CN105262115B - A kind of SEDC controller parameters optimization method and system based on genetic algorithm - Google Patents
A kind of SEDC controller parameters optimization method and system based on genetic algorithm Download PDFInfo
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Abstract
The present invention relates to field of power system control, disclose a kind of SEDC controller parameters optimization method and system based on genetic algorithm, the method includes：Using the phase shift angle of the phase shift link of genetic algorithm optimization SEDC controllers, optimal phase shift angle is determined.It further includes：Optimize the gain parameter of the gain link of SEDC controllers under conditions of excitation system output violent change is not considered, with the gain parameter of gain link for optimizing SEDC controllers under conditions of excitation system output violent change is considered, and optimization the smaller value of gain parameter will be obtained as optimum gain parameter under the conditions of two kinds.The present invention passes through genetic algorithm optimization phase shift angle, Integrated comparative does not consider excitation system limitation and considers excitation system two kinds of situations of amplitude limit link, optimized gain parameter, the phase shift of final determining SEDC controllers and gain optimized parameter, make SEDC inhibit the best results of sub-synchronous oscillation.
Description
Technical field
The present invention relates to field of power system control, and in particular, to a kind of SEDC controllers ginseng based on genetic algorithm
Number optimization method and system.
Background technology
Series compensation and high voltage dc transmission technology are the effective means for improving long-distance transmission line conveying capacity,
It is used widely in China's electric system.But series compensation and D.C. high voltage transmission can cause Turbo-generator Set
Sub-synchronous oscillation risk.Sub-synchronous oscillation is a kind of electromechanical oscillations phenomenon being happened in electric system.Sub-synchronous oscillation occurs
When, energy exchange occurs between steam-electric generating set shafting mechanical part and transmission system electric part, so as to excite vapour simultaneously
The shafting torsional oscillation of turbine generator group and the electrical resonance of transmission system.
Appended with field excitation damp controller (supplementary excitation damping controller, SEDC)
It is a kind of additional control device based on excitation system, the damping that can improve sub-synchronous oscillation is horizontal, is to inhibit subsynchronous to shake
The effective means swung, and have been obtained for successful engineer application.The input signal of SEDC is generator speed deviation signal,
Intermediate link carries out mode filtering, phase shift, amplification etc. to the generator speed deviation signal, therefore the controller parameter being related to is many
It is more, it needs to optimize controller parameter, to ensure that SEDC can generate best damping.
Invention content
The object of the present invention is to provide a kind of SEDC controller parameters optimization methods and system based on genetic algorithm, are used for
It solves the problems, such as to optimize the optimization of SEDC controller parameters, to ensure that SEDC can generate best damping.
To achieve these goals, the present invention provides a kind of SEDC controller parameter optimization methods based on genetic algorithm,
Including：Using the phase shift angle of the phase shift link of genetic algorithm optimization SEDC controllers, optimal phase shift angle is determined.
Further, which further includes：In the item for not considering excitation system output violent change
Optimize the gain parameter of the gain link of SEDC controllers under part and optimize under conditions of excitation system output violent change is considered
The gain parameter of the gain link of SEDC controllers, and optimization under the conditions of two kinds is obtained into the smaller value of gain parameter as optimal
Gain parameter.
Technical scheme of the present invention additionally provides a kind of SEDC controller parameter optimization systems based on genetic algorithm, packet
It includes：Phase shift angle optimization module, for using the phase shift angle of the phase shift link of genetic algorithm optimization SEDC controllers, determining most
Excellent phase shift angle.
Further, which further includes gain parameter optimization module, for not considering
Optimize the gain parameter of the gain link of SEDC controllers under conditions of excitation system output violent change and considering that excitation system is defeated
Go out the gain parameter of the gain link of optimization SEDC controllers under conditions of amplitude limit, and optimization will obtain gain ginseng under the conditions of two kinds
Several smaller values is as optimum gain parameter.
Technical scheme of the present invention additionally provides a kind of SEDC controllers, optimizes system including above-mentioned SEDC controller parameters
System, the SEDC controller parameters optimization system are used to optimize the phase shift angle and increasing benefit loop, addedlink loop, gaining loop of the phase shift link of the SEDC controllers
The gain parameter of section.
Through the above technical solutions, the beneficial effects of the invention are as follows：The present invention is comprehensive by genetic algorithm optimization phase shift angle
Composition and division in a proportion less considers excitation system limitation and considers excitation system two kinds of situations of amplitude limit link, and optimized gain parameter is final to determine
The phase shift of SEDC controllers and gain optimized parameter make SEDC inhibit the best results of sub-synchronous oscillation.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, and a part for constitution instruction, with following tool
Body embodiment is used to explain the present invention, but be not construed as limiting the invention together.In the accompanying drawings：
Fig. 1 is the structure diagram of SEDC in embodiments of the present invention；
Fig. 2 is the operation principle schematic diagram of SEDC in embodiments of the present invention；
Fig. 3 is the principle schematic that SEDC inhibits sub-synchronous oscillation in embodiments of the present invention；
Fig. 4 is the flow signal of the SEDC controller parameter optimization methods based on genetic algorithm in embodiments of the present invention
Figure；
Fig. 5 is the flow diagram of phase shift angle optimization method in embodiments of the present invention；
Fig. 6 is the transmission function schematic diagram of feedback control system in embodiments of the present invention；
Fig. 7 is the flow diagram of gain parameter optimization method in embodiments of the present invention；
Fig. 8 is the corresponding root locus diagram of sub-synchronous oscillation pattern in embodiments of the present invention；
Fig. 9 is the structural representation of the SEDC controller parameter optimization systems based on genetic algorithm in embodiments of the present invention
Figure.
Specific embodiment
The specific embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
SEDC is a kind of additional control device of the excitation system based on generating set, and structure is as shown in Figure 1.SEDC's
Input signal Δ ω is generator speed deviation signal, and mode filtering link is that centre frequency is generator torsional vibration frequency
Bandpass filter, it acts as the signal delta ω that torsional vibration frequency is isolated from speed error signali；Phase shift/increasing benefit loop, addedlink loop, gaining loop
The effect of section is that shaft torsion frequency signal carries out appropriate phase shift and amplification, that is, is included for shaft torsion frequency signal
The gain link for carrying out the phase shift link of phase shift and being amplified for shaft torsional vibration signals；uLimFor limiting voltage, through uLim
After amplitude limit, output control signal uSEDC, to generate optimal damping effect.Fig. 2 is SEDC operation principle schematic diagrams, known in this field
Be that excitation system is generally made of two major parts of exciter and excitation controller, due to SEDC generate be to be superimposed upon to encourage
Additional control signals on the excitation controller of magnetic system, it is contemplated that excitation system capacity limit and in order to ensure excitation system
System is operated in linearly interval, needs to carry out amplitude limit to the control signal that SEDC is generated.uSEDCThe output control signal of as SEDC,
This signal is used for the normal excitation voltage u of excitation system of being added to0In, then amplitude limit is ufExciter is injected into, is increased with playing
The effect of subsynchronous oscillation damping level.About what is be made of in figure generator, voltage transformer, step-up transformer, power grid etc.
Transmission line of electricity is transmission line of electricity general in the common series compensation electric system in this field, and the transmission of electricity principle being related to is with showing
Have that technology is identical, present embodiment no longer more to be stated.
Fig. 3 increases the schematic diagram of subsynchronous oscillation damping level for SEDC, and Δ δ and Δ ω is respectively sub-synchronous oscillation in figure
The angle of shafting torsional oscillation generator and angular speed deviation during generation, and haveIf when generator speed changes delta
During ω, the electromagnetic torque increment of generation is Δ Te.Then projection Δ Te_Ds of the Δ Te on Δ ω axis reflects sub-synchronous oscillation
Damping is horizontal.When Δ Te_D values are smaller or for negative value, sub-synchronous oscillation shows as underdamping or negative damping risk.Therefore,
The target of SEDC is：Generate an additional electromagnetic torque Δ Te_SEDCSo that total electromagnetic torque increment Delta T 'eIn Δ ω axis
On projection Δ T 'e_DIt is larger.
From the figure 3, it may be seen that the increased damping Δ T ' of SEDCe_DSize, with additional electromagnetic torque Δ Te_SEDCModulus value and
Its two factor of angle with Δ ω is related, and the phase shift angle of SEDC controllers determines angle, and gain determines modulus value.
Therefore, with reference to SEDC operation principles and the schematic diagram of increase subsynchronous oscillation damping, it is known that SEDC controllers need
The parameter of optimization is the phase shift angle of phase shift link and the gain parameter of gain link.
To realize the optimization to above-mentioned phase shift angle and gain parameter, calculated present embodiments provide for one kind based on heredity
The SEDC controller parameter optimization methods of method, as shown in figure 4, including：Using the phase shift ring of genetic algorithm optimization SEDC controllers
The phase shift angle of section determines optimal phase shift angle；And optimize SEDC controls under conditions of excitation system output violent change is not considered
The gain parameter of the gain link of device processed and the gain for optimizing SEDC controllers under conditions of excitation system output violent change is considered
The gain parameter of link, and optimization under the conditions of two kinds is obtained into the smaller value of gain parameter as optimum gain parameter.
In present embodiment, the correlation technique that the prior art can also be used optimizes the gain parameter, true in gain parameter
In the case of fixed, the optimization of phase shift angle can be only carried out, optimal phase shift angle is obtained using genetic algorithm.
Below from phase shift orientation optimization and gain parameter optimize two aspect specific descriptions present embodiments based on heredity
The implementation process of the SEDC controller parameter optimization methods of algorithm.
First, phase shift angle optimizes
Choose the typical operation modes of system to be studied (excitation system) and the common n kinds of the common method of operation.It sets first
The gain parameter of SEDC is some smaller value k0, calculate and do not put into SEDC and input two kinds of conditions of SEDC under the various methods of operation
Under subsynchronous oscillation damping coefficient.If the damped coefficient for not putting into SEDC is σk；Input SEDC under the conditions of damped coefficient be
σ′k；It is Δ σ then to put into the increased dampings of SEDCk=σ 'k-σk, k=1,2,3 ... ..., n.
Genetic algorithm (Genetic Algorithm) is the randomization that a kind of evolution laws for using for reference living nature develop
Searching method is mainly characterized by：Random optimization search is carried out to object space by the way of artificial evolution, it will be in Problem Areas
Possibility solution regard all individuals as；Each individual is evaluated according to scheduled object function, according to winning bad
The rule eliminated obtains more preferably group；Carry out the optimum individual in chess game optimization group in a manner of global parallel search simultaneously, in the hope of
The optimal solution of condition must be met.When carrying out optimal value search using genetic algorithm, it is thus necessary to determine that the Optimizing Search mesh of phase shift parameters
Scalar functions, the object space of chess game optimization, population at individual quantity and maximum genetic algebra, as shown in figure 5, mainly including following reality
Apply step.
1) the Optimizing Search object function of phase shift parameters is determined.
The Optimizing Search object function of phase shift parameters meets：Under conditions of gain parameter immobilizes, for damping most
The method of operation of difference, increased damping is maximum after putting into SEDC controllers, in addition its except the method for operation worst to damping
He has improvement result at the damping of the method for operation.It should be noted that the damping of generator shafting includes two parts, it is mechanical resistance respectively
Windage loss, axis abrasive wear and viscous loss when Buddhist nun and electrical damping, wherein mechanical damping are usually rotated with shafting is related,
The load of unit is lower, and mechanical damping is smaller；Electrical damping is then mainly related with the method for operation of electrical system, including unit
Put into operation number of units, the situation that puts into operation of circuit, the operating condition of straight-flow system, alternating current circuit string repay a kindness the factors such as condition.For one
Given system, it is generally recognized that generator output is relatively low, and in direct current decoupled mode when, the damping level of system is most
It is low, the worst method of operation is as damped, and damp other methods of operation except the worst method of operation and be then primarily referred to as leading to
Cross the method for operation determined during setting damping value.
The Optimizing Search object function of above-mentioned phase shift parameters can be expressed as the Mathematical Planning of Problem with Some Constrained Conditions：
Wherein,For phase shift angle, k=1,2 ..., n；I=1,2 ..., k
2) object space of chess game optimization is determined.
It is parameter to be optimized for phase shift angle, settingThe upper and lower limit in Optimizing Search space be respectively：
Wherein UB represents the upper limit, and LB represents lower limit.
3) population at individual quantity is set.
The dimension of the parameter optimized as needed, the population at individual order of magnitude for estimating needs are：
PopSize=10n (3)
Wherein, n is parameter dimension to be optimized.Since phase optimization is one-dimensional parameter, the population at individual order of magnitude is 10, is based on
The population at individual order of magnitude PopSize calculated, can set population at individual number as 50.
4) maximum genetic optimization algebraically is set.
Rule of thumb, for single object optimization algorithm, maximum genetic optimization algebraically is set as:
Genlimit=20 (4)
5) based on the determining Optimizing Search object function, the object space and the population at individual quantity of setting,
Maximum genetic optimization algebraically optimizes phase shift angle using genetic algorithm, obtains optimal phase shift angle
2nd, gain parameter optimizes
Excitation system to be studied is written as Linearized state equations according to feedback control system form row.Typical feedback
Control system as shown in fig. 6, with G (s) representative do not put into SEDC when system open loop transmission function, feedback controller is represented with H (s)
The transmission function of (being SEDC controllers), R (s) and Y (s) represent input signal and output signal respectively.
Then the transmission function of the closed-loop feedback control system comprising SEDC controllers is
Based on the transmission function, as shown in fig. 7, never considering the condition of excitation system output violent change and considering excitation system
Two aspects of condition of output violent change introduce the specific implementation step of the optimization of SEDC gain parameters.
1) condition of excitation system output violent change is not considered：Using root locus method, optimize SEDC gains.
For the determining method of operation, forward transfer function G (s) is constant.The phase shift parameters of feedback transfer function H (s) are
It is optimized to be determined asIt is constant, when obtaining gain parameter from 0 to infinitely great change using root locus method, sub-synchronous oscillation mould
The root locus diagram of the corresponding characteristic value of formula on a complex plane；And with reference to the root locus diagram, take increasing during damped coefficient maximum
Beneficial parameter is as optimum gain parameter.
Fig. 8 is the typical root locus diagram of SEDC gain parameters variation.When feedback transfer function H (s) gains are 0,
When i.e. SEDC is not put into, several corresponding a pair of of conjugate complex of sub-synchronous oscillation pattern is σ0±jω.It is special as gain K values increase
Sign root is first moved to the left in complex plane, reaches σmaxAfter ± j ω, turn back to the right therewith.It may thereby determine that, in this operation
Under mode, σmaxThe corresponding yield value k of ± j ωoptThe yield value of maximum damping can as be generated, damped coefficient at this time for-
σmax。
Specifically, by calculating the root locus of the selected n kind methods of operation respectively, determine that each method of operation is corresponding
kmax_i, with minimum kmax_iAs gain parameter upper limit.It determines for selected whole n kinds methods of operation, as gain increases
Add, root locus will not be to the maximum value that complex plane right side is turned back.Above-mentioned optimization aim can be expressed as：
kopt=min (kmax_i) (6)
Wherein i=1,2,3 ... ..., n.
Using the above method it was determined that under the conditions of excitation system output violent change is not considered, SEDC gain optimization values
kopt。
2) consider the condition of excitation system output violent change, determine SEDC maximum gains
Since excitation system capacity is limited, practical excitation control signal is output to before exciter, all can Finite Amplitude ring
Section, to ensure that exciter is operated in linear zone.As shown in Figure 1, under conditions of output violent change is not considered, SEDC output signals
Amplitude is determined jointly by input signal amplitude, the gain of mode filtering link and the gain of gain link.For practical system
System, after ensureing that the speed error signal by common perturbation excitation is input to SEDC, output signal is not limited, and may be used
Following formula estimates SEDC gains：
ΔωinKfltK′opt=uLim (7)
I.e.
Wherein, uLimFor exciter output violent change value；KfltLink gain is filtered for mode；ΔωinFor turning for perturbation excitation
Speed deviation；K′optThe yield value of gain link determined to consider output violent change.Wherein, Δ ωinFor turning for common perturbation excitation
Speed deviation, and the common disturbance of electric system generally includes the variation of load, the switching of circuit, the switching of unit and change of contributing
Change, various types of failure etc. in system, these disturbances can cause the perturbation of the active output of generator, in turn result in
The perturbation of electromagnetic torque, electromagnetic torque perturbation remakes fastens used in generator shaft, and the rotating speed between shafting mass will be excited inclined
Difference.
3) the final of SEDC gain parameters determines
Take end value of the smaller value of yield value that formula (6) and formula (8) determine as SEDC gain parameters.I.e.
SEDC gain k final optimization pass results are：
K=min (Kopt K′opt) (9)
The corresponding above-mentioned SEDC controller parameter optimization systems based on genetic algorithm, present embodiment additionally provide a kind of base
In the SEDC controller parameter optimization systems of genetic algorithm, as shown in figure 9, including：Phase shift angle optimization module, for using something lost
The phase shift angle of the phase shift link of propagation algorithm optimization SEDC controllers, determines optimal phase shift angle；And gain parameter optimization mould
Block, under conditions of excitation system output violent change is not considered optimize SEDC controllers gain link gain parameter and
Optimize the gain parameter of the gain link of SEDC controllers under conditions of excitation system output violent change is considered, and by two kinds of conditions
The lower smaller value for obtaining gain parameter that optimizes is as optimum gain parameter.
In present embodiment, method optimized gain parameter of the prior art, in this case, the SEDC can also be used
Controller parameter optimization system can only include phase shift angle optimization module, to obtain optimal phase shift angle by genetic algorithm.
Wherein, the phase shift angle optimization module includes：Parameter setting for genetic module, for determining phase shift angle
Optimizing Search object function, the object space of chess game optimization, population at individual quantity and maximum genetic optimization algebraically；And first
Optimization module, for the parameter determined based on the parameter setting for genetic module, using genetic algorithm to phase shift angle into
Row optimization, obtains optimal phase shift angle.
It is noted that the Optimizing Search object function meets：Under conditions of gain parameter immobilizes, for resistance
The worst method of operation of Buddhist nun, increased damping is maximum after putting into SEDC controllers.
Wherein, the gain parameter optimization module includes：Second optimization module, for not considering excitation system output limit
Under conditions of width, using the gain parameter of root-locus technique optimized gain link；Third optimization module, for considering excitation system
Under conditions of output violent change, the gain parameter of optimized gain link；And judgment module, for comparing through the second optimization module
The gain parameter obtained with third optimization module, and wherein smaller gain parameter is taken as optimum gain parameter；Wherein, it is described
Third optimization module is configured as the gain parameter K ' using formula (8) estimation gain linkopt。
Corresponding, present embodiment additionally provides a kind of SEDC controllers, uses above-mentioned SEDC controller parameters excellent
Change system, for optimizing the phase shift angle of phase shift link of the SEDC controllers and the gain parameter of gain link.Such as Fig. 2 institutes
Show, SEDC controls obtain generator speed deviation signal Δ ω, and make the generator speed deviation signal from speed probe
Δ ω generates the excitation controller for being superimposed upon excitation system by mode filtering link, phase shift link, gain link and amplitude limit etc.
On additional control signals uSEDC, the uSEDCThe output control signal of as SEDC, this signal are used for the excitation system that is added to
Normal excitation voltage u0In, then amplitude limit is ufExciter is injected into, to play the effect for increasing subsynchronous oscillation damping level, from
And reduce the sub-synchronous oscillation risk of generating set.
In conclusion the method for embodiments of the present invention introduction passes through genetic algorithm optimization phase shift parameters, Integrated comparative
Excitation system limitation is not considered and considers excitation system two kinds of situations of amplitude limit link, optimized gain parameter.Finally determining SEDC controls
The phase shift of device processed and gain optimized parameter make SEDC inhibit the best results of sub-synchronous oscillation.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical scheme of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (5)
1. a kind of SEDC controller parameter optimization methods based on genetic algorithm, which is characterized in that including：
Using the phase shift angle of the phase shift link of genetic algorithm optimization SEDC controllers, optimal phase shift angle is determined；And
The SEDC controllers obtained respectively than less considering excitation system output violent change and consideration excitation system output violent change
The gain parameter of gain link, and using minimum value therein as optimum gain parameter；
Wherein, the gain parameter tool of the gain link of SEDC controllers is obtained under conditions of excitation system output violent change is not considered
Body includes：In phase shift angle under conditions of optimal phase shift angle, gain parameter is obtained from 0 to infinity using root locus method
During variation, the root locus diagram of the corresponding characteristic value of sub-synchronous oscillation pattern on a complex plane；And according to the root locus diagram, estimate
Calculate gain parameter during damped coefficient maximum；
Wherein, the gain parameter that the gain link of SEDC controllers is obtained under conditions of excitation system output violent change is considered is specific
Including：
Using the following formula, the gain parameter K ' of gain link is estimatedopt
Wherein, uLimFor excitation system output violent change value；KfltLink gain is filtered for mode；ΔωinRotating speed for perturbation excitation
Deviation.
2. SEDC controller parameters optimization method according to claim 1, which is characterized in that described excellent using genetic algorithm
The phase shift angle for changing the phase shift link of SEDC controllers specifically includes：
Determine the Optimizing Search object function of phase shift angle, which meets：It immobilizes in gain parameter
Under conditions of, for damping the worst method of operation, increased damping is maximum after putting into SEDC controllers；
Determine the object space of chess game optimization；
Set population at individual quantity；
The maximum genetic optimization algebraically of setting；And
Based on the determining Optimizing Search object function, the object space and the population at individual quantity of setting, maximum something lost
Optimization algebraically is passed, phase shift angle is optimized using genetic algorithm, obtains optimal phase shift angle.
3. a kind of SEDC controller parameter optimization systems based on genetic algorithm, which is characterized in that including：
Phase shift angle optimization module, for using the phase shift angle of the phase shift link of genetic algorithm optimization SEDC controllers, determining
Optimal phase shift angle；And
Gain parameter optimization module, for dividing than less considering excitation system output violent change and considering excitation system output violent change
The gain parameter of the gain link of SEDC controllers not obtained, and using minimum value therein as optimum gain parameter；
Wherein, the gain parameter optimization module includes：
Second optimization module, under conditions of excitation system output violent change is not considered, increasing benefit loop, addedlink loop, gaining loop to be estimated using root-locus technique
The gain parameter of section；
Third optimization module, under conditions of excitation system output violent change is considered, estimating the gain parameter of gain link；With
And
Judgment module, for comparing the gain parameter obtained by the second optimization module and third optimization module, and take wherein compared with
Small gain parameter is as optimum gain parameter；
Wherein, the third optimization module is configured as, using the following formula, estimating the gain parameter K ' of gain linkopt
Wherein, uLimFor excitation system output violent change value；KfltLink gain is filtered for mode；ΔωinRotating speed for perturbation excitation
Deviation.
4. SEDC controller parameters optimization system according to claim 3, which is characterized in that the phase shift angle optimizes mould
Block includes：
Parameter setting for genetic module, for determining the target empty of the Optimizing Search object function of phase shift angle, chess game optimization
Between, population at individual quantity and maximum genetic optimization algebraically；And
First optimization module, for the parameter determined based on the parameter setting for genetic module, using genetic algorithm to phase
It moves angle to optimize, obtains optimal phase shift angle；
Wherein, the Optimizing Search object function meets：Under conditions of gain parameter immobilizes, for damping worst fortune
Line mode, increased damping is maximum after putting into SEDC controllers.
5. a kind of SEDC controllers, which is characterized in that including the SEDC controller parameter optimization systems described in claim 3 or 4,
The SEDC controller parameters optimization system is used to optimize the phase shift angle and gain link of the phase shift link of the SEDC controllers
Gain parameter.
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