CN107370155B - Binary channels time delay processing method in interconnected network Automatic Generation Control - Google Patents
Binary channels time delay processing method in interconnected network Automatic Generation Control Download PDFInfo
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- CN107370155B CN107370155B CN201710572665.3A CN201710572665A CN107370155B CN 107370155 B CN107370155 B CN 107370155B CN 201710572665 A CN201710572665 A CN 201710572665A CN 107370155 B CN107370155 B CN 107370155B
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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
- H02J3/04—Circuit arrangements for ac mains or ac distribution networks for connecting networks of the same frequency but supplied from different sources
- H02J3/06—Controlling transfer of power between connected networks; Controlling sharing of load between connected networks
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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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/48—Controlling the sharing of the in-phase component
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mobile Radio Communication Systems (AREA)
- Feedback Control In General (AREA)
Abstract
The present invention relates to a kind of binary channels time delay processing methods of controller in interconnected network Automatic Generation Control (AGC) to actuator (C-A), sensor to controller (S-C).The stability that power system frequency caused by traditional interconnected network AGC method is unable to maintain that under a degree of delay constraint because of load fluctuation controls.Utilize the predicted characteristics of Model Predictive Control (MPC) algorithm, pass through the storage and processing of information in control process, setting time delay Rule of judgment carries out the selection and optimization of control variable, the negative effect controlled by the presence of binary channels time delay power system frequency can be eliminated, to realize the reliability service of interconnected network AGC system.
Description
Technical field
The invention belongs to AGC (Automatic Generation Control, Automatic Generation Control) control technology field,
More particularly to a kind of binary channels time delay processing method in interconnected network Automatic Generation Control.
Background technique
In recent years, as the continuous expansion of interconnected network scale, load variations form become increasingly complex, how to optimize AGC
System control method also becomes the project for being worth research.Occur different control methods in response to this problem at present: based on something lost
It passes the AGC control system research of fuzzy, the interconnected network AGC based on MFA control algorithm, be based on Time-Delay model
The networking AGC of predictive control algorithm is studied.AGC control system based on Genetic-fuzzy PID can overcome traditional fuzzy control to need
The drawbacks of degree of membership is manually set and is unable to dynamically-adjusting parameter；Interconnected network AGC based on MFA control algorithm
System has stronger robustness, non-linear adaptive and CPS index；Networking based on Time-Delay model predictive control algorithm
AGC control system ensures networking AGC to the robustness and adaptability of communication delay.Although above-mentioned control method of enumerating can
The stability and dynamic property of Guarantee control system, but generally existing control precision is limited, the problem of control algolithm complexity, and only
Consider controller to executing agency single channel time delay processing problem, and in practical control process, in addition to controller is to executing
There are information propagation delay time, the time delay of sensor to controller is also very important for mechanism.Therefore, for the processing of binary channels time delay
Method has more practical significance.
It can not only be promoted to the robustness with time lag, the control of non-linear and uncertain tag system, also in view of MPC
It is able to achieve the optimization of control amount real-time online.So Model Predictive Control Algorithm handles the control of AGC system binary channels time delay
There is very big application reference.
In the practical control process of AGC, especially in the biggish interconnected network system in region, information is transmitted in bilateral
Delay problem existing for road, i.e. controller to actuator (C-A), sensor to controller (S-C) will be greatly reduced AGC system
Dynamic property, in some instances it may even be possible to which causing system constantly to vibrate can not stablize.Therefore binary channels delay problem is one urgently to be solved
Problem needs to propose a kind of processing method to reduce the influence that binary channels time delay controls AGC LOAD FREQUENCY.
Summary of the invention
The object of the present invention is to provide a kind of controllers in interconnected network Automatic Generation Control (AGC) to actuator (C-
A), binary channels time delay processing method of the sensor to controller (S-C).Traditional interconnected network AGC method is when a degree of
Prolong the stability that power system frequency controls caused by being unable to maintain that under constraint because of load fluctuation.Utilize Model Predictive Control
(MPC) predicted characteristics of algorithm are sentenced by storage and processing to information in control process and discretization delay time signal with time delay
The judgement of broken strip part, carries out the selection and optimization of control variable, reduces the negative shadow that binary channels time delay controls AGC to realize
Loud target.
In order to achieve the above object, the technical scheme adopted by the invention is that: bilateral in interconnected network Automatic Generation Control
Road time delay processing method, which is characterized in that described method includes following steps:
Step 1, sliding-model control is carried out to delay time signal, when delay time signal is greater than sampling period TSWhen, system can be believed
Breath transmission has an impact, output 1；Delay time signal is less than or equal to sampling period TSWhen, on system without influence, output 0；By this
After sliding-model control, then random delay translates into random Markov jump process；
Step 2, the judgement of time delay condition is carried out with value according to discretization delay time signal, when reception signal is 0, with reception
To up-to-date information based on re-start the calculating of control sequence, select first value of sequence as control variable；Receive letter
Number be 1 when, using it is existing it is newest receive information correspond to the moment calculating control sequence second predicted value as control variable；
Receive signal be 2 when, using it is existing it is newest receive information correspond to the moment calculating control sequence third predicted value as control
Variable processed；The rest may be inferred；
Step 3, control sequence is recalculated with existing newest reception information, become using sequence first value as control
Amount compares itself and target function value J corresponding to the control variable that obtains in step 2 and under above-mentioned Three models1、J2、J3,
Select performance indicator is more preferably one of to export as current time actual control variable.
Further, in step 1, specific implementation process includes: the research object mathematical modulo for assuming to describe with discrete form
Type is as follows:
X (k+1)=Ax (k)+Bu (k)+Fw (k)
Y=Cx (k)
Wherein, x is state variable, and u is state variable, and w is state variable, and y is state variable, and A is sytem matrix, and B is
Input matrix, C are output matrix, and F is perturbation matrix, and k is sampling instant；Objective function is defined as:
J=(Rs-Y)T(Rs-Y)
Wherein, RsIt is the desired value of output, Y is the forecasting sequence of output quantity, and control process is shown as target letter
Several optimization can all calculate an optimal list entries in each sampling instant system:
U*=[u*(k) u*(k+1) … u*(k+Nc-1)]T
Wherein, NcFor the control domain of system, in traditional MPC control process, system is only by first element u of list entries*
(k) object is acted on.
Further, in step 2, specific implementation process includes:
Detect current delay time signal and export respective value, judge discretization delay time signal in binary channels and value whether meet
Time delay Rule of judgment value 0/1/2...；It is specific as follows:
It detects current delay time signal and exports respective value, when no time delay occurs, corresponding output sequence is 0；Single channel time delay
When generation, i.e. τ1、τ2In the presence of having one, corresponding output sequence is 1；When single channel time delay occurs, i.e. τ1、τ2The two exists
When, corresponding output sequence is 2, and so on；
According to the selection of the area time delay type signal (0/1/2...) dividing control signal received, i.e., when reception signal is 0,
The calculating that control sequence is re-started based on the up-to-date information received selects first value of sequence as control variable；
Receive signal be 1 when, using it is existing it is newest receive information correspond to the moment calculating control sequence second predicted value as control
Variable processed；When reception signal is 2, with the existing newest third predicted value for receiving information and corresponding to the control sequence of moment calculating
As control variable, and so on.
Further, when the experiment porch of selection is two regional internet power grid AGC systems, mathematical model are as follows:
Y (t)=CX (t)
In formula, X ∈ Rn, U ∈ Rm, W ∈ Rk, Y ∈ RrRespectively represent system state variables, control variable, disturbance variable and defeated
Variable out.A, B, F, C are respectively the parameter matrix of corresponding dimension；Wherein:
X=[Δ f1 ΔPt1 ΔPr1 ΔXg1 ΔPt12 Δf2 ΔPt2 ΔPr2 ΔXg2]T
Y=[ACE1 ACE2 Δf1 Δf2 ΔPt12]T
U=[Δ Pc1 ΔPc2]T
W=[Δ PL1 ΔPL2]T
Two regional internets are constructed using the tool box of Model Predictive Control in MATLAB according to above-mentioned mathematical model
The model of power grid AGC system, by ACE1、ACE2Input of the desired value as MPC controller, each sampling instant, MPC control
Device can calculate an optimal sequence.
Further, control variable is handled using following three kinds of methods, and carries out simulation result comparison: is i.e. 1. root
Control sequence calculating is carried out according to current sample values, first value of sequence is taken to export as current control amount；2. according to current time
The judgement of time delay selects corresponding sequence value in the newest control sequence obtained to export as control variable；3. 2. planting shape
Under state, the control sequence header element that corresponding sequence value and the last sampled value recalculate acquisition is subjected to objective function ratio
Compared with selection target function preferably controls variable output；This three kinds of methods respectively correspond no time delay processing, control sequence selects,
Control sequence selection three kinds of tupes of optimization.
Compared with prior art, the beneficial effects of the present invention are: the present invention optimizes plan using the selection of MPC control variable
Slightly, the negative effect of binary channels time delay in Automatic Generation Control is eliminated, the stability of control system is improved.
Detailed description of the invention
Two regional internet power grid AGC system dynamic models of Fig. 1 consideration binary channels time delay.
Fig. 2 delay time signal discretization.
Fig. 3 Markov Chain schematic diagram.
Fig. 4 controls variables choice schematic diagram.
ACE under Fig. 5 step signal1Response curve.
ACE under Fig. 6 step signal2Response curve.
Δ f under Fig. 7 step signal1Response curve.
Δ f under Fig. 8 step signal2Response curve.
Fig. 9 stochastic inputs signal delta PL1。
Figure 10 stochastic inputs signal delta PL2。
Δ f under Figure 11 random signal1Response curve.
Δ f under Figure 12 random signal2Response curve.
Specific embodiment
For the ease of those of ordinary skill in the art understand and implement the present invention, below with reference to embodiment to the present invention make into
The detailed description of one step, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, and is not used to limit
The fixed present invention.
Technical solution of the present invention is described in detail below: binary channels time delay processing side in interconnected network Automatic Generation Control
Method, which is characterized in that described method includes following steps:
Step 1, sliding-model control is carried out to delay time signal first, when time delayed signal is greater than sampling period TSWhen, it can be to being
System information transmission has an impact, output 1；Time delayed signal is less than or equal to sampling period TSWhen, on system without influence, output 0.Through
After crossing this sliding-model control, then random delay translates into random Markov jump process.
Step 2, the judgement of time delay condition is then carried out with value according to discretization delay time signal, when reception signal is 0, with
The calculating that control sequence is re-started based on the up-to-date information received selects first value of sequence as control variable；It connects
Collect mail number be 1 when, using it is existing it is newest receive information correspond to the moment calculating control sequence second predicted value as control
Variable；When reception signal is 2, made with the existing newest third predicted value for receiving the control sequence that information corresponds to moment calculating
To control variable；The rest may be inferred.
Step 3, control sequence is finally recalculated with existing newest reception information, using sequence first value as control
Variable, and under above-mentioned Three models compares itself and target function value J corresponding to the control variable that obtains in step 21、J2、
J3, select performance indicator is more preferably one of to export as current time actual control variable.
The specific implementation process is as follows:
Step 1: the analysis of model predictive control system is the mathematical model based on research object, it is assumed that is retouched with discrete form
The research object mathematical model stated is as follows:
X (k+1)=Ax (k)+Bu (k)+Fw (k)
Y=Cx (k)
Wherein, x is state variable, and u is state variable, and w is state variable, and y is state variable, and A is sytem matrix, and B is
Input matrix, C are output matrix, and F is perturbation matrix, and k is sampling instant.Objective function is defined as:
J=(Rs-Y)T(Rs-Y)
Wherein, RsIt is the desired value of output, Y is the forecasting sequence of output quantity.Its control process is shown as target letter
Several optimization can all calculate an optimal list entries in each sampling instant system:
U*=[u*(k) u*(k+1) … u*(k+Nc-1)]T
Wherein NcFor the control domain of system, in traditional MPC control process, system is only by first element u of list entries*(k)
Act on object.
Sliding-model control is carried out to delay time signal:
When time delayed signal is greater than sampling period TSWhen, system information transmissions can be had an impact, export times in sampling period
Number；Time delayed signal is less than or equal to sampling period TSWhen, on system without influence, output 0.
At discretization of the maximum delay greater than twice of sampling period and for being less than the time delayed signal in three times sampling period
Reason process is shown in Fig. 2, and after this sliding-model control, then random delay translates into a random Markov jump process,
As shown in Figure 3.
Step 2: detect current delay time signal and export respective value, judge discretization delay time signal in binary channels and value be
It is no to meet time delay Rule of judgment value 0/1/2....It is specific as follows:
It detects current delay time signal and exports respective value.When no time delay occurs, corresponding output sequence is 0；Single channel time delay
When generation, i.e. τ1、τ2In the presence of having one, corresponding output sequence is 1；When single channel time delay occurs, i.e. τ1、τ2The two exists
When, corresponding output sequence is 2 ....
According to the selection of the area time delay type signal (0/1/2...) dividing control signal received.When i.e. reception signal is 0,
The calculating that control sequence is re-started based on the up-to-date information received selects first value of sequence as control variable；
Receive signal be 1 when, using it is existing it is newest receive information correspond to the moment calculating control sequence second predicted value as control
Variable processed；When reception signal is 2, with the existing newest third predicted value for receiving information and corresponding to the control sequence of moment calculating
As control variable ....
Step 3: control sequence being recalculated with existing newest reception information, is become using sequence first value as control
Amount compares itself and target function value J corresponding to the control variable that obtains in step 2 and under above-mentioned Three models1、J2、J3,
Select performance indicator is more preferably one of to export as current time actual control variable.
The selection optimization schematic diagram for controlling variable is as shown in Figure 4.
Combined with specific embodiments below, method of the invention is illustrated.The experiment porch that the present invention selects is twoth area
Domain interconnected network AGC system, mathematical model are as follows:
Y (t)=CX (t)
In formula, X ∈ Rn, U ∈ Rm, W ∈ Rk, Y ∈ RrRespectively represent system state variables, control variable, disturbance variable and defeated
Variable out.A, B, F, C are respectively the parameter matrix of corresponding dimension.Wherein:
X=[Δ f1 ΔPt1 ΔPr1 ΔXg1 ΔPt12 Δf2 ΔPt2 ΔPr2 ΔXg2]T
Y=[ACE1 ACE2 Δf1 Δf2 ΔPt12]T
U=[Δ Pc1 ΔPc2]T
W=[Δ PL1 ΔPL2]T
Given two regional internet AGC system dynamic model simulation parameters, as shown in table 1.Setting prediction time domain NP=10, control
Time domain N processedc=4, weight matrix R=I.It is as shown in table 1 that system parameter is set.
1 system parameter of table
T in tablegiFor governor time constant；TtiFor generator time constant；KriFor steam turbine reheat factor；TriReheating
Time constant；RiFor unit difference coefficient；BiFor system difference coefficient；MiFor turbine generator inertia；DiFor load damped coefficient；
T12For dominant eigenvalues synchronization factor.
It is constructed according to mathematical model and setup parameter above using the tool box of Model Predictive Control in MATLAB
The model of two regional internet power grid AGC systems, as shown in Figure 1, in Fig. 1, by ACE1、ACE2Desired value as MPC controller
Input, each sampling instant, MPC controller can calculate an optimal sequence.
First by delay time signal discretization, as shown in Fig. 2, when time delayed signal is greater than sampling period TSWhen, system can be believed
Breath transmission has an impact, output 1；Time delayed signal is less than or equal to sampling period TSWhen, on system without influence, output 0.
The selection for controlling variable optimization is dissolved into MPC, as shown in figure 4, system judges double in each sampling instant
In channel discretization delay time signal and value whether meet time delay Rule of judgment value 0/1/2, and make corresponding control variable and select
It selects.
In the case of studying various disturbances, the dynamic property of the AGC system controlled using the mentioned method of the present invention with
Stability, the disturbance load Δ P of given area 1L1For 0.04pu, the disturbance load Δ P in region 2L2For 0.01pu, test disturbance
Each output response of AGC system when input is step signal, as shown in figures 5-8；And by taking frequency changes as an example, test disturbance is defeated
When entering for random signal, random signal is as shown in Fig. 9~10, the output response of AGC system, as shown in Figure 11~12.Using three
Kind method handles control variable, and carries out simulation result comparison.Control sequence meter 1. is carried out according to current sample values
It calculates, first value of sequence is taken to export as current control amount；2. selection has obtained newest according to the judgement of current time time delay
Corresponding sequence value is as control variable output in control sequence；3. under the 2. kind state, by corresponding sequence value and the last
The control sequence header element that sampled value recalculates acquisition carries out objective function comparison, and selection target function preferably controls variable
Output.This three kinds of methods respectively correspond no time delay processing, control sequence selection, control sequence selection three kinds of tupes of optimization.
As can be seen that carrying out selection optimization to control sequence and selecting control sequence from Fig. 5~8 and Figure 11~12
Select shorter compared to no time delay processing regulating time, overshoot is smaller, and system has better stability.And without time delay processing
Each curve of output not only has poor transient response, but also is clearly present oscillation and can not stablize.Meanwhile in the processing to delay
In, it is more excellent compared to the control effect for only carrying out selection output to control sequence that selection optimization is carried out to control sequence.The output wave
Shape demonstrates the feasibility and validity of the processing method for the binary channels time delay that the present invention is proposed.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (2)
1. binary channels time delay processing method in interconnected network Automatic Generation Control, which is characterized in that the method includes walking as follows
It is rapid:
Step 1, sliding-model control is carried out to delay time signal, when delay time signal is greater than sampling period TSWhen, it can be to system information transmissions
It has an impact, output 1；Delay time signal is less than or equal to sampling period TSWhen, on system without influence, output 0；By this discretization
After processing, then random delay translates into random Markov jump process；In step 1, specific implementation process includes: to assume
It is as follows with the research object mathematical model that discrete form describes:
X (k+1)=Ax (k)+Bu (k)+Fw (k)
Y=Cx (k)
Wherein, x is state variable, and u is state variable, and w is state variable, and y is state variable, and A is sytem matrix, and B is input
Matrix, C are output matrix, and F is perturbation matrix, and k is sampling instant；Objective function is defined as:
J=(RS-Y)T(RS-Y)
Wherein, RSIt is the desired value of output, Y is the forecasting sequence of output quantity, and control process is shown as the excellent of objective function
Change, can all calculate an optimal list entries in each sampling instant system:
U*=[u*(k) u*(k+1) … u*(k+Nc-1)]T
Wherein, NcFor the control domain of system, in traditional MPC control process, system is only by first element u of list entries*(k) make
For object；
Step 2, the judgement of time delay condition is carried out with value according to discretization delay time signal, when reception signal is 0, with what is received
The calculating that control sequence is re-started based on up-to-date information selects first value of sequence as control variable；Receiving signal is 1
When, using it is existing it is newest receive information correspond to the moment calculating control sequence second predicted value as control variable；It receives
When signal is 2, become using the existing newest third predicted value for receiving the control sequence that information corresponds to moment calculating as control
Amount；The rest may be inferred；In step 2, specific implementation process includes:
Detect current delay time signal and export respective value, judge discretization delay time signal in binary channels and value whether meet time delay
Rule of judgment value 0/1/2 ...；It is specific as follows:
It detects current delay time signal and exports respective value, when no time delay occurs, corresponding output sequence is 0；Single channel time delay occurs
When, i.e. τ1、τ2In the presence of having one, corresponding output sequence is 1；When single channel time delay occurs, i.e. τ1、τ2It is right in the presence of the two is equal
Answering output sequence is 2, and so on；
According to the time delay type signal received, i.e. 0/1/2..., the selection of area's dividing control signal, i.e., when reception signal is 0, with
The calculating that control sequence is re-started based on the up-to-date information received selects first value of sequence as control variable；It connects
Collect mail number be 1 when, using it is existing it is newest receive information correspond to the moment calculating control sequence second predicted value as control
Variable；When reception signal is 2, made with the existing newest third predicted value for receiving the control sequence that information corresponds to moment calculating
To control variable, and so on；
Step 3, control variable is handled using following Three models, and carries out simulation result comparison: i.e. 1. according to current
Sampled value carries out control sequence calculating, and first value of sequence is taken to export as current control amount；2. according to current time time delay
Judgement selects corresponding sequence value in the newest control sequence obtained to export as control variable；3., will under the 2. kind state
Corresponding sequence value selects mesh compared with the control sequence header element that the last sampled value recalculates acquisition carries out objective function
Scalar functions preferably control variable output；This Three models respectively corresponds no time delay processing, control sequence selection, control sequence choosing
Preferentially change three kinds of tupes；Control sequence is recalculated with existing newest reception information, and under above-mentioned Three models, than
Compared with itself and target function value J corresponding to the control variable that is obtained in step 21、J2、J3, wherein J1、J2、J3Correspond respectively to three
Target function value under kind mode selects performance indicator is more preferably one of to export as current time actual control variable.
2. binary channels time delay processing method in interconnected network Automatic Generation Control according to claim 1, which is characterized in that
When the experiment porch of selection is two regional internet power grid AGC systems, mathematical model are as follows:
Y (t)=CX (t)
In formula, X ∈ Rn, U ∈ Rm, W ∈ Rk, Y ∈ RrSystem state variables, control variable, disturbance variable and output is respectively represented to become
Amount；A, B, F, C are respectively the parameter matrix of corresponding dimension；Wherein:
X=[Δ f1 ΔPt1 ΔPr1 ΔXg1 ΔPt12 Δf2 ΔPt2 ΔPr2 ΔXg2]T
Y=[ACE1 ACE2 Δf1 Δf2 ΔPt12]T
U=[Δ Pc1 ΔPc2]T
W=[Δ PL1 ΔPL2]T
Two regional internet power grids are constructed using the tool box of Model Predictive Control in MATLAB according to above-mentioned mathematical model
The model of AGC system, by ACE1、ACE2Input of the desired value as MPC controller, each sampling instant, MPC controller meeting
Calculate an optimal sequence.
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| CN111064205A (en) * | 2019-12-28 | 2020-04-24 | 杭州电子科技大学 | Energy storage frequency modulation control method based on inertial droop and dynamic matrix segmented control |
| CN113671831B (en) * | 2021-08-12 | 2024-04-09 | 南京邮电大学 | Self-adaptive tracking control method of nonlinear interconnection system |
| CN114900425A (en) * | 2022-03-29 | 2022-08-12 | 华能新疆能源开发有限公司新能源东疆分公司 | Double-channel switching method for AGC equipment |
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| CN103746408A (en) * | 2014-01-28 | 2014-04-23 | 北京科东电力控制系统有限责任公司 | AGC (Automatic Generation Control) coordination control method of large-scale wind power |
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