CN106503346B - A kind of generating set electromagnetical transient emulation method of quick and smooth starting - Google Patents
A kind of generating set electromagnetical transient emulation method of quick and smooth starting Download PDFInfo
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Abstract
The invention discloses a kind of generating set electromagnetical transient emulation methods of quick and smooth starting, it can be write out with Fortran and unit model identical in BPA stability Calculation using simulation algorithm of the present invention, the model being capable of quick start, it is consistent after starting with stable state calculating, overcomes the technical bottleneck of unit starting difficulty in previous electromagnetic transient simulation；Model definition mode of the present invention based on programming language not by simulation software limited and can across software platform use, avoid the cumbersome of repetitive operation and patterned form Definition Model；The present invention is of great significance to the electromagnetic transient simulation of Power System Planning and operation phase as a result,.
Description
Technical field
The invention belongs to Simulating technique in Electric Power System fields, and in particular to a kind of generating set electromagnetism of quick and smooth starting
Transient emulation method.
Background technique
Following electric system is by the new energy power supply comprising largely using power electronics converter port, in addition depositing already
Direct current transportation and flexible AC transmitting system so that electric system further comprised other than traditional electromagnetic component quite count
The power electronic equipment of amount, such system are known as AC/DC mixed power system (Hybrid AC/DC power system).?
In AC/DC mixed power system, electromechanical transient simulation program is generally used for analysis AC system symmetric fault or direct current system
The security and stability of system under latch status.Since electromechanical transient analyzes program to the simulation of AC network only with fundamental wave
Positive sequence phasor description under frequency, the response characteristic of power electronic equipment can only based on the positive sequence fundamental phasors of AC system, because
This electromechanical transient analysis program can not describe the spy under the non-fundamental frequency of AC/DC mixed power system or AC system asymmetry
Property, and need to study the transient process of AC and DC power system using electromagnetic transient simulation.
In extensive AC and DC power system electromagnetic transient modeling, if can be ground to stability with ideal source-representation generator
Study carefully and bring large error, and is only contained in common electromagnetic transient simulation software PSCAD/EMTDC model library a small amount of typical
IEEE excitation speed governor, stabilizer and governor prime mover model, more domestic common electromechanical transient simulation software BPA stabilimeter
Calculating the few many and block diagram of model has relatively big difference, therefore needs to be preferably converted into electro-magnetic transient data from electromechanical Temporal Data
Do the customized work of model.It is as shown in Figure 1 excitation model FV card used in BPA stability Calculation, is illustrated in figure 2 PSCAD/
The most similar ST1A model therewith in EMTDC model library, although both describing self-shunt excitation system, because transmitting frame
There are differences, and simulation result to be made to have larger difference for figure, has an immense impact on to system stability distinguishing.On the other hand, generator
Inertia time constant is larger, when containing more generators and when system start-up phase direct plunges into system, mutual
Influence would be possible to cause the unstable of system, it is therefore desirable to by initialization technique come this process of gentle ground transition.
A kind of existing insufficient method of software model type that solves is that the graphical transmission function provided using software is built,
But such model defines that method is inconvenient to initialize and the model defined is only limitted to use in a certain simulation software, do not have across
Platform uses ability.Therefore it needs to invent a kind of model and defines method and make unit model can be quick in electromagnetic transient simulation
Smooth starting, and have that accurately expresses each link dynamic characteristic to define method with the model across software platform.
Summary of the invention
It is insufficient for generating set types of models in general electromagnetic transient simulation software model library, taken using graphical block diagram
The status that unit starting has difficulties is built, the present invention provides a kind of generating set electromagnetic transient simulation sides of quick and smooth starting
Unit model is expressed as state-space expression by method, this method, reuse programming language definition, actual emulation calculate when incited somebody to action
Journey is divided into three phases, and substep determines that different components carry out initialization or numerical integration in unit model；Using present invention side
Method, which is defined, can quickly and smoothly start with the unit model of workflow management to expected operating point, can be adjusted in different simulation softwares
With and have the ability used across software platform.
A kind of generating set electromagnetical transient emulation method of quick and smooth starting, includes the following steps:
(1) for any component of generating set, the transmission function block diagram of the component model is launched into the shape of time domain
State space expression formula, and then the expression of the equation for solving component states matrix of variables x is obtained according to the state-space expression
Formula is as follows:
Wherein: y0For the anticipated output of component model, u is the input variable matrix of component model, and f () is component model
Evolution expression formula, g () are the output expression formula of component model；
(2) make each component in generating set by power system stabilizer, PSS, field regulator, synchronous generator, governor
Prime mover is sequentially connected；
(3) where the generating set when system starting, set end voltage and phase that synchronous generator is obtained according to Load flow calculation
Parallactic angle is run in the form of ideal source, and according to excitation voltage E needed for the output of generator electromagnetic circuit steady-state modelf0And it surveys
Magnitude ue(such as exciting current or set end voltage etc.) anti-state variable x solved in field regulator modele, and then according to shape
State variable xeVoltage reference value V is acquired by field regulator modelref；Make the output auxiliary control of power system stabilizer, PSS model
Signal Vs=0, according to auxiliary control signal VsWith input feedback value up(such as set end voltage or revolving speed etc.) is counter to solve electric system
State variable x in stabilizer modelp；
(4) after the completion of other elements initialization in system, synchronous generator switches to fixed rotating speed electricity by ideal source
Machine model, and put into excitation adjuster model and power system stabilizer, PSS model；Field regulator is according to initial after coming into operation
The state variable x that the change stage obtainseNumerical integration is carried out according to state-space expression and exports integral result, if adjustment of field excitation
Then field regulator exports the excitation voltage E of initial runtime in the case of device model deficiencyf0And it remains unchanged；Power system stability
The state variable x that device is obtained according to initial phasepNumerical integration is carried out according to state-space expression and exports integral result,
Power system stabilizer, PSS exports auxiliary control signal Vs=0 and keeps not if in the case of power system stabilizer, PSS model deficiency
Become；
Synchronous generator is according to machine torque T needed for the output of rotor vacillation steady-state equation in this phase processm0And it surveys
Magnitude ug(such as revolving speed etc.) anti-state variable x solved in governor prime mover modelg；
(5) system puts into governor prime mover model after running several milliseconds, after coming into operation governor prime mover according to
The state variable x that initial phase obtainsgNumerical integration is carried out according to state-space expression and exports integral result, if speed regulation
Then governor prime mover exports the machine torque T of initial runtime in the case of device prime mover model deficiencym0And it remains unchanged；
So far generating set model start completion, all components execute subsequent simulation according to the state-space expression.
The state-space expression is as follows:
Wherein:For the derivative of component states matrix of variables x, y is the output signal of component model.
Pass through the anti-state variable x solved in field regulator model of following equation in the step (3)e:
Wherein: fe() is the evolution expression formula of field regulator model, ge() is that the output of field regulator model is expressed
Formula.
Pass through the anti-state variable x solved in power system stabilizer, PSS model of following equation in the step (3)p:
Wherein: fp() is the evolution expression formula of power system stabilizer, PSS model, gp() is power system stabilizer, PSS model
Export expression formula.
Pass through the anti-state variable x solved in governor prime mover model of following equation in the step (4)g:
Wherein: fg() is the evolution expression formula of governor prime mover model, gg() is the output of governor prime mover model
Expression formula.
The accurate emulation of generating set is extensive AC and DC power system electromagnetic transient simulation basic guarantee, using this hair
Bright above-mentioned simulation algorithm can be write out with Fortran with unit model identical in BPA stability Calculation, which can be fast
Speed starting is consistent with stable state calculating after starting, overcomes the technology bottle of unit starting difficulty in previous electromagnetic transient simulation
Neck；Model definition mode of the present invention based on programming language not by simulation software limited and can across software platform use, keep away
The cumbersome of repetitive operation and patterned form Definition Model is exempted from；The present invention is to Power System Planning and operation phase as a result,
Electromagnetic transient simulation be of great significance.
Detailed description of the invention
Fig. 1 is the ST1A excitation model schematic in electromagnetic transient simulation software PSCAD/EMTDC.
Fig. 2 is the FV card excitation model schematic in electromagnetic transient simulation software BPA.
Fig. 3 is each component unified signal connected mode schematic diagram in generating set model.
Fig. 4 is the simulation calculation flow process schematic diagram of generating set model.
Fig. 5 is the structural schematic diagram of four area Ji Liang test macros.
Fig. 6 (a) is four area Ji Liang test macros generator under Model B PA, model ST1A and model emulation of the present invention
The excitation of G1 exports result schematic diagram.
Fig. 6 (b) is four area Ji Liang test macros generator under Model B PA, model ST1A and model emulation of the present invention
The excitation of G2 exports result schematic diagram.
Fig. 6 (c) is four area Ji Liang test macros generator under Model B PA, model ST1A and model emulation of the present invention
The excitation of G3 exports result schematic diagram.
Fig. 6 (d) is four area Ji Liang test macros generator under Model B PA, model ST1A and model emulation of the present invention
The excitation of G4 exports result schematic diagram.
Specific embodiment
In order to more specifically describe the present invention, with reference to the accompanying drawing and specific embodiment is to technical solution of the present invention
It is described in detail.
Unit model is expressed as state-space expression by the method for the present invention, reuses programming language definition, actual emulation
Process is divided into three phases when calculating, substep determines that different components carry out initialization or numerical integration in unit model.
The definition of generating set model includes following two link in the present invention:
Firstly, being launched into the state-space expression of time domain, i.e. table to the transmission function block diagram of each component of unit model
Reach following form:
Wherein: x is state variable matrix, and u is component input variable matrix, and y is component output, and f () is component evolution
Expression formula, g () are that component exports expression formula.
Then, by component model anticipated output y0With component input variable matrix u is counter solves component states matrix of variables x,
Solve following equation group:
After each component in generating set defines in a manner described, according to the unified approach connection used such as Fig. 3, component
Different subfunctions is called according to its model name.
Fig. 4 is calculation process of the defined generating set model in simulation calculation, and wherein subscript e indicates excitation system
Correlation model, subscript p indicate that stabilizer correlation model, subscript g indicate governor prime mover correlation model；Actual emulation calculated
Journey is divided into following three phases:
(i) when system starts, the set end voltage and phase angle that synchronous motor is obtained according to Load flow calculation are run according to ideal source,
And excitation voltage E needed for being exported according to generator electromagnetic circuit steady-state modelf0, according to Ef0 and other measurements ue(such as excitation
Electric current, set end voltage etc.) all state variable x in field regulator control system can be solved according to formula (2) is countereJoin with voltage
Examine value Vref；Stabilizer model exports Vs=0, according to Vs and input feedback value up(such as set end voltage, revolving speed etc.) is according to formula
(2) counter to solve all state variable xp。
(ii) after the completion of other elements initialization in system, synchronous motor switches to fixed rotating speed motor model, investment
Field regulator and stabilizer model, the state variable x obtained from excitation according to initial phase after coming into operationeAccording to formula
(1) numerical integration backward, with initial runtime E if without containing field regulatorf0It exports, remains unchanged as excitation；Stablize
The state variable x that device is obtained according to initial phasepAccording to formula (1) numerical integration backward, Vs is protected if without stabilizer model
It is constant to hold 0；Machine torque T needed for this stage unit will be exported according to rotor vacillation steady-state equationm0, according to Tm0With other measurements
Measure ug(such as revolving speed etc.) solves all state variable x in governor prime mover model according to formula (2) is counterg。
(iii) prime mover governor model is put into after running several milliseconds, governor prime mover is obtained with initial phase
State variable xgAccording to formula (1) numerical integration backward, if governor prime mover model is free of, with initial runtime Tm0As
Prime mover output remains unchanged, so far generating set model start completion.
Now shown in Fig. 2 in BPA software for excitation model FV card, illustrating for this model to be defined as can quick and smooth starting
Electro-magnetic transient DCgenerator motor field model process.Block diagram according to fig. 2 writes out its time domain space expression formula of equal value such as
Under:
According to the anticipated output of model and external correlated inputs condition, the initial of each state variable and voltage reference value is solved
Condition is as follows:
When writing the model using programming language, according to the initialization operation or root of enable signal selection such as formula (4)
Numerical integration is carried out according to formula (3)；Stabilizer, prime mover governor model are defined according to similar approach.
Implementing simulation calculation flow process of the present invention as what the model defined to four area Ji Liang examples as shown in Figure 5 below has
The verifying of effect property.Generator excitation model is all made of FV card mold type, remaining generator assembly or network element with it is well-known
Four machine two compartment models are identical, and generator model mode switch time is respectively 1.2s and 1.3s in Fig. 4.
No. 8 bus bar side three phase short circuit faults when 2s, the simulation result for the 0.1s failure removal that is delayed is as shown in fig. 6, it shows
The PSCAD calculated result and BPA calculated result of each generator excitation output, while illustrating and carrying in existing model library
ST1A model, parameter are provided according to Fig. 1 and Fig. 2 according to the approximate principle of correspondence, the two parameter value with it is corresponding as shown in table 1:
Table 1
| FV | ST1A | |
| 0 | TR=0.02 | TR=0.02 |
| 1 | K=500 | VI MAX=10 |
| 2 | Kv=1.0 | VI MIN=-10 |
| 3 | T1=1.0 | TC (sec)=T1 |
| 4 | T2=10.0 | TB (sec)=T2 |
| 5 | T3=0.025 | TC1 (sec)=T3 |
| 6 | T4=0.025 | TB1 (sec)=T4 |
| 7 | KA=1 | KA=KA*K |
| 8 | TA=0.01 | TA=0.01 |
| 9 | VAmax=10.0 | VAMAX=10.0 |
| 10 | VAmin=-10.0 | VAMIN=-10.0 |
| 11 | KF=0.0 | VRMAX=10 |
| 12 | TF=1.0 | VRMIN=-10 |
| 13 | KC=0.001 | KC=0.001 |
| 14 | VRmax=10 | KF=0.0 |
| 15 | VRmin=-10 | TF=1.0 |
| 16 | KLR=0 | |
| 17 | ILR=0 |
As seen from Figure 6, diverging shakes after failure removal according to the model emulation curve that parameter approximation corresponding relationship obtains
The trend swung, and use self-definition model of the present invention not only can be with quick start as included model, while customized encouraging
The output of magnetic model has very high similitude with the output of BPA excitation, has to the validity of system stability research conclusion great
Castering action.
The above-mentioned description to embodiment is for that can understand and apply the invention convenient for those skilled in the art.
Person skilled in the art obviously easily can make various modifications to above-described embodiment, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, the improvement made for the present invention and modification all should be in protection scope of the present invention
Within.
Claims (5)
1. a kind of generating set electromagnetical transient emulation method of quick and smooth starting, includes the following steps:
(1) for any component of generating set, the state that the transmission function block diagram of the component model is launched into time domain is empty
Between expression formula, and then the equation expression formula for solving component states matrix of variables x is obtained such as according to the state-space expression
Under:
Wherein: y0For the anticipated output of component model, u is the input variable matrix of component model, and f () is the evolution of component model
Expression formula, g () are the output expression formula of component model；
(2) make each component in generating set dynamic by power system stabilizer, PSS, field regulator, synchronous generator, governor original
Machine is sequentially connected；
(3) where the generating set when system starting, set end voltage and phase angle that synchronous generator is obtained according to Load flow calculation
It is run in the form of ideal source, and according to excitation voltage E needed for the output of generator electromagnetic circuit steady-state modelf0And measured value
ue, the anti-state variable x solved in field regulator modele, and then according to state variable xeIt is acquired by field regulator model
Voltage reference value Vref；Make power system stabilizer, PSS model export auxiliary control signal Vs=0, according to auxiliary control signal Vs with
Input feedback value upThe anti-state variable x solved in power system stabilizer, PSS modelp；The measured value ueFor exciting current or machine
Hold voltage, the input feedback value upFor set end voltage or revolving speed；
(4) after the completion of other elements initialization in system, synchronous generator switches to fixed rotating speed motor mould by ideal source
Type, and put into excitation adjuster model and power system stabilizer, PSS model；Field regulator is according to initialization rank after coming into operation
The state variable x that section obtainseNumerical integration is carried out according to state-space expression and exports integral result, if field regulator mould
Then field regulator exports the excitation voltage E of initial runtime under type deletion conditionf0And it remains unchanged；Power system stabilizer, PSS root
The state variable x obtained according to initial phasepNumerical integration is carried out according to state-space expression and exports integral result, if electric
Then power system stabilizer, PSS exports auxiliary control signal Vs=0 and remains unchanged in the case of Force system stabilizer model deficiency；
Synchronous generator is according to machine torque T needed for the output of rotor vacillation steady-state equation in this phase processm0And measured value
ug, the anti-state variable x solved in governor prime mover modelg；The measured value ugFor revolving speed；
(5) system puts into governor prime mover model after running several milliseconds, and governor prime mover is according to initial after coming into operation
The state variable x that the change stage obtainsgNumerical integration is carried out according to state-space expression and exports integral result, if governor is former
Then governor prime mover exports the machine torque T of initial runtime under Motivation Model deletion conditionm0And it remains unchanged；
So far generating set model start completion, all components execute subsequent simulation according to the state-space expression.
2. generating set electromagnetical transient emulation method according to claim 1, it is characterised in that: the state space expression
Formula is as follows:
Wherein:For the derivative of component states matrix of variables x, y is the output signal of component model.
3. generating set electromagnetical transient emulation method according to claim 1, it is characterised in that: lead in the step (3)
Cross the anti-state variable x solved in field regulator model of following equatione:
Wherein: fe() is the evolution expression formula of field regulator model, ge() is the output expression formula of field regulator model.
4. generating set electromagnetical transient emulation method according to claim 1, it is characterised in that: lead in the step (3)
Cross the anti-state variable x solved in power system stabilizer, PSS model of following equationp:
Wherein: fp() is the evolution expression formula of power system stabilizer, PSS model, gp() is the output of power system stabilizer, PSS model
Expression formula.
5. generating set electromagnetical transient emulation method according to claim 1, it is characterised in that: lead in the step (4)
Cross the anti-state variable x solved in governor prime mover model of following equationg:
Wherein: fg() is the evolution expression formula of governor prime mover model, gg() is that the output of governor prime mover model is expressed
Formula.
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| CN107592044B (en) * | 2017-09-20 | 2019-12-13 | 四川理工学院 | Initialization method of PSCAD (power system computer aided design) custom generator controller |
| CN108573094B (en) * | 2018-03-21 | 2019-03-15 | 华北电力大学 | The method for building up and system of the VBR electromagnetic transient simulation model of synchronous generator |
| CN108733910B (en) * | 2018-05-16 | 2022-04-29 | 广西电网有限责任公司电力科学研究院 | Method for realizing automatic derivation of state equation of power system |
| CN111181149B (en) * | 2018-10-24 | 2021-08-31 | 北京天诚同创电气有限公司 | Micro-grid simulation method and device |
| CN115017749B (en) * | 2022-08-09 | 2022-10-21 | 四川大学 | Synchronous generator set custom modeling and initialization method based on PSCAD |
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