CN106992531A - Adjust the method and system of the parameter of dynamic reactive compensation device - Google Patents
Adjust the method and system of the parameter of dynamic reactive compensation device Download PDFInfo
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- CN106992531A CN106992531A CN201710402818.XA CN201710402818A CN106992531A CN 106992531 A CN106992531 A CN 106992531A CN 201710402818 A CN201710402818 A CN 201710402818A CN 106992531 A CN106992531 A CN 106992531A
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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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
- H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators
- H02J3/1871—Methods for planning installation of shunt reactive power compensators
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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
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/76—Power conversion electric or electronic aspects
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/10—Flexible AC transmission systems [FACTS]
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Abstract
The method and system that wind-powered electricity generation collects the parameter of regional dynamic reactive compensation device are adjusted the invention provides a kind of, are related to technical field of electric power.Methods described includes：Build the grid structure that wind-powered electricity generation collects area；Derive the sensitivity transmission function of the grid structure；Dynamic reactive compensation device SVC controller transfer function is obtained, the SVC will access the grid structure, and the transmission function includes control parameter；Open-loop transfer function is determined according to the sensitivity transmission function and the controller transfer function；The control parameter is adjusted according to the open-loop transfer function.The parameter that the present invention realizes to controller on the premise of the stability of a system is ensured is adjusted, and has important directive significance to the operation of systems organization and actual field.
Description
Technical field
The present invention is on technical field of electric power, especially with regard to the access device in power system, is concretely a kind of
Adjust the method and system that wind-powered electricity generation collects the parameter of regional dynamic reactive compensation device.
Background technology
This part is it is intended that the embodiments of the present invention stated in claims provide background or context.Herein
Description recognizes it is prior art not because not being included in this part.
In recent years, as the main force of new energy, the Wind Power Development impetus is swift and violent, environmentally friendly and sustainable by feat of its cleaning
Etc. advantage, in occupation of highly important status in the power industry general layout of countries in the world.At present, collect ground for large-scale wind power
The small interference stability sex chromosome mosaicism in area, more using traditional modal analysis method, i.e., the total system differential algebraic equations to linearisation are asked
Characteristic root is taken, stability is illustrated according to the distribution situation of characteristic root.Most SVC producers are all empirically to be worth to control it
Device parameter processed is adjusted.
The above-mentioned scheme adjusted using empirical method to the control parameter of dynamic reactive compensation device, due to new input
Controller parameter the situation for adjusting existing SVC controller in not consideration system, have ignored the coupling between many SVC controllers
Effect, thus there is the phenomenon for the abnormal vibration for triggering regional voltage after new SVC is difficult to put into or put into.
Develop in the wind-powered electricity generation impetus swift and violent today, large-scale wind power collects after the new reactive compensation controlling device of area input
The phenomenon for inducing vibration happens occasionally, and triggers the mechanism of vibration coupling many dynamic reactive compensation devices and to new throwing
The problem of tuning for entering Setup Controller parameter is urgently furtherd investigate, and traditional eigenvalue analysis method can not meet this demand.
The content of the invention
In view of this, the present invention provide it is a kind of adjust wind-powered electricity generation collect regional dynamic reactive compensation device parameter method with
And system, realize the parameter to controller on the premise of the stability of a system is ensured and adjust, to systems organization and reality
The operation at scene has important directive significance.
To achieve these goals, present invention offer is a kind of adjusts the parameter that wind-powered electricity generation collects regional dynamic reactive compensation device
Method, methods described includes：
Build the grid structure that wind-powered electricity generation collects area；
Derive the sensitivity transmission function of the grid structure；
Dynamic reactive compensation device SVC controller transfer function is obtained, the SVC will access the grid structure,
The transmission function includes control parameter；
Open-loop transfer function is determined according to the sensitivity transmission function and the controller transfer function；
The control parameter is adjusted according to the open-loop transfer function.
In a preferred embodiment of the invention, the control parameter includes proportional gain and storage gain.
In a preferred embodiment of the invention, deriving the sensitivity transmission function of the grid structure includes：
Model analysis is carried out to the power system for collecting area comprising the wind-powered electricity generation, abcd matrix is obtained；
Sensitivity transmission function is derived according to the abcd matrix.
In a preferred embodiment of the invention, adjusting the control parameter according to the open-loop transfer function includes：
Obtain the set of the control parameter set in advance；
Draw the nyquist plot of the corresponding open-loop transfer function of each control parameter；
Obtain the positive real part limit number of the open-loop transfer function set in advance；
The control parameter for causing closed-loop stabilization is filtered out according to positive the real part limit number and the nyquist plot,
Referred to as target component.
In a preferred embodiment of the invention, methods described also includes：
The set of the proportional gain, referred to as first set；
Set the set of the storage gain, referred to as second set；
The set of the control parameter is determined according to the first set and second set.
In a preferred embodiment of the invention, screened according to positive the real part limit number and the nyquist plot
Go out so that the control parameter of closed-loop stabilization includes：
Judge whether the nyquist plot passes through critical point, the coordinate of the critical point is (- 1, j0)；
When being judged as NO, determine that the nyquist plot surrounds the number of turns of the critical point counterclockwise；
When the number of turns is equal to the positive real part limit number, the corresponding control parameter of the nyquist plot is mesh
Mark parameter.
In a preferred embodiment of the invention, adjusting the control parameter according to the open-loop transfer function also includes：
Determine the intersection point of the corresponding nyquist plot of the target component and negative real axis；
Determine the distance between the intersection point and described critical point；
The target component is ranked up according to the size of the distance.
The parameter that wind-powered electricity generation collects regional dynamic reactive compensation device is adjusted it is an object of the invention to provide a kind of
System, the system includes：
Grid structure construction device, the grid structure in area is collected for building wind-powered electricity generation；
Sensitivity function derivation device, the sensitivity transmission function for deriving the grid structure；
Controller function acquisition device, the controller transfer function for obtaining dynamic reactive compensation device SVC is described
SVC will access the grid structure, and the transmission function includes control parameter；
Open loop function determining device, for according to the sensitivity transmission function and controller transfer function determination
Open-loop transfer function；
Control parameter setting device, for adjusting the control parameter according to the open-loop transfer function.
In a preferred embodiment of the invention, the control parameter includes proportional gain and storage gain.
In a preferred embodiment of the invention, the sensitivity function derivation device includes：
Model analysis module, for carrying out model analysis to the power system for collecting area comprising the wind-powered electricity generation, is obtained
Abcd matrix；
Equation acquisition module, is used for；
Function derivation module, for deriving sensitivity transmission function according to the abcd matrix.
In a preferred embodiment of the invention, the control parameter setting device includes：
Gather acquisition module, the set for obtaining the control parameter set in advance；
Drawing of Curve module, the nyquist plot for drawing the corresponding open-loop transfer function of each control parameter；
Limit number acquisition module, the positive real part limit number for obtaining the open-loop transfer function set in advance；
Choice of parameters module, for being filtered out according to positive the real part limit number and the nyquist plot so that closing
The stable control parameter of ring, referred to as target component.
In a preferred embodiment of the invention, the system also includes：
First setting device, the referred to as set for setting the proportional gain, first set；
Second setting device, the referred to as set for setting the storage gain, second set；
Set determines setting device, the collection for determining the control parameter according to the first set and second set
Close.
In a preferred embodiment of the invention, the choice of parameters module includes：
Judging unit, for judging whether the nyquist plot passes through critical point, the coordinate of the critical point for (-
1, j0)；
Number of turns determining unit, for when the judging unit is judged as NO, determining that the nyquist plot is counterclockwise
Surround the number of turns of the critical point；
Target component determining unit, for determining that the number of turns is equal to the nyquist plot of the positive real part limit number
Corresponding control parameter, i.e. target component.
In a preferred embodiment of the invention, the control parameter setting device also includes：
Intersection point determining module, the intersection point for determining the corresponding nyquist plot of the target component and negative real axis；
Apart from determining module, for determining the distance between the intersection point and described critical point；
Order module, is ranked up for the size according to the distance to the target component.
The beneficial effects of the present invention are adjust the parameter that wind-powered electricity generation collects regional dynamic reactive compensation device there is provided a kind of
Method and system, from the visual angle of new input control device, on theoretic meter and many dynamic reactive compensation devices between couple
Effect, the parameter to controller on the premise of the stability of a system is ensured is adjusted, to Power System Planning and actual field
Operation have important directive significance.
For the above and other objects, features and advantages of the present invention can be become apparent, preferred embodiment cited below particularly,
And coordinate institute's accompanying drawings, it is described in detail below.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 a kind of adjusts the side that wind-powered electricity generation collects the parameter of regional dynamic reactive compensation device to be provided in an embodiment of the present invention
The flow chart of the embodiment one of method；
Fig. 2 be Fig. 1 in step S102 particular flow sheet；
Fig. 3 be Fig. 1 in step S105 embodiment one particular flow sheet；
Fig. 4 a kind of adjusts the side that wind-powered electricity generation collects the parameter of regional dynamic reactive compensation device to be provided in an embodiment of the present invention
The flow chart of the embodiment two of method；
Fig. 5 be Fig. 3 in step S304 particular flow sheet；
Fig. 6 be Fig. 1 in step S105 embodiment two particular flow sheet；
Fig. 7 adjusts the system that wind-powered electricity generation collects the parameter of regional dynamic reactive compensation device to be provided in an embodiment of the present invention
The structured flowchart of embodiment one；
Fig. 8 for it is provided in an embodiment of the present invention it is a kind of adjust wind-powered electricity generation and collect the parameter of regional dynamic reactive compensation device be
The structured flowchart for medium sensitivity function derivation device of uniting；
Fig. 9 for it is provided in an embodiment of the present invention it is a kind of adjust wind-powered electricity generation and collect the parameter of regional dynamic reactive compensation device be
The structured flowchart of the embodiment one of control parameter setting device in system；
Figure 10 adjusts the system that wind-powered electricity generation collects the parameter of regional dynamic reactive compensation device to be provided in an embodiment of the present invention
Embodiment two structured flowchart；
Figure 11 a kind of adjusts the parameter that wind-powered electricity generation collects regional dynamic reactive compensation device to be provided in an embodiment of the present invention
The structured flowchart of system parameters screening module；
Figure 12 a kind of adjusts the parameter that wind-powered electricity generation collects regional dynamic reactive compensation device to be provided in an embodiment of the present invention
The structured flowchart of the embodiment two of control parameter setting device in system；
Certain wind-powered electricity generation collects the grid structure topological diagram in area in the specific embodiment that Figure 13 provides for the present invention；
Certain wind-powered electricity generation collects the closed loop block diagram of the grid structure in area in the specific embodiment that Figure 14 provides for the present invention；
K in the specific embodiment that Figure 15 provides for the present inventionIOpen-loop transfer function K (s) nyquist plot during change
Schematic diagram；
K in the specific embodiment that Figure 16 provides for the present inventionPOpen-loop transfer function K (s) nyquist plot during change
Schematic diagram；
Figure 17 is KISystem small signal stability time-domain-simulation schematic diagram when=14；
Figure 18 is KISystem small signal stability time-domain-simulation schematic diagram when=30.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Art technology technical staff knows, embodiments of the present invention can be implemented as a kind of system, device, equipment,
Method or computer program product.Therefore, the disclosure can be implemented as following form, i.e.,：It is complete hardware, complete soft
Part (including firmware, resident software, microcode etc.), or the form that hardware and software is combined.
Below with reference to the principle and spirit of some representative embodiments of the present invention, in detail the explaination present invention.
The present invention is directed in the prior art because adjusting for the controller parameter to newly putting into is existing in not consideration system
The situation of SVC controller, have ignored the coupling between many SVC controllers, thus there is new SVC and be difficult to put into or put into
Trigger the technical problem of the phenomenon of the abnormal vibration of regional voltage afterwards, it is proposed that one kind adjusts wind-powered electricity generation and collects regional dynamic reactive benefit
Repay the method and system of the parameter of device.
Fig. 1 for it is proposed by the present invention it is a kind of adjust wind-powered electricity generation collect regional dynamic reactive compensation device parameter method tool
Body flow chart, referring to Fig. 1, described method includes：
S101：Build and accessed one in the wind power plant in the grid structure that wind-powered electricity generation collects area, the grid structure
Or multiple dynamic reactive compensation device SVC, or SVC is not accessed in the grid structure, each SVC is correspondingly arranged on SVC controls
Device processed.The SVC controller has control parameter, and it includes proportional gain KPWith storage gain KI。
Step S101 can pass through power system electromagnetism electromechanical transient hybrid simulation program DIgSILENT (Digital
Simulation and Electrical Network)/Power Factory realize that DIgSILENT provides comprehensive
Power system component model library, includes detailed system element model such as transformer, SVC and external network etc..For convenience of use
Self-defined element Controlling model is set up at family, and the program additionally provides the emulational language DSL (DIgSILENT towards continuous process
Simulation Language) and towards programming language DPL (the DIgSILENT Programming of programmed process
Languge).Typical wind-powered electricity generation is built in DIgSILENT/Power Factory and collects regional systems network.
Certain wind-powered electricity generation collects the grid structure topological diagram in area in the specific embodiment that Figure 13 provides for the present invention, refers to figure
13, it is as shown in figure 13 that certain typical wind-powered electricity generation collects LAN topological diagram.X in figureSRepresent the strong and weak equivalent reactance of reflection system, XL
For the equivalent reactance of circuit between wind energy turbine set and collection bus；Wind power plant is X by 35/220kV reactanceTTransformer
220kV buses are imported, the dynamic reactive compensation device that three wind power plants are installed is TCR+FC types SVC, SVC to wind power plant high pressure
Side bus carries out constant voltage control.
In the grid structure that the specific wind-powered electricity generation shown in Figure 13 collects area, the wind power plant 1 in the grid structure, wind-powered electricity generation
SVC has been accessed in field 2, and a SVC will be newly put into wind power plant 3.
S102：Derive the sensitivity transmission function of the grid structure.In a particular embodiment, sensitivity is transmitted
Function is represented by H (s).Fig. 2 is step S102 particular flow sheet, and how it derives sensitivity transmission letter if being described in detail
Number.
S103：Dynamic reactive compensation device SVC controller transfer function is obtained, the SVC will access the rack
Structure, the controller transfer function includes control parameter.Referred herein to SVC be that will newly put into wind power plant
SVC, is the SVC that will newly be put into wind power plant 3 by taking Figure 13 as an example.The SVC of new input controller transfer function can be straight
Obtain and get, controller transfer function is represented by G (s), that includes SVC control parameter, specially proportional gain KP
With storage gain KI。
Certain wind-powered electricity generation collects the closed loop block diagram of the grid structure in area in the specific embodiment that Figure 14 provides for the present invention, please join
Figure 14 is read, it is corresponding with Figure 13, the block diagram of the overall closed loop feedback structure of description system, KP,KIRespectively wind power plant 3 is waited to put into
The proportional gain of SVC controller and storage gain, wherein, KP,KIProportional gain, the storage gain of controller are represented respectively.Figure 14
In controller transfer functionWherein, s is the physical quantity with frequency dependence,
SbaseFor SVC reference capacity.
S104：Open-loop transfer function is determined according to the sensitivity transmission function and the controller transfer function.
In specific embodiment, open-loop transfer function is represented by K (s), K (s)=H (s) × G (s).
S105：The control parameter is adjusted according to the open-loop transfer function.
Fig. 2 be Fig. 1 in step S102 particular flow sheet, referring to Fig. 2, step S102 is specifically included：
S201：Model analysis is carried out to the power system for collecting area comprising the wind-powered electricity generation, abcd matrix is obtained, in the step
In rapid, the small interference under RMS (Root Means Square) can be carried out using model analysis function powerful DIgSILENT
Stability Calculation, obtains corresponding eigenmatrix ABCD.
It can generally be expressed as following form after the differential algebraic equations of description power system dynamic step response are linearized：
Wherein, Δ X is the state variable of system, and Δ Y is output variable.
S202：Sensitivity transmission function is derived according to the abcd matrix.
In the present invention, it is introduced into control theory and particular variables is carried out with the derivation method of open-loop transfer function, based on small
Typical differential algebraic equations formal grammar goes out sensitivity transfer function H (s)=Δ u/ of reflection system response in interference analysis
Δ bsvs, wherein Δ u are controlled high voltage bus voltage by SVC to be put into, and Δ bsvs is the output electricity of SVC voltage regulators to be put into
Receive.
By formula (1), we are particular variables Δ bsvs of concern, and Δ u is respectively the variable in Δ X and Δ Y.In order to from
The relation between Δ bsvs and Δ u is obtained in column vector, single disturbance Δ bsvs is added in the algebraic equation of formula (1), such as
Shown in formula (2).
Wherein, the column vector that d is correspondence variable Δ bsvs in C.Carry out Laplace transformation to the differential equation and arrange to obtain public
Formula (3).
Δ Y=[- C (sE-A)-1B+D]-1D Δ bsvs=H (s) Δs bsvs (3)
It is that can obtain H (s)=[- C (sE-A) by formula (3)-1B+D]-1d。
It is i-th of variable in Δ Y that Δ u, which might as well be assumed).Take H (s) the i-th row Hi(s) it is that can obtain Δ u and Δ bsvs
Between transmission function, i.e.,
Δ u=Hi(s)Δbsvs (4)
Based on Figure 14, closed loop is untied at voltage comparison point, system will be reflected (comprising wind power plant 1 and wind power plant 2
SVC) transfer function H (s) of response is multiplied with the transmission function G (s) of new SVC3 controllers, obtains open-loop transfer function K (s),
As shown in Equation 5.
Fig. 4 a kind of adjusts the side that wind-powered electricity generation collects the parameter of regional dynamic reactive compensation device to be provided in an embodiment of the present invention
The flow chart of the embodiment two of method, as shown in Figure 4, the present invention also include in embodiment two：
S401：Set the set of the proportional gain, referred to as first set；
S402：Set the set of the storage gain, referred to as second set；
S403：The set of the control parameter is determined according to the first set and second set.
In a particular embodiment, the proportional gain in first set can keep constant, and storage gain value is different,
Storage gain that can also be in second set keeps constant, and proportional gain value is different, can be with proportional gain and storage gain
Value is different simultaneously.Then include proportional gain and the combination of storage gain in the set of control parameter.
S404 to S408 is identical with the step S101 to S105 in embodiment one, and here is omitted.
Fig. 3 be Fig. 1 in step S105 embodiment one particular flow sheet, referring to Fig. 3, the step is specifically wrapped
Include：
S301：Obtain the set of the control parameter set in advance.Proportional gain in the set can be kept not
Become, storage gain value is different, can also storage gain keep constant, proportional gain value is different, can with proportional gain with
Value is different simultaneously for storage gain.
S302：Draw the nyquist plot of the corresponding open-loop transfer function of each control parameter.
In specific mode, SVC controller parameter K can just can obtain with Matlab programmings frequency sweepIAnd KPValue is different
In the case of, reflect the open-loop transfer function K (s) of system closed-loop stabilization characteristic width phase-frequency characteristic curve, i.e. Nyquist
(Nyquist) curve.Figure 15 is K in specific embodimentIOpen-loop transfer function K (s) nyquist plot schematic diagram during change,
Figure 16 is K in specific embodimentPOpen-loop transfer function K (s) nyquist plot schematic diagram during change.
S303：Obtain the positive real part limit number P of the open-loop transfer function set in advance；
S304：The control for causing closed-loop stabilization is filtered out according to positive the real part limit number and the nyquist plot
Parameter, referred to as target component.Can be to the whole closed-loop control system of formation, i.e. embodiment illustrated in fig. 13 using Nai Shi criterions
In the stability of systems comprising three wind power plants of input SVC controller judged.Steady method is sentenced based on Nyquist,
Current stabilization journey is specifically sentenced to closed-loop control system as follows：
Fig. 5 is step S304 particular flow sheet, referring to Fig. 5, the step includes：
S501：Judge whether the nyquist plot passes through critical point, the coordinate of the critical point is (- 1, j0)；
S502：When being judged as NO, determine that the nyquist plot surrounds the number of turns R of the critical point counterclockwise；
S503：When the number of turns is equal to the positive real part limit number, the corresponding control parameter of the nyquist plot
As target component.If R=P, closed-loop system is stable；Otherwise, closed-loop system is then unstable.
Fig. 6 is the particular flow sheet of step S105 embodiment two, referring to Fig. 6, in embodiment two, step
S301 to S304 is identical with the step S601 to S604 in embodiment two, and here is omitted, and the step also includes：
S605：Determine the intersection point of the corresponding nyquist plot of the target component and negative real axis；
S606：Determine the distance between the intersection point and described critical point；
S607：The target component is ranked up according to the size of the distance.
The size of distance represents the size of the stability margin of the corresponding nyquist plot of current target parameter, so may be used
According to the parameter of the different dynamic reactive compensation device of the different choice of stability margin.
From above-mentioned steps, the SVC parameters newly put into can be adjusted according to closed-loop system stability.Known
New wind power plant is set up under system grid structure, when need to put into SVC controller operation, methods herein can be used：Utilize meter
Calculation machine software DIgSILENT/PowerFactory model analyses function and the means of Matlab programmings obtain the response of reflection system
Feedback H (s), it is multiplied with the transmission function G (s) of new SVC controller, open-loop transfer function K (s) is obtained；Draw K (s)
Width phase-frequency characteristic curve be Nyquist (Nyquist) curve, utilize Nyquist criterion observation open-loop transfer function width phase
The situation of frequency curve, judges the stability of system closed-loop control.If closed-loop control system is unstable, by constantly changing SVC
Controller parameter, that is, change the ginseng of SVC controller under conditions of system holding is stable when G (s) meets new input SVC to find
Number.
It should be noted that although the operation of the inventive method is described with particular order in the accompanying drawings, this is not required that
Or imply that these must be performed according to the particular order operates, or the operation having to carry out shown in whole could realize the phase
The result of prestige.Additionally or alternatively, it is convenient to omit some steps, multiple steps are merged into a step execution, and/or will
One step is decomposed into execution of multiple steps.
After the method for exemplary embodiment of the invention is described, next, refer to the attached drawing is exemplary to the present invention
The system of embodiment is introduced.The implementation of the device may refer to the implementation of the above method, repeats part and repeats no more.With
Term " module " and " unit ", can be the software and/or hardware for realizing predetermined function used in lower.Although following examples
Described module is preferably realized with software, but hardware, or the combination of software and hardware realization be also may be simultaneously
It is contemplated.
Fig. 7 adjusts the system that wind-powered electricity generation collects the parameter of regional dynamic reactive compensation device to be provided in an embodiment of the present invention
The structured flowchart of embodiment one, referring to Fig. 7, the system includes：
Grid structure construction device 101, the wind in the grid structure in area, the grid structure is collected for building wind-powered electricity generation
One or more dynamic reactive compensation device SVC have been accessed in electric field, or SVC is not accessed in the grid structure, each
SVC is correspondingly arranged on SVC controller.The SVC controller has control parameter, and it includes proportional gain KPWith storage gain KI。
Grid structure construction device 101 can pass through power system electromagnetism electromechanical transient hybrid simulation program DIgSILENT
(Digital Simulation and Electrical Network)/Power Factory realize that DIgSILENT is provided
Comprehensive power system component model library, includes detailed system element model such as transformer, SVC and external network etc..
Self-defined element Controlling model is set up for the convenience of the user, and the program additionally provides the emulational language DSL towards continuous process
(DIgSILENT Simulation Language) and the programming language DPL (DIgSILENT towards programmed process
Programming Languge).Typical wind-powered electricity generation is built in DIgSILENT/Power Factory and collects regional systems network.
Certain wind-powered electricity generation collects the grid structure topological diagram in area in the specific embodiment that Figure 13 provides for the present invention, refers to figure
13, it is as shown in figure 13 that certain typical wind-powered electricity generation collects LAN topological diagram.X in figureSRepresent the strong and weak equivalent reactance of reflection system, XL
For the equivalent reactance of circuit between wind energy turbine set and collection bus；Wind power plant is X by 35/220kV reactanceTTransformer
220kV buses are imported, the dynamic reactive compensation device that three wind power plants are installed is TCR+FC types SVC, SVC to wind power plant high pressure
Side bus carries out constant voltage control.
In the grid structure that the specific wind-powered electricity generation shown in Figure 13 collects area, the wind power plant 1 in the grid structure, wind-powered electricity generation
SVC has been accessed in field 2, and a SVC will be newly put into wind power plant 3.
Sensitivity function derivation device 102, the sensitivity transmission function for deriving the grid structure.Specific
In embodiment, sensitivity transmission function is represented by H (s).Fig. 8 is the structured flowchart of sensitivity function derivation device 102,
How it derives sensitivity transmission function if being described in detail.
Controller function acquisition device 103, the controller transfer function for obtaining dynamic reactive compensation device SVC, institute
The grid structure will be accessed by stating SVC, and the controller transfer function includes control parameter.Referred herein to SVC be
It is the SVC that will newly be put into wind power plant 3 by taking Figure 13 as an example by the SVC newly put into wind power plant.The SVC of the new input
Controller transfer function can be directly obtained, controller transfer function is represented by G (s), that includes SVC control ginseng
Number, specially proportional gain KPWith storage gain KI。
Certain wind-powered electricity generation collects the closed loop block diagram of the grid structure in area in the specific embodiment that Figure 14 provides for the present invention, please join
Figure 14 is read, it is corresponding with Figure 13, the block diagram of the overall closed loop feedback structure of description system, KP,KIRespectively wind power plant 3 is waited to put into
The proportional gain of SVC controller and storage gain, wherein, KP,KIProportional gain, the storage gain of controller are represented respectively.Figure 14
In controller transfer function
Open loop function determining device 104, for according to the sensitivity transmission function and the controller transfer function
Determine open-loop transfer function.In a particular embodiment, open-loop transfer function is represented by K (s), K (s)=H (s) × G
(s)。
Control parameter setting device 105, for adjusting the control parameter according to the open-loop transfer function.
Fig. 8 for it is provided in an embodiment of the present invention it is a kind of adjust wind-powered electricity generation and collect the parameter of regional dynamic reactive compensation device be
The structured flowchart for medium sensitivity function derivation device of uniting, referring to Fig. 8, sensitivity function derivation device 102 is specifically included：
Model analysis module 201, for carrying out model analysis to the power system for collecting area comprising the wind-powered electricity generation, is obtained
Abcd matrix, in this step, RMS (Root Means can be carried out using model analysis function powerful DIgSILENT
Square the small interference stability under) is calculated, and obtains corresponding eigenmatrix ABCD.
Function derivation module 202, for deriving sensitivity transfer function H (s)=[- C (sE- according to the abcd matrix
A)-1B+D]-1d。
Figure 10 adjusts the system that wind-powered electricity generation collects the parameter of regional dynamic reactive compensation device to be provided in an embodiment of the present invention
Embodiment two structured flowchart, as shown in Figure 10, the present invention also include in embodiment two：
First setting device 106, the referred to as set for setting the proportional gain, first set；
Second setting device 107, the referred to as set for setting the storage gain, second set；
Set determines setting device 108, for determining the control parameter according to the first set and second set
Set.
In a particular embodiment, the proportional gain in first set can keep constant, and storage gain value is different,
Storage gain that can also be in second set keeps constant, and proportional gain value is different, can be with proportional gain and storage gain
Value is different simultaneously.
Fig. 9 for it is provided in an embodiment of the present invention it is a kind of adjust wind-powered electricity generation and collect the parameter of regional dynamic reactive compensation device be
The structured flowchart of the embodiment one of control parameter setting device in system, referring to Fig. 9, control parameter setting device 105 is specific
Including：
Gather acquisition module 301, the set for obtaining the control parameter set in advance.Ratio in the set
Gain can keep constant, and storage gain value is different, can also storage gain keep constant, proportional gain value is different, also
Can value be different simultaneously with proportional gain and storage gain.
Drawing of Curve module 302, the nyquist plot for drawing the corresponding open-loop transfer function of each control parameter.
In specific mode, SVC controller parameter K can just can obtain with Matlab programmings frequency sweepIAnd KPValue is different
In the case of, reflect the open-loop transfer function K (s) of system closed-loop stabilization characteristic width phase-frequency characteristic curve, i.e. Nyquist
(Nyquist) curve.Figure 15 is K in specific embodimentIOpen-loop transfer function K (s) nyquist plot schematic diagram during change,
Figure 16 is K in specific embodimentPOpen-loop transfer function K (s) nyquist plot schematic diagram during change.
Limit number acquisition module 303, the positive real part limit number P for obtaining the open-loop transfer function set in advance；
Choice of parameters module 304, for being sent as an envoy to according to positive real part limit number and the nyquist plot screening
Obtain the control parameter of closed-loop stabilization, referred to as target component.Using Nai Shi criterions can to the whole closed-loop control system of formation,
Stability comprising three systems of the wind power plant of input SVC controller i.e. in embodiment illustrated in fig. 13 is judged.
Figure 11 a kind of adjusts the parameter that wind-powered electricity generation collects regional dynamic reactive compensation device to be provided in an embodiment of the present invention
The structured flowchart of system parameters screening module, refers to Figure 11, and the choice of parameters module 304 includes：
Judging unit 401, for judging whether the nyquist plot passes through critical point, the coordinate of the critical point is
(- 1, j0)；
Number of turns determining unit 402, for when being judged as NO, determining that the nyquist plot faces described in surrounding counterclockwise
The number of turns R of boundary's point；
Target component determining unit 403, for when the number of turns be equal to the positive real part limit number when, the Nyquist
The corresponding control parameter of curve is target component.If R=P, closed-loop system is stable；Otherwise, closed-loop system is then not
Stable.
Figure 12 a kind of adjusts the parameter that wind-powered electricity generation collects regional dynamic reactive compensation device to be provided in an embodiment of the present invention
The structured flowchart of the embodiment two of control parameter setting device in system, referring to Fig. 6, in embodiment two, the control
Parameter tuning device 105 also includes：
Intersection point determining module 305, the intersection point for determining the corresponding nyquist plot of the target component and negative real axis；
Apart from determining module 306, for determining the distance between the intersection point and described critical point；
Order module 307, is ranked up for the size according to the distance to the target component.
The size of distance represents the size of the stability margin of the corresponding nyquist plot of current target parameter, so may be used
According to the parameter of the different dynamic reactive compensation device of the different choice of stability margin.
Although in addition, be referred to some unit modules of system in above-detailed, this division is only simultaneously
Non-imposed.In fact, according to the embodiment of the present invention, the feature and function of two or more above-described units can
To embody in a unit.Equally, the feature and function of an above-described unit can also be further divided into by
Multiple units embody.
Specific examples below is collected in the wind power plant 1 put into the grid structure in area, wind power plant 2 with wind-powered electricity generation
Accessing will access exemplified by a SVC in SVC, wind power plant 3, illustrate to collect regional dynamic reactive using the wind-powered electricity generation of adjusting of the present invention
How the system of the parameter of compensation device is realized.
The wind-powered electricity generation that feature based matrix proposed by the invention derives transmission function collects regional dynamic reactive compensation device
The scheme of parameter tuning, using small interference analytic approach as theoretical foundation, is introduced into control theory and carries out open loop transmission to particular variables
The method that function is derived, throws with reference to the means that DIgSILENT/PowerFactory model analyses function and Matlab are programmed from new
The visual angle for entering controller is analyzed by the stability of whole system.
Certain wind-powered electricity generation collects the grid structure topological diagram in area in the specific embodiment that Figure 13 provides for the present invention, and Figure 14 is this
Invent the closed loop block diagram that certain wind-powered electricity generation in the specific embodiment provided collects the grid structure in area.In this specific embodiment, XS
Represent the strong and weak equivalent reactance of reflection system, XLFor the equivalent reactance of circuit between wind energy turbine set and collection bus；Wind-powered electricity generation
Field is X by 35/220kV reactanceTTransformer import 220kV buses；The dynamic reactive compensation device that three wind power plants are installed
It is that TCR+FC types SVC, SVC carry out wind power plant high-voltage side bus constant voltage control.
Power system electromagnetism electromechanical transient hybrid simulation program DIgSILENT (Digital Simulation and
Electrical Network)/Power Factory provide comprehensive power system component model library, include detailed
System element model such as transformer, SVC and external network etc..Self-defined element Controlling model, the program are set up for the convenience of the user
Additionally provide towards the emulational language DSL (DIgSILENT Simulation Language) of continuous process and towards sequencing
The programming language DPL (DIgSILENT Programming Languge) of process.Based on the topological model shown in Figure 13,
Typical case is built in DIgSILENT (Digital Simulation and Electrical Network)/Power Factory
Wind-powered electricity generation collects regional grid structure.It can be carried out under RMS (Root Means Square) using its powerful model analysis function
Small interference stability calculate, obtain corresponding eigenmatrix ABCD.It is corresponding with Figure 13, the overall closed loop feedback structure of description system
Block diagram is as shown in figure 14, KP,KIThe respectively proportional gain of the SVC controller to be put into of wind power plant 3 and storage gain.
SVC controller parameter K is just can obtain with Matlab programmings frequency sweepIAnd KPIn the case that value is different, reflect system
The open-loop transfer function K (s) of closed-loop stabilization characteristic width phase-frequency characteristic curve, i.e. Nyquist (Nyquist) curve, such as Figure 15
And shown in Figure 16.Using Nai Shi criterions SVC controller can be put into comprising three to the whole closed-loop control system of formation
The stability of system of wind power plant judged.
For the system, on the premise of the positive real part limit number of open-loop transfer function is zero, work as KIIncrease to 20 by 10
When, the number of turns that Nyquist curves surround critical point (- 1, j0) counterclockwise is 0, therefore closed-loop control system is stable, and
With KIChange it is big, stability margin reduces.Particularly, K is worked asIWhen increasing to 30, semi-closed curve is passed through (- 1, j0) from bottom to top
A bit on real axis is born in point left side, and now closed-loop system is unstable.
Similarly, can be to different K according to identical analytical mathematicsPInfluence of the value to the closed-loop control stability of system is entered
Row analysis.As can be known from Fig. 16, with KPFrom -0.05 into 0.15 change procedure, corresponding Nyquist curves are gradually to moving to left
It is dynamic, and with real axis intersection point by [- 1,0] section across point (- 1, j0) to (- ∞, -1] section moves, it is seen that system closed-loop control by
It is stable to be transitioned into unstable state.
The wind-powered electricity generation that the feature based matrix that the present invention is mentioned derives transmission function collects regional dynamic reactive compensation device ginseng
The scheme that number is adjusted, the small signal stability of system is embodied well after being put into new SVC.What table 1 was presented is when three
In the case that individual wind power plant puts into SVC controls, with SVC controller parameter KIThe difference of setting, through DIgSILENT mode point
Analyse the situation of obtained individual features root.Characteristic root with Oscillatory mode shape is with KIIncrease gradually move right, work as increase
During to 30, RHP characteristic root is occurred in that, i.e., now system is that small interference is unstable, and this is analyzed with nyquist plot
The result arrived is consistent.In addition, taking K respectivelyI=14, KI=30 two kinds of situations, have carried out the time domain of system small signal stability
Emulation, as shown in Figure 17, Figure 18.The result of time-domain-simulation has equally confirmed the correctness of this method.
Table 1
| KI | Oscillatory mode shape |
| 10 | -7.170±j147.176 |
| 12 | -6.136±j148.444 |
| 14 | -5.124±j149.690 |
| 16 | -4.134±j150.916 |
| 20 | -2.215±j153.310 |
| 30 | 2.262±j158.989 |
In summary, this feature based matrix that the application is proposed derives transmission function and collects ground so as to analyze wind-powered electricity generation
The method of many SVC couplings in area has important directive significance to power system physical planning, operation.From systems organization aspect
See, new wind power plant is set up under the known system grid structure planned, when need to put into SVC controller operation, can use
Scheme obtains the feedback of reflection system response, and then by changing SVC controller parameter to be put into, how is observation open-loop transfer function
The situation of change of Qwest's curve, you can realize to adjust the parameter of SVC controller makes it meet system when putting into reach
The condition for stabilization of uniting.When needing to put into new SVC controller, device debugging personnel can carry out the experiment of frequency sweep at the scene,
The Δ bsvs disturbances changed with frequency are added, the response Δ u of high voltage bus is observed, the sensitivity for obtaining the response of reflection system is passed
Delivery function, the method for trying to gather by parameter is adjusted to SVC controller, so that it is new to avoid large-scale wind power from collecting area input
Reactive compensation controlling device after induce vibration phenomenon occur.
For the improvement of a technology, can clearly to distinguish be improvement on hardware (for example, to diode, crystal
Pipe, switch etc. circuit structure improvement) or software on improvement (for the improvement of method flow).However, with technology
Development, the improvement of current many method flows can be considered as directly improving for hardware circuit.Designer is almost
All corresponding hardware circuit is obtained by the way that improved method flow is programmed into hardware circuit.Therefore, it cannot be said that one
The improvement of individual method flow cannot be realized with hardware entities module.For example, PLD (Programmable
Logic Device, PLD) (such as field programmable gate array (Field Programmable Gate Array, FPGA)) just
It is such a integrated circuit, its logic function is determined by user to device programming.By designer is voluntarily programmed Lai one
Individual digital display circuit " integrated " is on a piece of PLD, without asking chip maker to design and make special integrated circuit
Chip 2.Moreover, nowadays, substitution manually makes IC chip, and " logic compiler is also used in this programming instead mostly
(logic compiler) " softwares realize that software compiler used is similar when it writes with program development, and to compile
Also handy specific programming language is write for source code before, and this is referred to as hardware description language (Hardware
Description Language, HDL), and HDL is also not only a kind of, but have many kinds, such as ABEL (Advanced
Boolean Expression Language)、AHDL(Altera Hardware Description Language)、
Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java
Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware
Description Language) etc., VHDL (Very-High-Speed Integrated are most generally used at present
Circuit Hardware Description Language) and Verilog2.Those skilled in the art also will be apparent to the skilled artisan that only
Need method flow slightly programming in logic and being programmed into integrated circuit with above-mentioned several hardware description languages, it is possible to hold very much
The hardware circuit of the easy accomplished logical method flow.
Controller can be implemented in any suitable manner, for example, controller can take such as microprocessor or processing
Device and storage can by the computer of the computer readable program code (such as software or firmware) of (micro-) computing device
Read medium, gate, switch, application specific integrated circuit (Application Specific Integrated Circuit,
ASIC), the form of programmable logic controller (PLC) and embedded microcontroller, the example of controller includes but is not limited to following microcontroller
Device：ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, are deposited
Memory controller is also implemented as a part for the control logic of memory.
It is also known in the art that in addition to realizing controller in pure computer readable program code mode, it is complete
Controller can be caused with gate, switch, application specific integrated circuit, programmable by the way that method and step is carried out into programming in logic entirely
Logic controller realizes identical function with the form of embedded microcontroller etc..Therefore this controller is considered one kind
Hardware component, and the structure in hardware component can also be considered as to the device for realizing various functions included in it.Or
Even, it not only can be able to will be the software module of implementation method for realizing that the device of various functions is considered as but also can be Hardware Subdivision
Structure in part.
System, device, module or unit that above-described embodiment is illustrated, can specifically be realized by computer chip or entity,
Or realized by the product with certain function.
For convenience of description, it is divided into various units during description apparatus above with function to describe respectively.Certainly, this is being implemented
The function of each unit can be realized in same or multiple softwares and/or hardware during application.
As seen through the above description of the embodiments, those skilled in the art can be understood that the application can
Realized by the mode of software plus required general hardware platform.Understood based on such, the technical scheme essence of the application
On the part that is contributed in other words to prior art can be embodied in the form of software product, the computer software product
It can be stored in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are to cause a computer equipment
(can be personal computer, server, or network equipment etc.) performs some of each embodiment of the application or embodiment
Method described in part.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.It is real especially for system
Apply for example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
The application can be used in numerous general or special purpose computing system environments or configuration.For example：Personal computer, clothes
Business device computer, handheld device or portable set, laptop device, multicomputer system, the system based on microprocessor, put
Top box, programmable consumer-elcetronics devices, network PC, minicom, mainframe computer including any of the above system or equipment
DCE etc..
The application can be described in the general context of computer executable instructions, such as program
Module.Usually, program module includes performing particular task or realizes routine, program, object, the group of particular abstract data type
Part, data structure etc..The application can also be put into practice in a distributed computing environment, in these DCEs, by
Remote processing devices connected by communication network perform task.In a distributed computing environment, program module can be with
Positioned at including in the local and remote computer-readable storage medium including storage device.
Although depicting the application by embodiment, it will be appreciated by the skilled addressee that the application have it is many deformation and
Change is without departing from spirit herein, it is desirable to which appended claim includes these deformations and changed without departing from the application's
Spirit.
Claims (14)
1. a kind of adjust the method that wind-powered electricity generation collects the parameter of regional dynamic reactive compensation device, it is characterized in that, methods described includes：
Build the grid structure that wind-powered electricity generation collects area；
Derive the sensitivity transmission function of the grid structure；
Dynamic reactive compensation device SVC controller transfer function is obtained, the SVC will access the grid structure, described
Controller transfer function includes control parameter；
Open-loop transfer function is determined according to the sensitivity transmission function and the controller transfer function；
The control parameter is adjusted according to the open-loop transfer function.
2. according to the method described in claim 1, it is characterized in that, the control parameter include proportional gain and storage gain.
3. method according to claim 2, it is characterized in that, derive the sensitivity transmission function bag of the grid structure
Include：
Model analysis is carried out to the power system for collecting area comprising the wind-powered electricity generation, abcd matrix is obtained；
Sensitivity transmission function is derived according to the abcd matrix.
4. according to the method in claim 2 or 3, it is characterized in that, according to the open-loop transfer function adjust it is described control join
Number includes：
Obtain the set of the control parameter set in advance；
Draw the nyquist plot of the corresponding open-loop transfer function of each control parameter；
Obtain the positive real part limit number of the open-loop transfer function set in advance；
The control parameter for causing closed-loop stabilization is filtered out according to positive the real part limit number and the nyquist plot, is referred to as
For target component.
5. method according to claim 4, it is characterized in that, methods described also includes：
Set the set of the proportional gain, referred to as first set；
Set the set of the storage gain, referred to as second set；
The set of the control parameter is determined according to the first set and second set.
6. method according to claim 4, it is characterized in that, it is bent according to positive the real part limit number and the Nyquist
Line is filtered out so that the control parameter of closed-loop stabilization includes：
Judge whether the nyquist plot passes through critical point, the coordinate of the critical point is (- 1, j0)；
When being judged as NO, determine that the nyquist plot surrounds the number of turns of the critical point counterclockwise；
When the number of turns is equal to the positive real part limit number, the corresponding control parameter of the nyquist plot is target ginseng
Number.
7. method according to claim 6, it is characterized in that, the control parameter is adjusted also according to the open-loop transfer function
Including：
Determine the intersection point of the corresponding nyquist plot of the target component and negative real axis；
Determine the distance between the intersection point and described critical point；
The target component is ranked up according to the size of the distance.
8. a kind of adjust the system that wind-powered electricity generation collects the parameter of regional dynamic reactive compensation device, it is characterized in that, the system includes：
Grid structure construction device, the grid structure in area is collected for building wind-powered electricity generation；
Sensitivity function derivation device, the sensitivity transmission function for deriving the grid structure；
Controller function acquisition device, the controller transfer function for obtaining dynamic reactive compensation device SVC, the SVC will
The grid structure is accessed, the transmission function includes control parameter；
Open loop function determining device, for determining open loop according to the sensitivity transmission function and the controller transfer function
Transmission function；
Control parameter setting device, for adjusting the control parameter according to the open-loop transfer function.
9. system according to claim 8, it is characterized in that, the control parameter includes proportional gain and storage gain.
10. system according to claim 9, it is characterized in that, the sensitivity function derivation device includes：
Model analysis module, for carrying out model analysis to the power system for collecting area comprising the wind-powered electricity generation, obtains ABCD squares
Battle array；
Function derivation module, for deriving sensitivity transmission function according to the abcd matrix.
11. system according to claim 9, it is characterized in that, the control parameter setting device includes：
Gather acquisition module, the set for obtaining the control parameter set in advance；
Drawing of Curve module, the nyquist plot for drawing the corresponding open-loop transfer function of each control parameter；
Limit number acquisition module, the positive real part limit number for obtaining the open-loop transfer function set in advance；
Choice of parameters module, for according to the positive real part limit number and the nyquist plot is filtered out so that closed loop is steady
Fixed control parameter, referred to as target component.
12. system according to claim 11, it is characterized in that, the system also includes：
First setting device, the referred to as set for setting the proportional gain, first set；
Second setting device, the referred to as set for setting the storage gain, second set；
Set determines setting device, the set for determining the control parameter according to the first set and second set.
13. system according to claim 11, it is characterized in that, the choice of parameters module includes：
Judging unit, for judging whether the nyquist plot passes through critical point, the coordinate of the critical point for (- 1,
j0)；
Number of turns determining unit, for when the judging unit is judged as NO, determining that the nyquist plot is surrounded counterclockwise
The number of turns of the critical point；
Target component determining unit, for determining that the number of turns is equal to the nyquist plot correspondence of the positive real part limit number
Control parameter, i.e. target component.
14. system according to claim 13, it is characterized in that, the control parameter setting device also includes：
Intersection point determining module, the intersection point for determining the corresponding nyquist plot of the target component and negative real axis；
Apart from determining module, for determining the distance between the intersection point and described critical point；
Order module, is ranked up for the size according to the distance to the target component.
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| CN104912944A (en) * | 2015-06-05 | 2015-09-16 | 浙江翔宇密封件有限公司 | Automobile bearing with double sealing structure |
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