistance value scope that this definite value can tolerate simultaneously.
2. HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure according to claim 1, it is characterized in that, the concrete grammar of described protection of direct current supply line total evaluation is: first assess respectively by the current definite value of method to each criterion in this protection of direct current supply line entirety of DC line protection definite value assessment; Then which criterion found out wherein determines having the greatest impact to this protection reliability on the whole and sensitivity.
3. HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure according to claim 2, it is characterized in that, the concrete grammar of described particular state protective value assessment is: application electromagnetic transients program obtains the basic electric parameters under described particular state; Then this particular state is adopted to protect characteristic of correspondence amount functional module to extract the dynamic perfromance of each characteristic quantity under this particular state; The dynamic characteristic formed with each characteristic quantity of this protection and trip boundary contrast, and to analyze under this particular state the whether action of protection and each criterion thereof, whether the result of the action is correct.
4. HVDC (High Voltage Direct Current) transmission line relay protection dynamic perfromance appraisal procedure according to claim 3, it is characterized in that, described correlative factor to the concrete grammar of protective value impact evaluation is: the EMTDC emulation carrying out transition resistance change or the change of protective device sampling rate, obtains basic electrical data; Extract dynamic response characteristic and the variation tendency thereof of protection feature amount; The dynamic characteristic formed with this protection feature amount and trip boundary contrast, and analyze the change that it brings the reliability of current protection definite value and sensitivity.
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| CN103268429B (en) * | 2013-06-07 | 2015-04-15 | 中国南方电网有限责任公司超高压输电公司 | Performance evaluating method and system for high-voltage direct-current (DC) power transmission system 100Hz protection |
| CN103580012B (en) * | 2013-11-14 | 2017-02-22 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | High-voltage direct current transmission line self-adaptive travelling wave protection method |
| CN103746373B (en) * | 2014-01-09 | 2015-12-02 | 国家电网公司 | A kind of field verification method of high-capacity flexible alternating-current power transmission system control strategy |
| CN105743071B (en) * | 2014-12-12 | 2018-07-20 | 国家电网公司 | A kind of relay protection safety on line nargin assessment system |
| CN104915541B (en) * | 2015-04-29 | 2017-09-15 | 南京国电南自电网自动化有限公司 | The remaining reliability service life-span online Prediction method of relay protection products |
| CN105095651A (en) * | 2015-07-10 | 2015-11-25 | 国网天津市电力公司 | Simplified calculation method for current-carrying capacity of aluminum alloy core aluminum stranded conductor |
| CN105913333A (en) * | 2016-04-07 | 2016-08-31 | 中国南方电网有限责任公司 | Evaluation method and system in consideration of converter transformer no-load DC 50Hz protection performance |
| CN106972464B (en) * | 2017-03-31 | 2018-12-18 | 广州供电局有限公司 | Protective value assessment system and method on a kind of transmission line with four-circuit on single tower |
| CN109583083B (en) * | 2018-11-29 | 2022-12-16 | 中国能源建设集团广东省电力设计研究院有限公司 | Cable current-carrying capacity optimization method and device, computer equipment and storage medium |
| CN111239471B (en) * | 2020-01-19 | 2021-02-19 | 华南理工大学 | Commutation failure protection method and device, computer equipment and storage medium |
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