CN107069697A - Power system transient stability based on track characteristic root judges and disturbance type screening technique - Google Patents
Power system transient stability based on track characteristic root judges and disturbance type screening technique Download PDFInfo
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Abstract
The present invention provides a kind of power system transient stability based on track characteristic root and judged and disturbance type screening technique, study the state equation in the case of unstable state, and the Linearization Method of generator, speed regulator, excitation system, network equation and load at non-equilibrium point.The higher order linearization model of system is set up, the continuous solving of the characteristic root in the case of unstable state is realized, track characteristic root curve is obtained, track characteristic root curvilinear characteristic is analyzed.By studying the system multidate information that track characteristic root under load disturbance and three phase short circuit fault is contained, whether do not limited by characteristic value real part more than zero, excavate potential rule, the mapping relations of power system transient stability, disturbance type and track characteristic root are set up, so as to realize that fast and accurately power system transient stability judges and disturbance type screening.By the sample calculation analysis of the node of WSCC3 machines 9, the conclusion that the inventive method is obtained power-angle curve relative with generator matches, the feasibility of this checking the inventive method.
Description
Technical field
The present invention relates to power engineering field, and in particular to a kind of power system transient stability based on track characteristic root judge and
Disturb type screening technique.
Background technology
Transient stability analysis of power system is always the focus of power engineering field research.With power system day increasingly
Exhibition, the dynamic characteristic of system is more complicated, embodies stronger non-linear and uncertainty, reflects system with equalization point characteristic root
Oscillating characteristic is more and more difficult.
In the Perturbation Analysis of power system, the state square that linearization process obtains system is carried out generally at equalization point
Battle array, analyzes the characteristic value of the state matrix to judge the small disturbance stability characteristic of system.But the continuous solving of characteristic root is by electric power
Influence in the case of system unstable state is very big, it is single carried out with linearization technique processing can not reach well support effect.
After system is by major break down, operating point deviates system balancing point.During equalization point is deviateed, it is contemplated that be
The strong nonlinearity feature of system, linearization technique is not used typically and is handled, system mode can only be asked for by numerical integration
The track of amount.Specifically include following two methods：
Track cut surface character root method, in the starting point of each integration step, by virtual condition again by model linearization, by original
The system converting linear system for time-varying, the characteristic root of section part is calculated according to the state matrix at the moment.This method will be balanced
Point feature root analyzes the cross sections for expanding to the disturbed track of large disturbances.But, system now is on non-equilibrium point, uneven
Weighing apparatus power is not zero, and the dynamic behaviour of system is no longer individually determined by characteristic root, it is necessary to the influence of meter and imbalance power.Rail
Mark cut surface character root method have ignored the influence of imbalance power, it is impossible to definitely reflect non-linear and time-varying factor to frequency of oscillation
Influence.
Step by step integration, the parameter such as the rotating speed of generator, angle, power passes through failure as initial value using after failure removal
Admittance matrix iteratively faster after excision calculates generator's power and angle, computationally intensive, is unfavorable for quickly judging the stability of a system.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to which it is steady to provide a kind of system transient modelling based on track characteristic root
It is fixed to judge and disturbance type screening technique, power system transient stability judgement that should be based on track characteristic root and disturbance type screening technique
It can solve the above problems well.
To reach above-mentioned requirements, the present invention is adopted the technical scheme that：There is provided a kind of system based on track characteristic root temporary
State stabilization judgment method, is somebody's turn to do the power system transient stability determination methods based on track characteristic root and comprises the following steps：
S1, linearization process is carried out at non-equilibrium point to generator, speed regulator, excitation system, network equation and load,
Set up the higher order linearization model of system；
S2, according to higher order linearization model, carry out the solution of track characteristic root in the case of unstable state；
S3, according to track characteristic root emulation obtain track characteristic root curve；
S4, the fluctuation track according to track characteristic root curve, set up the mapping of power system transient stability and track characteristic root
Relation；
S5, according to mapping relations judge power system transient stability.
There is provided a kind of disturbance type screening technique based on track characteristic root, it is characterised in that comprise the following steps：
S1, using inverse Laplace transformation method to generator, speed regulator, excitation system, network equation and load non-
Linearization process is carried out at equalization point, the higher order linearization model of system is set up；
S2, according to higher order linearization model, carry out the solution of track characteristic root in the case of unstable state；
S3, according to track characteristic root emulation obtain track characteristic root curve；
S4, the variance according to track characteristic root curve, set up disturbance type and the mapping relations of track characteristic root；
S5, the type disturbed according to mapping relations identifying system.
It is as follows that the power system transient stability based on track characteristic root judges and disturbed that type screening technique has the advantage that：
(1) the higher order linearization model of system is set up, the continuous solving of the characteristic root in the case of unstable state is realized, obtains rail
Mark characteristic root curve, analyzes track characteristic root curvilinear characteristic, by studying track characteristic under load disturbance and three phase short circuit fault
Whether the system multidate information that root is contained, do not limited by characteristic value real part more than zero, excavates potential rule, it is established that be
Unite the mapping relations of transient stability and track characteristic root, disturbance type and track characteristic root, so as to realize and be fast and accurately
Transient stability of uniting judges and disturbance type screening.
(2) generator, speed regulator, excitation system, network equation and load are existed using the method for inverse Laplace transformation
Linearization process is carried out at non-equilibrium point, there is rapidity and accuracy, while various complex models can be handled, is had
There is very strong practicality.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding of the present application, the part of the application is constituted, at this
Same or analogous part, the schematic description and description of the application are represented using identical reference number in a little accompanying drawings
For explaining the application, the improper restriction to the application is not constituted.In the accompanying drawings：
Fig. 1 is the schematic flow sheet of the application power system transient stability determination methods.
Fig. 2 is the schematic flow sheet of the application system disturbance type screening technique.
Fig. 3 is the application prime mover-governor model TGOV1 transmission function block diagrams.
Fig. 4 is the application excitation system model transfer function block diagram.
Fig. 5 is the node system schematic diagram of the application WSCC3 machines 9.
Fig. 6 is the application steady-state operation track characteristic root real part analogous diagram.
Fig. 7 is that the application load increases by 20% track characteristic root real part analogous diagram.
Fig. 8 is that the application load increases by 40% track characteristic root real part analogous diagram.
Fig. 9 is that the application load increases by 80% track characteristic root real part analogous diagram.
Figure 10 is the application sudden load increase generator with respect to power-angle curve analogous diagram.
Figure 11 is the application three phase short circuit fault 0.2s track characteristic root real part analogous diagrams.
Figure 12 is the application three phase short circuit fault 0.3s track characteristic root real part analogous diagrams.
Figure 13 is the application three phase short circuit fault 0.4s track characteristic root real part analogous diagrams.
Figure 14 is the application three phase short circuit fault generator with respect to power-angle curve analogous diagram.
Figure 15 is the application three phase short circuit fault 0.5s track characteristic root real part analogous diagrams.
Figure 16 is the application three phase short circuit fault generator with respect to power-angle curve analogous diagram.
Embodiment
To make the purpose, technical scheme and advantage of the application clearer, below in conjunction with drawings and the specific embodiments, to this
Application is described in further detail.
A kind of power system transient stability determination methods based on track characteristic root are provided, as shown in figure 1, comprising the following steps：
S1, using inverse Laplace transformation to generator, speed regulator, excitation system, network equation and load non-equilibrium
Linearization process is carried out at point, the higher order linearization model of system is set up；
Inverse Laplace transformation method has the advantages that rapidity and accuracy, while various complex models can be handled,
Show very strong practicality.Concrete model after each submodule Linearization Method is as follows：
A, generator model linearization process
Generator model uses 3 rank E 'qVariation model, its expression formula equation is：
Equation of rotor motion occurs in the form of power rather than torque in formula, while retaining electromagnetic power PeWithout using
Transient internal voltage and the form of stator current expansion, are linearized formula (1) at non-equilibrium using linearization technique, by sitting
Parameter is changed, and is eliminated stator current and stator voltage, can be obtained the rank Linearized state equations of synchronous generator 3：
In formula：C3=ω0
(ωr(0)- 1), E 'qIt is q axle electromotive force, Δ δ is for rotor (position) angle increment, xdIt is d axle synchronous reactances, x 'dIt is d axle transient state
Reactance, T ' d0 are d axles open circuit time constant, Δ EfdIt is d axle excitation electric gesture increments, Δ U is voltage increment, and Δ θ is section
Point voltage angle increment, Δ ωrIt is rotor velocity increment, H is generator inertia time constant, Δ pmIt is mechanical output increment,
ω0It is synchronous angular velocity, Efd(0)It is d axle excitation voltage initial values, E 'q(0)It is q axle electromotive force initial values, id(0)At the beginning of being d shaft currents
Initial value, pm(0)It is mechanical output initial value, pe(0)It is electromagnetic power initial value, KDIt is damped coefficient, ωr(0)It is rotor velocity
Initial value.
B, prime mover-governor model linearization process
Choose a second order prime mover-governor model to describe governor characteristic, choose used in PSS/E
TGOV1 models illustrate the step of linearisation to prime mover-speed regulator at non-equilibrium point that the TGOV1 that generator is used is passed
Delivery function block diagram such as Fig. 3.It can equally be linearized for other high-order models using the method linearized herein, ignore original
The effect of motivation-governor dead time, TGOV1 transmission functions：
Formula (3), which is arranged, to be obtained：
Known primary condition ν (0-) and PT(0-), by inverse Laplace transformation rule：Wherein F
(s) image function for being f (t), f (t) is F (s) original function, f (0-) it is initial values of the f (t) at 0 moment, it is defaulted as herein most
Latter disturbance excision moment is 0 moment (non-equilibrium point).Inverse Laplace transformation is carried out to formula (4), arranged：
In formula, δ (t) is unit impulse function, FREFTo preset constant, it is considered to And unit impulse function action time can be ignored, therefore ignore in state equation containing δ
(t) influence of item, arranges formula (5) and obtains：
In formula：
Δ ν (t) is steam turbine valve aperture increment, Δ PT(t) it is steam turbine mechanical output, Δ Pm(t) it is that steam turbine is transported to generator
Mechanical output, T1、T2、T3It is prime mover-speed regulator time constant, DtIt is prime mover-friction in governor coefficient, R is former dynamic
Machine-speed regulator difference coefficient, ν (0) is steam turbine valve aperture initial value, PT(0) it is steam turbine mechanical output initial value, Pm(0)
It is the mechanical output that steam turbine is transported to generator.
C, excitation system model linearization process
Excitation system uses SEXS models in PSS/E, if disregarding PSS effects and the effect of phase modulation link, transmission function frame
Figure is as shown in figure 4, now excitation system is the static excitation system described with first order inertial loop, excitation system transmission function,
It is set to (UreF=const.)
In formula,For generator voltage.
It is linearized using with speed regulator identical linearization technique：
In formula,TEIt is electromagnetic torque, k is self-excitation coefficient.
D, load model linearization process
Load uses constant-impedance model：
Formula (9) is linearized, then system loading node injecting power Incremental Equation is：
In formula, Δ PLi、ΔQLiFor the active power of load bus i injections, reactive power increment；·ΔUiFor node i electricity
The increment of pressure amplitude value.
E, grid equation linearization process
Node power equation is linearized at non-equilibrium, it is substantially to solve conventional Load Flow problem in non-equilibrium point
The Jacobian matrix at place.It shall note here that needs are repaiied according to generator generator terminal power and load power equation to respective element
Just.
By taking node i as an example, if node i voltage is Ui∠θiBus admittance matrix Y=[Gij+jBij]nIf node i is generating
Machine node, then node power equation be：
In formula, Pti、QtiFor generator node i generator terminal active power and reactive power；PLi、QLiFor generator node i generator terminal
Burden with power and load or burden without work；Ui、UjSystem node i, j voltage magnitude；Gij、BijFor the transadmittance between system node i, j, θij
For the voltage-phase difference between system node i, j.
If generator terminal load is constant power load model, formula (11) is linearized at non-equilibrium point, and substitute into generator terminal power increment
Equation, is obtained：
In formula,
If node i is load bus or contact node, P in formula (12)ti=0 and Qti=0, if load is negative for constant-impedance
Lotus, formula (11) is linearized at non-equilibrium point, and substitutes into load increment equation, is obtained：
In formula, Nii、Nij、Hii、Hij、Lii、Lij、Jii、JijIdentical with formula (12) form, i value is different.
F, system higher order linearization model
The Incremental Equation of each element of simultaneous and network, you can obtain system state equation.It is many with the n nodes of m platform generators
Exemplified by electromechanical Force system, generator uses three rank E 'qVariation model, excitation system uses static the encouraging of first order inertial loop description
Magnetic system, speed regulator uses TGOV1 second-order models, and load is constant-impedance load.If total system variable is arranged in the following manner：
E′q1, E 'q2..., E 'qm, ωr1, ωr2..., ωrm, δ1, δ2..., δm, Efd1, Efd2..., Efdm, PT1, PT2..., PTm, ν1,
ν2..., νm.Then system state equation is：
In formula：E′q=[E 'q1, E 'q2..., E 'qm]T, ωr=[ωr1, ωr2..., ωrm]T, δ=[δ1, δ2..., δm]T,
Efd=[Efd1, Efd2..., Efdm]T, PT=[PT1, PT2..., PTm]T, ν=[ν1, ν2..., νm]T, U=[U1,
U2..., Un]T, θ=[θ1, θ2..., θn]T, Pm=[pm1, pm2..., pmm]T, a11=diag { ai 11}∈Rm×m, subscript i represents
I platform generators.Remaining all kinds of a submatrix is similar；b11=[diag { bi 11}m×m,0m×(n-m)]∈Rm×n, remaining all kinds of b submatrix is similar；
m1=[diag { mi 1}m×m,0(n-m)×m]∈Rn×m, m2、n1、n2、DtIt is similar with -1 submatrix；1=diag 1,1 ..., 1 }n×n,m4-H
=diag { m1 4,…,mm 4,0m+1,…,0n}-[Hij]n×n；N4- J=diag { n1 4,…,nm 4,0m+1,…,0n}-[Jij]n×n。
Make x ∈ Rm×1For system mode vector, y ∈ R(2n+m)×1The machinery of generator is transported to for node voltage and steam turbine
Vector power, f is systematic observation matrix, and g is the mechanical output algebraic equation that node power and steam turbine are transported to generator, then
Formula (14) can be expressed as：
In formula,For Jacobian matrix of the multi-computer system differential-algebraic equation group at non-equilibrium point.By
Formula (15), has：
In formula,
Formula (16) is the standard type of system state space equation.
S2, according to higher order linearization model, carry out the solution of track characteristic root in the case of unstable state；
S3, according to track characteristic root emulation obtain track characteristic root curve；
S4, the fluctuation track according to track characteristic root curve, set up the mapping of power system transient stability and track characteristic root
Relation；
The system multidate information contained with track characteristic root under three phase short circuit fault is disturbed by analysis load, failure is used
The track characteristic root of system carries out power system transient stability judgement afterwards, sets up the mapping of power system transient stability and track characteristic root
Whether relation, do not limited by characteristic value real part more than zero.Concrete analysis is as follows：
By analyzing track characteristic root curvilinear characteristic, track characteristic root curve is divided into four regions, each region correspondence
One index, as shown in Figure 7：
I region is irregular hop region：The track characteristic root change in the region is irregular to follow；
II region is quasi-continuity surge area：The track characteristic root in the region has certain continuity, while also having
Breakpoint occurs；
III region is continuity surge area：The track characteristic root in the region has continuous fluctuation；
IV region is new steady-sxtate wave motion region：The track characteristic root in the region has reacted system into the later spy of new stable state
Levy root fluctuation situation.
By contrast feature root locus in the case of different disturbances it can be found that disturbance occur after feature root locus first
Into I region, II region, III region and IV region are then sequentially entered according to the difference of disturbance situation, with the increase of disturbance,
I region, II region, the fluctuation range increase in III region and IV region, the duration are longer, when disturbance increase to enable to be
Track characteristic root curve only has I region when uniting unstable, then system can not stable operation after being disturbed.According to this
Rule, can accurately identify stability of the system after being disturbed.
The mapping relations are：
Track characteristic root curve has irregular hop region, quasi-continuity surge area, continuity surge area and new
Steady-sxtate wave motion region, i.e., with I region, II region, III region and IV region, systematic steady state operation；
Track characteristic root curve only has irregular hop region, and only has I region, and system is unstable.
S5, according to mapping relations judge power system transient stability.
A kind of disturbance type screening technique based on track characteristic root is provided, as shown in Fig. 2 comprising the following steps：
S1, using inverse Laplace transformation method to generator, speed regulator, excitation system, network equation and load non-
Linearization process is carried out at equalization point, the higher order linearization model of system is set up；
S2, according to higher order linearization model, carry out the solution of track characteristic root in the case of unstable state；
S3, according to track characteristic root emulation obtain track characteristic root curve；
S4, the variance according to track characteristic root curve, set up disturbance type and the mapping relations of track characteristic root, the mapping
Relation is：
When the variance of track characteristic root real part is in the range of [0~6.84e-05], system failure is run；
When the variance of track characteristic root real part is in the range of [6.84e-05~14], system is by load disturbance；
When the variance of track characteristic root real part is in the range of [14~75], three phase short circuit fault occurs for system；
When the variance of track characteristic root real part is more than 75, system is by making the unstable fault type of system；
S5, the type disturbed according to mapping relations identifying system.
The present invention makees sample calculation analysis from the node system of 3 machines of WSCC 9, and the node system of WSCC3 machines 9 is as shown in figure 5, system
Generator total capacity is 567.5MW, and burden with power is 315MW, and generator uses three rank E ' q variation models, prime mover-speed regulator
Using TGOV1 models, each speed regulator time constant T1, T2, T3 take 0.5s, 1.5s and 5s respectively, and friction in governor Dt takes 0.01,
Excitation system uses SEXS models, and each time constant TA, TB and TE are taken as 1s, 10s and 0.05s respectively, and load uses constant-impedance
Load.Load disturbance and three-phase shortcircuit analysis are carried out to system.Track characteristic root is calculated, one of which oscillation mode pair is chosen
The track characteristic root answered is analyzed its real part, and other track characteristic roots have identical changing rule.
After system is by different disturbances, track characteristic root fluctuation situation is entirely different, and shows respective spy
Some changing rules.The present invention is set respectively increases load disturbance and three phase short circuit fault, is become by the special root in the track of different disturbances
The contrast of law, finds out the changing rule difference of track characteristic root in the case of different disturbances.
First, non-failure conditions
In the case of not any failure, track characteristic root be not a fixed value but in the range of some ripple
Dynamic, track characteristic root real part is as shown in Figure 6.
2nd, load increases by 20%, 40%, 80% situation respectively
Load is disturbed at 1s, the disturbance time be 0.2s, track characteristic root real part analogous diagram respectively as Fig. 7, Fig. 8,
Shown in Fig. 9.
Track characteristic root fluctuation situation is analyzed from following index, as shown in fig. 7, I region is irregular hop region：
The track characteristic root change in the region is irregular to follow；II region is quasi-continuity surge area：The track characteristic root in the region
With certain continuity, while also there is breakpoint appearance；III region is continuity surge area：The track characteristic root tool in the region
There is continuous fluctuation；IV region is new steady-sxtate wave motion region：The track characteristic root in the region reacted system into new stable state with
Track characteristic root fluctuation situation afterwards.
20% load increase as can be seen from Figure 7, track characteristic root real part sports -10 when failure occurs by -2, according to
It is secondary to enter I region, saltus step scope：[- 10~4.8], duration 4.2s；II region, fluctuation range：[- 2.2~4.8], continue
Time 7.5s；III region, fluctuation range：[- 2.2~-1.8], duration 1.4s；IV region, fluctuation range：[- 2.04~-
1.99], entry time：14.1s.20%, the 40% load disturbance situation different with 80% is contrasted it can be found that as load is disturbed
The increase of momentum, the saltus step scope of track characteristic root real part, noncontinuity fluctuation range, quasi-continuous fluctuation range, continuity ripple
Dynamic scope and duration all significantly increase.Postponed into steady state time, needed for the fluctuation pattern for finally returning to stable operation
Time is elongated.
Generator is as shown in Figure 10 with respect to power-angle curve：With the increase of load disturbance amount, generator is with respect to power-angle curve
Oscillation amplitude becomes big, and duration of oscillation is elongated, and the time needed for eventually entering into stable state is also longer, exists with track characteristic root analysis system
Fluctuation situation in the case of disturbance is consistent, it was demonstrated that this method is correct.
3rd, three phase short circuit fault situation
Three phase short circuit fault is set to occur in No. 6 buses, failure duration is respectively：0.2s, 0.3s, 0.4s, occur in fortune
At row time 1s, track characteristic root real part analogous diagram is as shown in Figure 11, Figure 12 and Figure 13.It was found from Figure 10~Figure 13：With event
Elongated, the saltus step scope of track characteristic root real part of Downtime, noncontinuity fluctuation range, quasi-continuous fluctuation range, continuity
Fluctuation range and duration all significantly increase, and are postponed into steady state time, finally return to the fluctuation pattern institute of stable operation
Take time elongated.
Generator is as shown in figure 14 with respect to power-angle curve figure：Elongated with fault time, generator is with respect to power-angle curve
Oscillation amplitude becomes big, and duration of oscillation is elongated, and the time needed for eventually entering into stable state is also longer, exists with track characteristic root analysis system
Fluctuation situation in the case of disturbance is consistent, it was demonstrated that this method is correct.
In the case that three phase short circuit fault continues 0.5s as can be seen from Figure 15, track characteristic root only has region I, is in integrally
Existing irregular saltus step process, system is unstable, the unstable result phase of system that power-angle curve figure relative with Figure 16 generators is presented
Symbol, it was demonstrated that this method is correct.
Embodiment described above only represents the several embodiments of the present invention, and it describes more specific and detailed, but not
It is understood that as limitation of the scope of the invention.It should be pointed out that for the person of ordinary skill of the art, not departing from
On the premise of present inventive concept, various modifications and improvements can be made, these belong to the scope of the present invention.Therefore this hair
Bright protection domain should be defined by the claim.
Claims (5)
1. a kind of power system transient stability determination methods based on track characteristic root, it is characterised in that comprise the following steps：
S1, linearization process is carried out at non-equilibrium point to generator, speed regulator, excitation system, network equation and load, set up
The higher order linearization model of system；
S2, according to the higher order linearization model, carry out the solution of track characteristic root in the case of unstable state；
S3, according to the track characteristic root emulation obtain track characteristic root curve；
S4, the fluctuation track according to the track characteristic root curve, set up the mapping of power system transient stability and track characteristic root
Relation；
S5, according to the mapping relations judge power system transient stability.
2. the power system transient stability determination methods according to claim 1 based on track characteristic root, it is characterised in that described
Step 1 is using inverse Laplace transformation method to generator, speed regulator, excitation system, network equation and load in non-equilibrium point
Place carries out linearization process.
3. the power system transient stability determination methods according to claim 2 based on track characteristic root, it is characterised in that described
Mapping relations are：
The track characteristic root curve has irregular hop region, quasi-continuity surge area, continuity surge area and new
Steady-sxtate wave motion region, systematic steady state operation；
The track characteristic root curve only has irregular hop region, and system is unstable.
4. a kind of disturbance type screening technique based on track characteristic root, it is characterised in that comprise the following steps：
S1, using inverse Laplace transformation method to generator, speed regulator, excitation system, network equation and load non-equilibrium
Linearization process is carried out at point, the higher order linearization model of system is set up；
S2, according to the higher order linearization model, carry out the solution of track characteristic root in the case of unstable state；
S3, according to the track characteristic root emulation obtain track characteristic root curve；
S4, the variance according to the track characteristic root curve, set up disturbance type and the mapping relations of track characteristic root；
S5, the type disturbed according to the mapping relations identifying system.
5. the disturbance type screening technique according to claim 4 based on track characteristic root, it is characterised in that the mapping
Relation is：
When the variance of track characteristic root real part is in the range of [0~6.84e-05], system failure is run；
When the variance of track characteristic root real part is in the range of [6.84e-05~14], system is by load disturbance；
When the variance of track characteristic root real part is in the range of [14~75], three phase short circuit fault occurs for system；
When the variance of track characteristic root real part is more than 75, system is by making its unstable fault type.
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