CN105958512B - Multiple domain time-lag power system LOAD FREQUENCY control method containing high wind energy permeability - Google Patents
Multiple domain time-lag power system LOAD FREQUENCY control method containing high wind energy permeability Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
The multiple domain time-lag power system LOAD FREQUENCY control method containing high wind energy permeability that the present invention relates to a kind of, which comprises the following steps: S1, building include the time-lag power system of multiple regions, and establish the mathematical model of each regional generation system；S2 establishes the state model containing indeterminate to each region respectively according to the mathematical model of generator；S3 designs integral form sliding-mode surface σ according to containing the state model for assembling indeterminatei(t)；S4, according to integral form sliding-mode surface σi(t) sliding formwork Load-frequency Controllers are designed；S5, the controller u obtained according to step S4i(t) it is used as control instruction, optimizes the LOAD FREQUENCY deviation of electric system.Compared with prior art, wind-driven generator of the present invention participates in system frequency and adjusts, and is fitted close wind-power electricity generation and traditional thermal power generation, the increment of every generated output power averagely reduces, guarantee each area power equilibrium of supply and demand, effectively reduces the frequency departure in each region.
Description
Technical field
The present invention relates to a kind of power system load control method for frequency, more particularly, to the multiple domain containing high wind energy permeability
Time-lag power system LOAD FREQUENCY control method.
Background technique
Frequency is to reflect one of the important indicator of safe and stable operation of power system, and electric system is in normal operation
Under, frequency control is mainly completed by the active power output of regulator generator.When large disturbances occur for electric system, i.e. generated output is tight
When weight is uneven, the recovery of power system frequency needs to control by LOAD FREQUENCY so that frequency is maintained at power industry and is allowed
Within the scope of.Currently, cleaning reproducible wind energy causes extensive concern, but the fluctuation of wind energy, result in blower
Output power is unstable.
Large-scale wind generating set accesses conventional power generation systems, so that system frequency excursion aggravates.As wind energy is permeated
The increase of rate, it is expected that big wind field can participate in frequency control.In general, reducing wind energy fluctuation there are two types of method, first is that energy storage
Battery coordinated control, the other is improving the controlled level of blower.
Meanwhile with the introducing of opening communication network architecture, make to keep away in the control of conventional electric power system loading frequency
There is fixed and random communication delay with exempting from.The introducing of time lag can reduce the control effect of control system or even cause entirely to close
Loop system is unstable, therefore time-delay becomes a critical issue of design time-lag power system Load-frequency Controllers.Text
Offer " Yu, Xiaofeng, and K.Tomsovic. " Application of linear matrix inequalities for
load frequency control with communication delays",IEEE Trans.Power Syst.,
A robustness LOAD FREQUENCY control is designed based on linear matrix inequality in vol.19, no.3, pp.1508-1515,2004. "
Device, for the uncertain delay of electric power communication network.Document " Ama, Takashi Hiy, D.Zuo, and
T.Funabashi."Multi-agent based automatic generation control of isolated stand
alone power system",Power System Technology,2002.Proceedings.PowerCon2002.In
Ternational Conference on IEEE, vol.1, pp.139-143,2002. " are for communication delay compensation in system
Method proposes LOAD FREQUENCY control.These documents clearly analyze the influence that signal delay controls LOAD FREQUENCY.
Application of the different controllers in LOAD FREQUENCY control has been extensively studied in many documents.Traditional PID control
Device is widely used in the control of system loading frequency.With the development of power industry, NETWORK STRUCTURE PRESERVING POWER SYSTEM is increasingly sophisticated, and system
It is also influenced by a variety of load disturbances and fluctuation new energy, so that there are a large amount of uncertain structure and parameters in system.For
It solves the disadvantage that legacy frequencies control, uses some advanced control theories, such as fuzzy control, neural network, pre- observing and controlling
System and self adaptive control etc..These methods solve the influence of systematic uncertainty to a certain extent, but in practical application
Middle algorithm is complex.Energy-storage system can quickly be provided with reactive power compensator, therefore document " Kalyani, Sheetal,
S.Nagalakshmi,and R.Marisha."Load frequency control using battery energy
storage system in interconnected power system."Computing Communication&
Networking Technologies(ICCCNT),2012Third International Conference on.IEEE,
2012 " and " Aditya, S.K., and D.Das. " Application of battery energy storage system
to load frequency control of an isolated power system."International journal
The control of system loading frequency is improved in of energy research, vol.23, no.3, pp.247-258,1999 " with it
Performance.Document " Aditya, S.K., and D.Das. " Application of battery energy storage system
to load frequency control of an isolated power system."International journal
The incremental model that of energy research, vol.23, no.3, pp.247-258,1999 " control LOAD FREQUENCY is answered
For improving system performance in an isolated power and energy-storage system with reheating firepower unit.As load is dry
The increase disturbed, the requirement to the memory capacity of energy-storage system are also higher.Document " Jiang, L., et al. " Delay-
dependent stability for load frequency control with constant and time-varying
Delays ", IEEE Trans.Power Syst., vol.27, no.2, pp.932-941,2012 " are directed to single domain and multiple domain time lag
The LOAD FREQUENCY control program of electric system PID controller discusses the relationship between PID controller delay profit and income.
Although the gain of adjustment PID controller can weaken influence and holding rated frequency of the time lag to electric system in deviation range
It is interior, but the frequency shift (FS) in each region always exists in each subsystem.Document " Zhou Hui, Ya Fu, and Rong
Cong."Fuzzy-based load frequency controller for interconnected power system
with wind power integration",Electrical and Computer Engineering(CCECE),
2014IEEE 27th Canadian Conference on.IEEE, 2014, pp.1-6. " is directed to two regional internets containing wind-powered electricity generation
Electric system devises Fuzzy Load-frequency Controllers, but the model of interacted system does not have communication delay.
Sliding formwork control has fast response time as typical nonlinear Control, and the outside and uncertain to system parameter is dry
Disturb the advantages of invariance is presented.And algorithm is simple, is easy to Project Realization, therefore is widely used in power system load frequency control
The design of system.Document "Tamara,and"Optimal
sliding mode controller for power system’s load-frequency control",
UniversitiesPower Engineering Conference,2008.UPEC 2008.43rd
Discrete-time Sliding Mode control is utilized in LOAD FREQUENCY control system, makes system by International.IEEE, 2008 " authors
With stability and robustness, obtains and determine that the optimized parameter of the Discrete-time Sliding Mode model of integrated square error standard is that have very much
It is necessary.Document " Al-Hamouz, Z.M., and Y.L.Abdel-Magid. " Variable structure load
frequency controllers for multiarea power systems",International Journal of
Electrical Power&Energy Systems, vol.15, the variable-structure control that no.5, pp.293-300,1993 " are proposed
Device is insensitive to some Parameters variations, also considers the influence of power generation fast rate constraint and dead zone, but is under heavy load disturbances
System potentially unstable.Document " Mi Yang, et al. " Decentralized sliding mode load frequency
control for multi-area power systems",IEEE Trans.Power Syst.,vol.28,no.4,
Pp.4301-4309,2013 " are directed to interconnected electric power system, dispersion sliding formwork LOAD FREQUENCY control are devised, in large-scale parameter
It has dynamic stability under variation and power generation rate constraint.It is disturbed to the fast response time of frequency and to Parameters variation and load
It moves insensitive, but does not account for LOAD FREQUENCY control design case and without the communications lag problem in New-energy power system.Text
Offer " Yang Mi, Yang Yang, Han Zhang, et al. " Sliding mode based load frequency
control for multi-area interconnected power system containing renewable
energy",Transportation Electrification Asia-Pacific(ITEC Asia-Pacific),
2014IEEE Conference and Expo.IEEE, 2014 " dispersion sliding formwork LOAD FREQUENCY controls solve the electricity of multiple domain containing wind-powered electricity generation
LOAD FREQUENCY control problem in Force system, but without proposing system communication delay issue.
Based on above-mentioned analysis, a kind of novel sliding formwork Load-frequency Controllers are designed and are applied to multiple domain time lag blended electric power system
System.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of consideration communication delays
And effectively reduce the multiple domain time-lag power system load frequency containing high wind energy permeability of each field frequency deviation of excrescent electric power system
Rate control method.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of multiple domain time-lag power system LOAD FREQUENCY control method containing high wind energy permeability, which is characterized in that including
Following steps:
S1, building include the time-lag power system of multiple regions, and establish the mathematical model of each regional generation system, each area
Domain is connected by interconnection, and each region includes thermal power generation system and wind generator system, the generator of wind generator system
For wind turbine, the frequency departure of wind turbine is enabled to participate in system frequency as the coupling terms in system frequency deviation adjustment item
Rate is adjusted；
S2 establishes the state model containing indeterminate to each region respectively according to the mathematical model of generator:
It defines simultaneously and assembles indeterminate gi(t):
It will be indicated containing the state model for assembling indeterminate are as follows:
Wherein state variable is xi(t):
xi(t)=[Δ fi(t) ΔPmi(t) ΔPvi(t) ΔEi(t) Δδi(t) ΔfTi(t) Δxi1(t) Δxi2
(t) Δxi3(t) Δxi4(t)]TIn formula, A 'iFor sytem matrix, A 'idiFor time lag item coefficient matrix, B 'iFor input matrix,
E′ijFor interconnection coefficient matrix, F 'iFor disturbance term coefficient matrix, Δ Ai、ΔAidi、ΔEij、ΔBi、ΔFiBe respectively with A 'i、
A′idi、E′ij、B′i、F′iThe indeterminate of corresponding parameters of electric power system controls variable ui(t) it is controlled for sliding formwork LOAD FREQUENCY
Device, Δ fiIt (t) is system frequency deviation, Δ PmiIt (t) is generated output power increment, Δ PviIt (t) is throttle position increment,
ΔEiIt (t) is frequency departure integral controller increment, Δ δiIt (t) is phase angle increment, Δ fTiIt (t) is that wind turbine unit frequency is inclined
Difference, Δ xi1(t)、Δxi2(t)、Δxi3(t)、Δxi4(t) each quantity of state in ith zone blower model is represented；
S3 designs integral form sliding-mode surface σ according to containing the state model for assembling indeterminatei(t)；
S4, according to integral form sliding-mode surface σi(t) sliding formwork Load-frequency Controllers u is designedi(t):
ui(t)=- Kixi(t)-(GiBi′)-1||Gi||hi-(GiBi′)-1(Wi+εi)sgn(σi(t)),
Wherein assemble indeterminate gi(t) it is bounded, and meets | | gi(t)||≤hi, wherein hiFor bounded constant, hi>
0, | | * | | indicate euclideam norm, matrix GiAnd KiFor integral form sliding-mode surface σi(t) coefficient matrix,Sgn (*) is sign function,
S5, the controller u obtained according to step S4i(t) it is used as control instruction, the LOAD FREQUENCY for optimizing electric system is inclined
Difference.
In the step S1, system frequency deviation Δ fi(t) in adjustment item, coupling terms relevant to wind turbine
ForWherein KpiIt is system gain, KIGiIt is the liquid measure coefficient of coup, TpiIt is system time constant, Δ fTi(t) it is
Wind turbine frequency departure.
The generator of the thermal power generation system is non-reheat type steam turbine or reheating type steam turbine.
In the step S1, using the thermal power generation system mathematical model of non-reheat type steam turbine are as follows:
Using the thermal power generation system mathematical model of reheating type steam turbine are as follows:
In formula, the number of subscript i and subscript j expression region, i=1 ..., N, j=1 ..., N, N are areal,
ΔfiIt (t) is system frequency deviation, Δ fTiIt (t) is wind turbine frequency departure, Δ PmiIt (t) is that generated output power increases
Amount, Δ PviIt (t) is throttle position increment, Δ EiIt (t) is frequency departure integral controller increment, Δ δiIt (t) is phase angle increment,
ΔPdiIt (t) is system loading disturbance, Δ PGWiIt (t) is the wind turbine output power deviation of ith zone, TijIt is i-th
Dominant eigenvalues synchronization factor between region and j-th of region, TchiIt is steam turbine time constant, TrhIt is the reheater time
Constant, FhpIt is that the reheating type steam turbine power generation amount of one's respective area accounts for the ratio of all generator output general powers in one's respective area, TpiIt is to be
System time constant, KpiIt is system gain, KIGiIt is the liquid measure coefficient of coup, Δ PLi(t) be region active deviation, Δ Pri(t) it is
The quantity of state of governor for steam turbine output, RiIt is governor rate adaptation, BiIt is field frequency deviation ratio, KEiIt is integration control
Gain, diIt is time lag constant, TgiIt is governor time constant；
The mathematical model of wind generator system are as follows:
Wherein
In formula, Δ xi1(t)、Δxi2(t)、Δxi3(t)、Δxi4(t) each state in ith zone blower model is represented
Amount, TwiIt is blower time constant, KPC1It is pitch control feedback oscillator, KP31And TP31It is the fitting control of pitch response data respectively
Response coefficient and time constant, KP21And TP21It is hydraulic vane change actuator response coefficient and time constant, K respectivelyPPi、K11And KP1i
It is pitch control response coefficient, TP1iIt is pitch control responsive time constant, Δ fTiIt (t) is wind turbine frequency departure, Δ
PmiIt (t) is generated output power increment, KIGiIt is the liquid measure coefficient of coup, KTPiIt is blower frequency feedback coefficient.
The step S3 specifically: selection matrix Gi, make GiBi' it is nonsingular matrix, σi(t) meet equationMatrix KiMeet λ (Ai′-Bi′Ki) < 0, λ (*) expression solution characteristic value.
Compared with prior art, the invention has the following advantages that
(1) frequency departure of wind turbine is enabled to participate in system frequency as the coupling terms in system frequency deviation adjustment item
It adjusts, is fitted close wind-power electricity generation and traditional thermal power generation, the increment of every generated output power averagely reduces, and guarantees each
The area power equilibrium of supply and demand effectively reduces the frequency departure in each region.
(2) the frequency departure increment to the electricity generation system for using different type (reheating, non-reheat) thermoelectric generator respectively
Δfi(t) the incremental change Delta P of (Hz), generated output powermi(t) the increment variation of (p.u.MW), governor valve location
ΔPvi(t) (p.u.MW), district control deviation integration control incremental change Delta Ei(t), angular frequency deviation Δ δi(t), wind-force whirlpool
Turbine velocity deviation Δ fTi(t) in (Hz) and blower model quantity of state variation delta xi1(t)、Δxi2(t)、Δxi3(t)、Δ
xi4(t) 10 POWER SYSTEM STATEs optimize, realize on interconnection exchange performance number with exchange the quick of power planning value
Balance.
(3) founding mathematical models are distinguished to using the electricity generation system of different type (reheating, non-reheat) thermoelectric generator, it can
To absolutely prove that the frequency control system is applicable in the region of a variety of different generator types, there is wide applicability.
(4) with traditional PI D LOAD FREQUENCY control and without energy-storage system compared with, sliding mode control strategy reduce frequency shift (FS) and
Interconnection tie power fluctuation fully ensures that power system stability and faster response speed.In a certain range, when load disturbance increases
Add, the control of sliding formwork LOAD FREQUENCY has better control performance than PID control and energy-storage system.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the present embodiment electric system；
Fig. 2 is the transfer function model in the present embodiment electric system region 1；
Fig. 3 is the transfer function model in the present embodiment electric system region 2；
Fig. 4 is the present embodiment electric system region blower and electric generator structure figure；
Fig. 5 is the present embodiment electric system d1When=1.2s, the system frequency deviation in region 1 is responded；
Fig. 6 is the present embodiment electric system d1When=1.2s, the system dominant eigenvalues deviation in region 1 is responded；
Fig. 7 is the present embodiment electric system d1When=1.2s, the system frequency deviation in region 2 is responded；
Fig. 8 is the present embodiment electric system d1When=1.2s, the system dominant eigenvalues deviation in region 2 is responded；
Fig. 9 is the present embodiment electric system d1When=1.2s, the system frequency deviation in region 3 is responded；
Figure 10 is the present embodiment electric system d1When=1.2s, the system dominant eigenvalues deviation in region 3 is responded；
Figure 11 is the present embodiment electric system d1When=3.0s, the system frequency deviation in region 1 is responded；
Figure 12 is the present embodiment electric system d1When=3.0s, the system dominant eigenvalues deviation in region 1 is responded；
Figure 13 is the present embodiment electric system d1When=3.0s, the system frequency deviation in region 2 is responded；
Figure 14 is the present embodiment electric system d1When=3.0s, the system dominant eigenvalues deviation in region 2 is responded；
Figure 15 is the present embodiment electric system d1When=3.0s, the system frequency deviation in region 3 is responded；
Figure 16 is the present embodiment electric system d1When=3.0s, the system dominant eigenvalues deviation in region 3 is responded；
Figure 17 is the present embodiment electric system random load disturbance response；
Figure 18 is the present embodiment electric system d1When=1.494sin (t)+0.1, the system frequency deviation in region 1 is responded；
Figure 19 is the present embodiment electric system d2When=8sin (t)+0.3, the system frequency deviation in region 2 is responded；
Figure 20 is the present embodiment electric system d2When=8sin (t)+0.3, the system frequency deviation in region 3 is responded；
Figure 21 is the present embodiment electric system d1When=1.2s, the system frequency deviation in region 1 is responded；
Figure 22 is the present embodiment electric system d1When=1.2s, the system dominant eigenvalues deviation in region 1 is responded；
Figure 23 is the present embodiment electric system d1When=1.2s, the system frequency deviation in region 2 is responded；
Figure 24 is the present embodiment electric system d1When=1.2s, the system dominant eigenvalues deviation in region 2 is responded；
Figure 25 is the present embodiment electric system d1When=1.2s, the system frequency deviation in region 3 is responded；
Figure 26 is the present embodiment electric system d1When=1.2s, the system dominant eigenvalues deviation in region 3 is responded；
Figure 27 (a) is the present embodiment electric system d1When=3.0s, the system frequency deviation in region 1 is responded；
Figure 27 (b) is the enlarged drawing of the part 0~10s in Figure 27 (a)；
Figure 28 is the present embodiment electric system d1When=3.0s, the system dominant eigenvalues deviation in region 1 is responded；
Figure 29 (a) is the present embodiment electric system d1When=3.0s, the system frequency deviation in region 2 is responded；
Figure 29 (b) is the enlarged drawing of the part 0~10s in Figure 29 (a)；
Figure 30 is the present embodiment electric system d1When=3.0s, the system dominant eigenvalues deviation in region 2 is responded；
Figure 31 (a) is the present embodiment electric system d1When=3.0s, the system frequency deviation in region 3 is responded；
Figure 31 (b) is the enlarged drawing of the part 0~10s in Figure 31 (a)；
Figure 32 is the present embodiment electric system d1When=3.0s, the system dominant eigenvalues deviation in region 3 is responded.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment
For the multiple domain interconnected electric power system of high wind energy permeability as shown in Figure 1, in order to reduce due to wind energy fluctuation
Caused system frequency deviation optimizes LOAD FREQUENCY control by using dispersion sliding mode controller, to reduce frequency departure.This
Multiple domain time-lag power system LOAD FREQUENCY control method of the invention containing high wind energy permeability the following steps are included:
S1, building include the time-lag power system of multiple regions, and establish the mathematical model of each regional generation system, each area
Domain is connected by interconnection, and each region includes thermal power generation system and wind generator system, the generator of thermal power generation system
For non-reheat type steam turbine or reheating type steam turbine, the generator of wind generator system is wind turbine, wherein using it is non-again
The thermal power generation system mathematical model of heat type steam turbine are as follows:
Using the thermal power generation system mathematical model of reheating type steam turbine are as follows:
In formula, the number of subscript i and subscript j expression region, i=1 ..., N, j=1 ..., N, N are areal,
ΔfiIt (t) is system frequency deviation (Hz), Δ fTiIt (t) is wind turbine frequency departure, Δ PmiIt (t) is generated output power
Increment (p.u.MW), Δ Pvi(t) be throttle position increment (p.u.MW), Δ EiIt (t) is frequency departure integral controller
Increment, Δ δi(t) be phase angle increment, Δ PdiIt (t) is system loading disturbance (p.u.MW), Δ PGWiIt (t) is the wind in the i-th region
Power turbine output power deviation (p.u.MW), TijBe dominant eigenvalues between ith zone and j-th of region it is synchronous because
Number, TchiIt is steam turbine time constant (s), TrhIt is reheater time constant (s), FhpIt is the reheating type steam turbine hair of one's respective area
Electricity accounts for the ratio of all generator output general powers in one's respective area, TpiIt is system time constant (s), KpiIt is system gain, KIGIt is
The liquid measure coefficient of coup, Δ PLi(t) be ith zone active deviation, Δ Pri(t) be governor for steam turbine output quantity of state,
RiIt is governor rate adaptation (Hz/p.u.MW), BiIt is field frequency deviation ratio, KEiIt is integration control gain, diIt is that time lag is normal
Number, TgiIt is governor time constant；
The mathematical model of wind generator system are as follows:
Wherein
In formula, Δ xi1(t)、Δxi2(t)、Δxi3(t)、Δxi4(t) each state in ith zone blower model is represented
Amount, TwiIt is blower time constant, KPC1It is pitch control feedback oscillator, KP31And Tp31It is the fitting control of pitch response data respectively
Response coefficient and time constant, KP21And Tp21It is hydraulic vane change actuator response coefficient and time constant, K respectivelyppi、K11And Kp1i
It is pitch control response coefficient, Tp1iIt is pitch control responsive time constant, Δ fTiIt (t) is wind turbine velocity deviation, Δ
PmiIt (t) is generated output power increment, KIGiIt is the blower liquid measure coefficient of coup, KTpI is blower frequency feedback coefficient.
S2 establishes the state model containing indeterminate to each region respectively according to the mathematical model of generator:
It defines simultaneously and assembles indeterminate gi(t):
It will be indicated containing the state model for assembling indeterminate are as follows:
Wherein state variable is xi(t):
xi(t)=[Δ fi(t) ΔPmi(t) ΔPvi(t) ΔEi(t) Δδi(t) ΔfTi(t) Δxi1(t) Δxi2
(t) Δxi3(t) Δxi4(t)]T
Control variable uiIt (t) is sliding formwork Load-frequency Controllers, A 'iFor sytem matrix, A 'idiFor time lag item coefficient matrix,
B′iFor input matrix, E 'ijFor interconnection coefficient matrix, F 'iFor disturbance term coefficient matrix, Δ Ai、ΔAidi、ΔEij、ΔBi、Δ
FiBe respectively with A 'i、A′idi、E′ij、B′i、F′iThe indeterminate of corresponding parameters of electric power system；
S3 designs integral form sliding-mode surface σ according to containing the state model for assembling indeterminatei(t)；
S4, according to integral form sliding-mode surface σi(t) sliding formwork Load-frequency Controllers u is designedi(t):
ui(t)=- Kixi(t)-(GiBi′)-1||Gi||hi-(GiBi′)-1(Wi+εi)sgn(σi(t)),
Wherein assemble indeterminate gi(t) it is bounded, and meets | | gi(t)||≤hi, wherein hiFor bounded constant, hi>
0, | | * | | indicate euclideam norm, matrix GiAnd KiFor integral form sliding-mode surface σi(t) coefficient matrix,Sgn (*) is sign function,
S5, the controller u obtained according to step S4i(t) it is used as control instruction, the LOAD FREQUENCY for optimizing electric system is inclined
Difference.
The region 1, region 2, region 3 that multiple domain interconnected electric power system of the present invention is embodied in Fig. 1 are connected each other by interconnection.
Each regional power system includes thermal power generation system and wind generator system.For in thermal power generation system, according to generator
Type can be divided into reheating type thermoelectric generator and non-reheat type thermoelectric generator again.Fig. 2 is the transfer function model in region 1,
Using non-reheat type thermoelectric generator.Fig. 3 is the transfer function model in region 2, uses reheating type thermoelectric generator.This two
A transmission function all contains auxiliary controlling unit, the communication delay ring of thermoelectric generator in addition to thermoelectric generator type is different
Section once adjusts the speed link, and has large-scale wind generator system to access.In figure, G indicates that equivalent generator, WTG indicate wind-force
Generator, that is, wind turbine.
In the open-loop transfer function model of Fig. 2 and Fig. 3, first module is auxiliary control, also referred to as secondary control, is passed through
The adaptation between power generation and load may be implemented in secondary control, and restores frequency departure to zero, and proportional integration is used in secondary controlControl, the effect of integral is to ensure that static frequency deviation is zero, and the effect of ratio is to improve stability and increase
Response speed.
Second module is communication delay link, as the interconnection degree between regional power system is increasingly enhanced and electric power
The development and application of system information processing and network communication technology, the introducing of opening communication network architecture make LOAD FREQUENCY control
In be inevitably present fixed and random communication delay.The introducing of time lag can reduce the control effect of control system or even draw
Rise entire closed-loop system it is unstable, therefore time-delay become design time-lag power system Load-frequency Controllers a key
Problem.This module is to pass through exponential functionTo realize certain delay.
Third module is primary speed regulation link, using there is the static ratio for adjusting difference to control, passes through first order inertial loopIt realizes.
4th module is steam turbine.For non-reheat type steam turbine, when throttle valve position variation, due to steam chamber and
Lead to the influence of the inflationtime of HP cylinder pipeline, non-reheat steam turbine shows small time constant.Since steam chamber causes
Time lag situation it is fairly simple, therefore use first order inertial loopIt indicates.It, must for reheating type steam turbine
Reheater must be taken into account and fair current enters the transition steam stream of cylinder, the throughput of LP turbine section can be in reheater volume
The establishment process of pressure and change.
5th module is power system blockset, using first order inertial loopIt introduces and synchronizes between interconnection region
Power coefficient.
In the present invention, wind-driven generator takes part in the adjusting of system frequency.In Fig. 4 wind-driven generator transfer function model
In, it include blower fan module and award setting device.Frequency deviation fiIt (t) is input control signal, so that wind-driven generator is joined
It is adjusted with system frequency.Frequency deviation fi(t) input makes the quantity of state Δ f in state equationTi(t) and sytem matrix Ai′
Change, thus different with the prior art in controller design.Wind-driven generator participates in system frequency and adjusts, and makes entire electricity
Force system, which participates in the generator that frequency is adjusted, to be increased.In the case where frequency fluctuation is small, when more generators participate in frequency adjusting,
So that the increment of every generated output power averagely reduces, so that LOAD FREQUENCY adjusting be made to be more easier and by system frequency wave
Dynamic control is in lesser range.In the biggish situation of frequency fluctuation, the generator quantity due to participating in frequency modulation increases, and every
Generator increases generator amount according to a certain percentage, achievees the purpose that frequency modulation.Reduce thermoelectric generator frequency modulation frequency modulation in this way
It participates in, becomes easy frequency adjusting.In severe case, the probability of the system removal of load also reduced, to improve power train
System reliability of operation.
The present invention is effectively that the sliding mode controller of design can be by LOAD FREQUENCY control to the control of power system load frequency
It makes in the even more small range of the permission of national regulation.Certain base can be established for the research of later LOAD FREQUENCY control aspect
Plinth.
(1) mathematical model of the time lag interconnected electric power system of Gao Feng electricity permeability
Multiple domain interconnected electric power system is subjected to decentralised control, mainly includes thermal power generation system in each regional power system
And wind generator system.It include that the multiple domain time lag of wind power generation and thermal power generation interconnects the dispersion of hybrid power system to design
State model satisfaction is established in sliding mode controller, each region:
With the continuous change of power system load, it is necessary to be adjusted to the method for operation of system.In different operations
Under mode, the parameter of system is different.Accordingly, it is considered to arrive the uncertainty of parameters of electric power system, electric system is expressed as not knowing
The model of item:
Wherein, Ai' it is sytem matrix, A 'idiFor time lag item coefficient matrix, Bi' it is input matrix, E 'ijTo interconnect term coefficient
Matrix, FiFor disturbance term coefficient matrix, Δ Ai、ΔBi、ΔAidi、ΔFi、ΔEijIt is the indeterminate of parameters of electric power system.
(2) design principle of the LOAD FREQUENCY control of time lag interconnection hybrid power system of the present invention containing wind-powered electricity generation
It will be containing the electric power for assembling indeterminate using aforementioned assembly indeterminate in order to facilitate the design of sliding mode controller
System representation is
Before designing controller, provide first four it is assumed that
Assuming that 1:(Ai′,Bi') controllable.Assuming that 2:rank (Bi′,gi)≠rank(Bi′).Assuming that 3: assembling indeterminate gi
(t) it is bounded, and meets following condition: | | gi(t)||≤hi, wherein hi> 0 be constant, i=1 ..., N.Assuming that 4: being
The time lag item of system meets following condition
||xp(t-di)||≤xpmax, wherein xpmax=max | | xp| |, p=i, j；
Design integral form sliding-mode surface meets equationWherein, matrix KiIt is full
Sufficient λ (Ai′-Bi′Ki) < 0, select matrix G appropriateiMake matrix GiBi' it is nonsingular matrix.The purpose of the present invention is to be directed to
Each region time lag hybrid power system designs a sliding formwork Load-frequency Controllers.
ui(t)=- Kixi-(GiBi′)-1||Gi||hi-(GiBi′)-1(Ri+εi)sgn(σi(t)) non-matching not true to calm
Fixed electric system.The stability of sliding mode and the design of controller can be realized by following theorem 1 and theorem 2.
Theorem 1: as x ∈ Bc(η), the sliding mode of etching system is all stable when any, wherein Bc(η) is to be with x=0
The centre of sphere, η are the benefit of the closing spherical surface B (η) of radius.
Prove: construction liapunov function isWherein P is Lyapunov Equation
Solution, QiIt is given positive definite symmetric matrices.
It takes
V (t) derivation can be obtained:
By assuming that 3 can obtain||Aid1||≤αi,||Eij||≤γi,
Then
When the state trajectory of system enters closed spherical BcWhen (η), λ (Qi) > 0, then liapunov functionAt
It is vertical, guarantee that system is stablized on sliding-mode surface.
Theorem 2: if variable-structure controller meets following equation
ui(t)=- Kixi-(GiBi′)-1||Gi||hi-(GiBi′)-1(Ri+εi)sgn(σi(t)), then system meets arrival item
Part.
Wherein:Indicate sign function.
It proves: construction liapunov function
Meet σ when system enters sliding modei(t)=0 HeThen
Then
By assuming that 3 can obtainObviously
System mode path can reach sliding-mode surface in finite time.
(3) sample calculation analysis
For verifying large-scale wind power integrate time lag hybrid power system in designed sliding formwork Load-frequency Controllers it is effective
Property, simulation study is carried out by following three simulation examples, and control with the conventional proportional-integral LOAD FREQUENCY of tuning, have energy storage
The proportional integration load control system of system, the proportional integration load curtailment strategy without energy-storage system are compared.Three examples are
Parameter value unite in table 1.In addition, there are also the delay times of each system.
Each regional parameter values of 1 electric system of table
1) influence that example 1-- wind-power electricity generation controls different load frequency
In this example, interacted system runs under rated condition and without uncertain parameter, and system loading disturbance is Δ
Pdi=0.02pu.With the increase of wind energy permeability, it is necessary to take into account wind-power electricity generation participates in system loading frequency and adjusts.Therefore,
High wind energy infiltration interconnection time-lag power system will be studied in following LOAD FREQUENCY control program, and (a) contains wind-power electricity generation
Machine real power control circuit, blower are not involved in the PID LOAD FREQUENCY control of frequency modulation；(b) circuit of real power control containing wind-driven generator, wind
Machine participates in the PID LOAD FREQUENCY control of frequency modulation；(c) circuit of real power control containing wind-driven generator, the control of sliding formwork LOAD FREQUENCY.
A. when interacted system time delay is diWhen=1.2s (i=1,2,3), under three kinds of LOAD FREQUENCY controls, three areas
The response in domain such as Fig. 5-10.Wherein the effect of scheme (c) is most obvious, and frequency departure is approximately zero in 10s.Meanwhile Mei Gequ
Domain dominant eigenvalues deviation is under the control of scheme (c), and within the very short response time be approximately zero and overshoot is smaller, and
The frequency deviation f of scheme (a) and (b)i(t) and dominant eigenvalues deviation delta Ptie iIt (t) all cannot be close in long time
It is seemingly zero.Compare scheme (a) and (b) in Fig. 5-10, hence it is evident that when blower participates in frequency modulation, frequency departure response fluctuation is very for discovery
It is small.The increment of wind power generation is determined by system frequency increment and the weak inertia of interacted system wind power generation can be improved.
B. when interacted system time delay is diWhen=3.0s (i=1,2,3), under three kinds of LOAD FREQUENCY controls, three areas
The response in domain such as Figure 11-16.Under obvious discovery scheme (c) control, trizonal LOAD FREQUENCY deviation delta fi(t) and interconnection
Power deviation Δ Ptie i(t) response quickly is approximately zero and overshoot very little.
2) influence of the time delay of example 2-variation and load disturbance
In this example, each region is run under rated condition and blower participates in system frequency and adjusts, and has sliding formwork negative
The control of lotus frequency and traditional PI D LOAD FREQUENCY control two schemes.Emulate the response d of controller under different delay1=
1.494sin(t)+0.1,d2=8sin (t)+0.3, d3=5sin (t)+0.1, the simulation result under random load disturbance is as schemed
18-20, the random load disturbance waveform such as Figure 17 in each region.With the LOAD FREQUENCY deviation delta f under PID controli(t) it compares,
Sliding formwork control clock synchronization become communication delay influence it is more blunt, and overshoot is small, fast response time, oscillation it is small.
3) 3-energy-storage battery of example participates in the LOAD FREQUENCY control of high wind energy permeability system
Due to energy-storage battery can quickly provide active power compensation therefore it can be used to improve LOAD FREQUENCY control
Performance.For the validity for verifying the control of sliding formwork LOAD FREQUENCY extensively, each region uses the control of sliding formwork LOAD FREQUENCY, has storage
Can system PID control and PID control without energy-storage system, system run under rated condition, and blower participates in system frequency
It adjusts.Trizonal response such as Figure 21-32.
A. when in interacted system time delay be d1=d2=d3When=1.2s, the LOAD FREQUENCY deviation delta f in each regioni
(t) and dominant eigenvalues deviation delta Ptie i(t) response such as Figure 21-26.PID control without energy-storage system is after 10s, Δ fi(t)
With Δ Ptie i(t) self-sustained oscillation, and there is the PID control of energy-storage system to have lesser overshoot than the PID control of no energy-storage system.
Compare three kinds of control programs, the overshoot of sliding formwork LOAD FREQUENCY control is minimum, response speed is most fast, the Δ f in 15si(t) and Δ
Ptie iIt (t) is approximately zero.
B. when in interacted system time delay be d1=d2=d3When=3.0s, the LOAD FREQUENCY deviation delta f in each regioni
(t) and dominant eigenvalues deviation delta Ptie i(t) response such as Figure 27 (a) -32.With the increase of communication delay, in no energy-storage system
PID control under, Δ fi(t) and Δ Ptie i(t) tend to significantly disperse to vibrate, frequency departure is greater than 0.2Hz, therefore system is adopted
PID control with no energy-storage system is infeasible.Although Δ f in the control of PID LOAD FREQUENCY can be improved in energy-storage systemi(t) and
ΔPtie i(t) variation, but cannot completely eliminate.However, being controlled by using sliding formwork LOAD FREQUENCY, frequency departure and interconnection
Power deviation is opposite to be reduced, and overshoot reduces within very short transit time.
Claims (4)
1. a kind of multiple domain time-lag power system LOAD FREQUENCY control method containing high wind energy permeability, which is characterized in that including with
Lower step:
S1, building include the time-lag power system of multiple regions, and establish the mathematical model of each regional generation system, and each region is logical
Interconnection connection is crossed, each region includes thermal power generation system and wind generator system, and the generator of wind generator system is wind
Power turbine enables the frequency departure of wind turbine participate in system frequency tune as the coupling terms in system frequency deviation adjustment item
Section, system frequency deviation Δ fi(t) in adjustment item, coupling terms relevant to wind turbine areWherein Kpi
It is system gain, KIGiIt is the liquid measure coefficient of coup, TpiIt is system time constant, Δ fTiIt (t) is wind turbine frequency departure；
S2 establishes the state model containing indeterminate to each region respectively according to the mathematical model of generator:
It defines simultaneously and assembles indeterminate gi(t):
It will be indicated containing the state model for assembling indeterminate are as follows:
Wherein state variable is xi(t):
xi(t)=[Δ fi(t) ΔPmi(t) ΔPvi(t) ΔEi(t) Δδi(t) ΔfTi(t) Δxi1(t) Δxi2(t)
Δxi3(t) Δxi4(t)]T
In formula, t is time variable, and subscript i and subscript j indicate the number in region, xjIt (t) is the state variable in j-th of region, i=
1 ..., N, j=1 ..., N, N are areal, diIt is time lag constant, A 'iFor sytem matrix, A 'idiFor time lag term coefficient square
Battle array, B 'iFor input matrix, E 'ijFor interconnection coefficient matrix, F 'iFor disturbance term coefficient matrix, Δ Ai、ΔAidi、ΔEij、ΔBi、
ΔFiBe respectively with A 'i、A′idi、E′ij、B′i、F′iThe indeterminate of corresponding parameters of electric power system controls variable uiIt (t) is cunning
Mould Load-frequency Controllers, Δ fiIt (t) is system frequency deviation, Δ PdiIt (t) is system loading disturbance, Δ PmiIt (t) is generator
Incremental delivered power, Δ PviIt (t) is throttle position increment, Δ EiIt (t) is frequency departure integral controller increment, Δ δi(t)
It is phase angle increment, Δ fTiIt (t) is wind turbine frequency departure, Δ xi1(t)、Δxi2(t)、Δxi3(t)、Δxi4(t) it represents
Each quantity of state in ith zone blower model；
S3 designs integral form sliding-mode surface σ according to containing the state model for assembling indeterminatei(t)；
S4, according to integral form sliding-mode surface σi(t) sliding formwork Load-frequency Controllers are designed:
ui(t)=- Kixi(t)-(GiBi′)-1‖Gi‖hi-(GiBi′)-1(Wi+εi)sgn(σi(t)),
Wherein assemble indeterminate gi(t) it is bounded, and meets | | gi(t)||≤hi, wherein hiFor bounded constant, hi> 0, |
| * | | indicate euclideam norm, matrix GiAnd KiFor integral form sliding-mode surface σi(t) coefficient matrix,xpmax=max | | xp| |, p=i, j, εi> 0, i=1 ..., N, sgn (*) are
Sign function,
S5, the sliding formwork Load-frequency Controllers u that step S4 is obtainedi(t) it is used as control instruction, optimizes the load frequency of electric system
Rate deviation.
2. a kind of multiple domain time-lag power system LOAD FREQUENCY controlling party containing high wind energy permeability according to claim 1
Method, which is characterized in that the generator of the thermal power generation system is non-reheat type steam turbine or reheating type steam turbine.
3. a kind of multiple domain time-lag power system LOAD FREQUENCY controlling party containing high wind energy permeability according to claim 2
Method, which is characterized in that in the step S1, using the thermal power generation system mathematical model of non-reheat type steam turbine are as follows:
Using the thermal power generation system mathematical model of reheating type steam turbine are as follows:
In formula, the number of subscript i and subscript j expression region, i=1 ..., N, j=1 ..., N, N are areal, Δ fi
It (t) is system frequency deviation, Δ fTiIt (t) is wind turbine frequency departure, Δ PmiIt (t) is generated output power increment, Δ
PviIt (t) is throttle position increment, Δ EiIt (t) is frequency departure integral controller increment, Δ δiIt (t) is phase angle increment, Δ δj
It (t) is the phase angle increment in j-th of region, Δ PdiIt (t) is system loading disturbance, Δ PGWiIt (t) is the wind turbine of ith zone
Machine output power deviation, TijIt is the dominant eigenvalues synchronization factor between ith zone and j-th of region, TchiWhen being steam turbine
Between constant, TrhIt is reheater time constant, FhpIt is that the reheating type steam turbine power generation amount of one's respective area accounts for all generators in one's respective area
Export the ratio of general power, TpiIt is system time constant, KpiIt is system gain, KIGiIt is the liquid measure coefficient of coup, Δ PLiIt (t) is area
The active deviation in domain, Δ Pri(t) be governor for steam turbine output quantity of state, RiIt is governor rate adaptation, BiIt is region frequency
Rate deviation ratio, KEiIt is integration control gain, diIt is time lag constant, TgiIt is governor time constant；
The mathematical model of wind generator system are as follows:
Wherein
In formula, Δ xi1(t)、Δxi2(t)、Δxi3(t)、Δxi4(t) each quantity of state in ith zone blower model, T are representedwi
It is blower time constant, KPC1It is pitch control feedback oscillator, KP31And TP31It is pitch response data fitting control response system respectively
Several and time constant, KP21And TP21It is hydraulic vane change actuator response coefficient and time constant, K respectivelyPPi、K11And KP1iIt is pitch
Control response coefficient, TP1iIt is pitch control responsive time constant, Δ fTiIt (t) is wind turbine frequency departure, Δ Pmi(t) it is
Generated output power increment, KIGiIt is the liquid measure coefficient of coup, KTPiIt is blower frequency feedback coefficient.
4. a kind of multiple domain time-lag power system LOAD FREQUENCY controlling party containing high wind energy permeability according to claim 1
Method, which is characterized in that the step S3 specifically: selection matrix Gi, make GiBi' it is nonsingular matrix, σi(t) meet equationMatrix KiMeet λ (Ai′-Bi′Ki) < 0, λ (*) expression solution characteristic value.
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