CN107508307A - For suppressing the active disturbance rejection direct current additional longitudinal forces method of sub-synchronous oscillation - Google Patents
For suppressing the active disturbance rejection direct current additional longitudinal forces method of sub-synchronous oscillation Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
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- H02J3/386—
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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
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
- H02J2003/365—Reducing harmonics or oscillations in HVDC
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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
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]
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Abstract
The invention discloses a kind of active disturbance rejection direct current additional longitudinal forces method for being used to suppress sub-synchronous oscillation,The problem of may aggravating thermal power plant's sub-synchronous oscillation for the access of sending end power network large-scale wind power,Recognize to obtain the low-order transfer function under each sub-synchronous oscillation pattern of system first with TLS ESPRIT algorithms,Controlled system control targe is obtained then in conjunction with ITAE indexs and minimax estimation,And determine multichannel automatic disturbance rejection controller (ADRC) parameter with improved adaptive GA-IAGA optimizing,The test system model containing wind-powered electricity generation is finally built on PSCAD/EMTDC,Simulating, verifying shows,Designed subsynchronous additional damping controller is in the case of the various methods of operation of sending end power network and failure,Subsynchronous Oscillation of Turbine-generator Set can effectively be suppressed,With higher robustness,And low order ADRC also has preferable control effect,It is suitable for engineering practice.
Description
Technical field
The invention belongs to high-voltage dc transmission electrical domain, particularly a kind of improvement of wind fire bundling delivery system sub-synchronous oscillation
Active disturbance rejection direct current additional longitudinal forces method.
Background technology
Increase year by year with new energy development scale, the novel energy using wind-powered electricity generation as representative is largely accessed based on thermoelectricity
Conventional electric power system, this to sub-synchronous oscillation (subsynchronous oscillation, SSO) research bring new choose
War.D.C. high voltage transmission (high voltage direct currunt, HVDC) may trigger the subsynchronous of Turbo-generator Set
Torsional oscillation, cause the fatigue accumulation of the big axle of unit or even be broken, stable operation (the high straightenings of Li Xing sources of serious threat power system
Flow transmission system [M] Beijing：Science Press, 2010：177-183.).After wind power integration, between wind-powered electricity generation, thermoelectricity and HVDC
Subsynchronous reciprocation becomes more complicated.
The south of Hami in 2014 to Zhengzhou kilovolt extra-high voltage direct-current transmission engineering is built up and put into operation, and undertakes Xinjiang wind thermoelectricity bundling
The vital task sent outside.Accessed on a large scale however as wind power base, repeatedly monitored Hami power network sending end in actual motion
There is serious sub-synchronous oscillation in steam-electric generating set shafting, triggers torsional oscillation protection to start.It follows that strengthen outside wind fire bundling
The sub-synchronous oscillation of system is sent to suppress imperative.
For fired power generating unit through HVDC send out caused by sub-synchronous oscillation, at present mostly using additional DC Damping controller
Suppressed (BJORKLIND H, JOHANSSON K E, LISS G.Damping of subsynchronous
oscillations in systems containing turbine and HVDC links[J].IEEE
Transactions on Power2007,22 (1)：314-323.).Prior art it is conventional as genetic algorithm, particle cluster algorithm,
New method in the modern scientist engineering such as Fuzzy Immune Method designs supplementary subsynchronous damping control device (supplementary
Subsynchronous damping controller, SSDC).
Though above-mentioned all kinds of control methods have good inhibition to sub-synchronous oscillation, to system model scale and parameter
Accuracy requirement is higher, and its control performance has certain limitation, and does not consider the situation of wind power integration.Active Disturbance Rejection Control
(active disturbance rejection control, ADRC) absorbs the achievement of modern control theory, develops and enriches
The thought marrow of PID control " eliminating error based on error ", has been widely used in China's power system.Therefore to design
The research of the method for low order Robust Damping controller is significant.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of active disturbance rejection direct current for being used to suppress sub-synchronous oscillation and added
Damping control method, for sending end power network large-scale wind power access may aggravate thermal power plant's sub-synchronous oscillation the problem of, first with
TLS-ESPRIT (the total least squares method of harmonic frequency estimation) algorithm recognizes to obtain under each sub-synchronous oscillation pattern of system
Low-order transfer function, then in conjunction with ITAE indexs (a kind of performance indications time be multiplied by Error Absolute Value integration performance indications)
Controlled system control targe is obtained with minimax estimation, and multichannel Active Disturbance Rejection Control is determined with improved adaptive GA-IAGA optimizing
Device (ADRC) parameter, finally builds the test system model containing wind-powered electricity generation on PSCAD/EMTDC.
The inventive method can effectively suppress Turbo-generator Set in the case of the various methods of operation of sending end power network and failure
Sub-synchronous oscillation, there is higher robustness, and low order ADRC also has preferable control effect, is suitable for engineering practice.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of active disturbance rejection direct current additional longitudinal forces method for being used to suppress sub-synchronous oscillation, comprises the following steps：
Step 1：Sending end DC converter station, which is filtered out, using unit function coefficient method is nearby most likely to occur sub-synchronous oscillation
Power plant, determine to apply 0.02p.u. step disturbances at electric current in HVDC rectification sides, take the Power Plant when whetheing there is microvariations
Rotor velocity difference for output, using TLS-ESPRIT algorithms to test system whether there is wind power plant access in the case of vibrate
Characteristic recognizes；
Step 2：Different Oscillatory mode shapes are decomposed into different passages using the fertile hereby bandpass filter of 6 rank Barts, and respectively again
It is secondary that the system model of all oscillation modes is recognized using TLS-ESPRIT algorithms, by balance truncation method depression of order, retain
Each oscillation mode corresponds to dominant pole, obtains system low-order transfer function corresponding to all oscillation modes；
Step 3：Using system low-order transfer function corresponding to all oscillation modes that step 2 obtains as Active Disturbance Rejection Control
Controlled device, using the Active Disturbance Rejection Control of improved adaptive GA-IAGA, design the rank automatic disturbance rejection controller of multichannel 2；
The improved adaptive GA-IAGA used in the Active Disturbance Rejection Control of the improved adaptive GA-IAGA for：
1) initial population is produced
Initial population is randomly generated, individual uses floating-point code mode, and chromosome length is parameter [β to be asked01,β02,β03,
β1,β2] number；
2) fitness function is determined
The important step that reasonable fitness function is genetic algorithm entirety optimizing is set；It is general from the error in control system
Letter evaluation index：Control targe of the integral of time multiplied by the absolute value of error criterion as Active Disturbance Rejection Control, while consider controlled device
Intrinsic saturated characteristic, weighting introduce controlled quentity controlled variable limited resource, set out consider control energy constraint and error functional it is more
Objective appraisal index, is shown below：
Wherein, e (t) is control error, and t is the time of integration, umax、uminRespectively controlled quentity controlled variable maximum and minimum value, η are
Weight coefficient, η ＞ 0；
Defining the final fitness function of genetic algorithm is：
In formula, Matrix C is the service condition matrix of system；R1For the set of all possible controller parameter, R2It is all
The set of possible service condition；
3) genetic manipulation
A) select：Each individual fitness value in population is calculated, and elite parent is selected with trap queuing；
B) intersect, make a variation：Automatic adjusument is carried out as the following formula from intersection, mutation probability：
In formula, P is crossover probability PcOr mutation probability Pm, fmaxFor population maximum adaptation angle value, favgFor the flat of per generation colony
Equal fitness value, f are the individual fitness value that will intersect or make a variation；k1,k2Take the value in section (0,1)；Divide according to demand
Different k is not taken1,k2Value calculates Pc、Pm, and then it is adaptively adjusted PcAnd Pm。
Further, different Oscillatory mode shapes are decomposed into different lead to using the fertile hereby bandpass filter of 6 rank Barts in step 2
Behind road, positive damping can be provided to some oscillation mode, without providing negative damping to other oscillation modes or exciting new shake
Swing pattern.
Compared with prior art, the beneficial effects of the invention are as follows：
1) consider the sub-synchronous oscillation problem that new energy is accessed near traditional thermal power plant, establish containing greatly based on Practical Project
The test system that scale wind-electricity integration is sent out through LCC-HVDC, and by TLS-ESPRIT algorithms recognize to obtain system each subsynchronous
Transmission function under oscillation mode, reduce the complexity for establishing big system mathematic model.
2) can also be estimated in real time under without controlled device mathematical models and inside and outside compensation system using Active Disturbance Rejection Control
The advantages of total disturbance, in combination with the ITAE indexs and minimax estimation of Control constraints system, design and lost based on improvement
The active disturbance rejection additional damping controller of propagation algorithm.
3) ADRC that the present invention designs for sub-synchronous oscillation, in the various methods of operation of upward DC test system and event
Under barrier, quickly and efficiently damping system it can vibrate, and there is stronger robustness.
Brief description of the drawings
Fig. 1 is automatic disturbance rejection controller structural representation.
Fig. 2 is the Auto-disturbance-rejection Controller Design flow chart based on improved adaptive GA-IAGA.
Fig. 3 is multichannel active disturbance rejection direct current additional damping controller structural representation.
Fig. 4 is test system islet operation topology diagram.
Fig. 5 is that the rotor velocity of the good fortune small stream unit of mode 1 in embodiment is poor (SSO1 pattern rotor velocities are poor).
Fig. 6 is that the rotor velocity of the good fortune small stream unit of mode 1 in embodiment is poor (SSO2 pattern rotor velocities are poor).
Fig. 7 is the Shafting torque (T of the good fortune small stream unit of mode 2 in embodimentA-B)。
Fig. 8 is the Shafting torque (T of the good fortune small stream unit of mode 2 in embodimentB-G)。
Fig. 9 is poor (the good fortune small stream unit rotor of rotor velocity of each Power Plant sub-synchronous oscillation frequency range of mode 3 in embodiment
Angular velocity difference).
Figure 10 is poor (the Luzhou unit turn of the rotor velocity of each Power Plant sub-synchronous oscillation frequency range of mode 3 in embodiment
Sub- angular velocity difference).
Embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
1st, automatic disturbance rejection controller general principle and structure
Active Disturbance Rejection Control can effectively solve the extensive, control problem of structure changes, uncertain system, and independent of controlled pair
The mathematical models of elephant, the inside and outside disturbance of controlled device can be estimated and compensated automatically, there is very strong adaptability and robustness.
Followed the example of compared to error existing for PID control unreasonable, be not easy to extract error differential signal, integral feedback may be bad
Change system dynamic characteristic, weighted sum strategy for it is optimal the shortcomings of, Active Disturbance Rejection Control utilizes non-linear differential tracker
It is (Tracking Differentiator, TD), extended state observer (Extended State Observer, ESO), non-thread
Property error feedback (Nonlinear State Error Feedback, NLSEF) three parts be subject to rational modification to it, to seek
More excellent control effect.
A) the discrete tracked differentiator of steepest is designed, to arrange suitable transient process, between alleviation " rapidity " and " overshoot "
Contradiction, and accomplish reasonable drawing error differential signal.
In formula, v0For setting valve, v1、v2Represent transient process and its differential signal arranged；H is integration step；r0For speed
Spend the factor, h0For filtering factor, fhan is Korea Spro's function, its in detail calculating see document (the clear Auto Disturbances Rejection Control Techniques of Han Jing --- estimate
Control technology [M] Beijing of meter compensation uncertain factor：National Defense Industry Press, 2013：255-261.).
B) y and input u are exported to track estimating system state and total disturbance with system using extended state observer.
In formula, z in ESO3Estimation is unknown portions " real-time effect amount " in " total disturbance "；b0It is control for compensating factor
Main adjustment parameter during time lag system processed；β01,β02,β03For one group of adjustable parameter.
C) fed back with nonlinearity erron and substitute linear feedback, be changed into controlled device using LINEARIZATION WITH DYNAMIC COMPENSATION means
Tandem type system is integrated, and forms final controlled quentity controlled variable.
In formula, fal functions are identical with formula (2), are power function, and document (the clear active disturbance rejections of Han Jing are shown in calculating in detail for it
Control technology [M] Beijing of control technology --- estimation compensation uncertain factor：National Defense Industry Press, 2013：255-
261.), β1,β2It is all one group of adjustable parameter.
Automatic disturbance rejection controller is made up of three above core, and concrete structure is as shown in Figure 1.
2nd, the active disturbance rejection parameter tuning based on improved adaptive GA-IAGA
The parameter that automatic disturbance rejection controller need to be adjusted is more, in design according to document (the clear Auto Disturbances Rejection Control Techniques of Han Jing ---
Control technology [M] Beijing of estimation compensation uncertain factor：National Defense Industry Press, 2013：255-261.) take r0=10, h
=h0=0.01, b0=5.And extended state observer parameter beta01,β02,β03With nonlinear feedback parameter beta1,β2To controller
It can have a great influence, but can only typically be primarily determined that by separation property principle, empirically be adjusted further according to specific controlled device.Tradition is set
Meter method not only takes but also can not be optimal control effect.The invention provides Revised genetic algorithum (genetic
Algorithm, GA), and it is based on each parameter [β during this Algorithm for Solving active disturbance rejection optimum control01,β02,β03,β1,β2] value.Improve
The specific tuning process of genetic algorithm (Guo Yifeng, Xu Zhaodong, Tu Qing, waits weight matrix in LQR algorithms of the based on genetic algorithm as follows
Optimization analysis [J] vibration and impact, 2010,29 (11)：217-220.)：
A) initial population is produced
Initial population is randomly generated, individual uses floating-point code mode, and chromosome length is parameter [β to be asked01,β02,β03,
β1,β2] number.
B) fitness function is determined
The important step that reasonable fitness function is GA entirety optimizing is set.Evaluated from the error functional in control system
Index：Control targe of the integral of time multiplied by the absolute value of error criterion (ITAE) as Active Disturbance Rejection Control, while consider that controlled device can
The intrinsic saturated characteristic of energy, weighting introduce controlled quentity controlled variable limited resource, set out and consider control energy constraint and error functional
Multi-target evaluation index, as shown in formula (4).
Wherein, e (t) is control error, and t is the time of integration, umax、uminRespectively controlled quentity controlled variable maximum and minimum value, η are
Weight coefficient, η ＞ 0；
ADRC design key is to determine controller parameter matrix β=[β01,β02,β03,β1,β2], to ensure that controller exists
Preferable control effect can be obtained under all possible service condition of system.This problem can range Min-max mathematically
Problem, therefore define the final fitness function of genetic algorithm and be：
In formula, Matrix C be system service condition matrix, R1For the set of all possible controller parameter, R2It is all
The set of possible service condition.
C) genetic manipulation
A. select：Each individual fitness value in population is calculated, and elite parent is selected with trap queuing.
B. intersect, make a variation：Crossover operator and mutation operator can keep population diversity, algorithm is had active random search
Suo Nengli.To avoid GA from being absorbed in local optimum, using adaptive intersection, variation mode.
In traditional genetic algorithm, crossover probability PcUsual value is larger, and mutation probability PmConversely, and in whole optimizing
Kept in journey constant.In fact, with the increase of evolutionary generation, individual has reached unanimity, has continued to continue to use excessive crossover probability
PcTo produce the extremely inefficient of new individual；Meanwhile less mutation probability PmPopulation can not be made effectively to put and drag hyperplane, be easily absorbed in
The quagmire of local optimum.Therefore selected intersection, mutation probability carry out automatic adjusument by formula (6) in genetic manipulation.
In formula, fmaxFor population maximum adaptation angle value, favgFor the average fitness value of per generation colony, f will to intersect or
The individual fitness value of variation；k1,k2The value in section (0,1) is taken, if taking different k respectively according to demand1,k2Value is counted
Calculate Pc、Pm, you can it is adaptively adjusted PcAnd Pm.The present invention calculates PcWhen take k1=0.7, k2=0.9, calculate PmWhen take k1=
0.005,k2=0.2.
After automatic adjusument crossover probability and mutation probability, it can be achieved when population at individual fitness value reaches unanimity or local
When optimal, PcAnd PmIncrease, on the contrary reduce.F is set to be higher than f simultaneouslyavgIndividual take less PcAnd Pm, protect the individual preferentially to enter
Enter the next generation；F is less than to favgIndividual take larger PcAnd Pm, make the individual is accelerated to eliminate.Based on improved adaptive GA-IAGA
It is as shown in Figure 2 from war of resistance controller design step.
To sum up, the inventive method comprises the following steps：
Step 1：Using unit function coefficient method (UIF) filter out sending end DC converter station nearby be most likely to occur it is subsynchronous
The power plant of vibration, determine to apply 0.02p.u. step disturbances at electric current in HVDC rectification sides, take the Power Plant is whetheing there is microvariations
When rotor velocity difference for output, using TLS-ESPRIT algorithms to test system whether there is wind power plant access in the case of carry out
Oscillating characteristic recognizes.
Step 2：Different Oscillatory mode shapes are decomposed into difference using fertile hereby (Butterworth) bandpass filter of 6 rank Barts
Passage, (when avoiding controller suppression sub-synchronous oscillation, some pattern may be carried so as to suppress influencing each other between oscillation mode
For positive damping, and negative damping is provided another pattern, or even excites new oscillation mode), and TLS- is reused respectively
ESPRIT algorithms recognize to the system model of all oscillation modes, after by balance truncation method depression of order, retain each oscillation mode
Formula corresponds to dominant pole, obtains system low-order transfer function corresponding to all oscillation modes.
Step 3：Using system low-order transfer function corresponding to all oscillation modes that step 2 obtains as Active Disturbance Rejection Control
Controlled device, using the Active Disturbance Rejection Control based on improved adaptive GA-IAGA of proposition, design the rank automatic disturbance rejection controller of multichannel 2.
Active disturbance rejection direct current additional damping controller structure is as shown in Figure 3.
Technical solution of the present invention is described below by embodiment and advantageous effects are verified.
Embodiment simulation model uses the upward direct current sending end islet operation of Sichuan Electric Power Network.Using upward direct current topological structure as base
Plinth, wind power base is accessed near sending end thermoelectricity field, build the topology that wind fire bundling as shown in Figure 4 is sent outside through LCC-HVDC and connect
Line chart.
It is main to consider 500kV circuits, appropriate equivalent processing 220kV circuit during test system building electrical-magnetic model
And load.Wind power plant after the equivalent polymerization of 360 double-fed wind power generators by accessing Yibin transformer station, rated capacity 500MW.It is poly-
Matched moulds type on separate unit DFIG detailed models after preferable controlled current source in parallel by obtaining.Sending end totally 5 bench-type identical steamer
Generating set, and all represented using 4 mass models, its rotor axial system mainly includes senior middle school and closes cylinder (HIP), low pressure (LP) cylinder A
(LPA), 4 shaft parts of low pressure (LP) cylinder B (LPB) and generator (GEN).
1st, system oscillation characteristic recognizes
Determine that each unit of Fu Xi power plant is most likely to occur sub-synchronous oscillation using unit function coefficient method, therefore in DC rectifier
Side determines to apply 0.02p.u. step disturbances at electric current, and it is defeated to take rotor velocity difference of No. 1 unit of good fortune small stream when whetheing there is microvariations
Go out, oscillating characteristic identification, identification knot are carried out in the case of wind power plant access is whether there is to test system using TLS-ESPRIT algorithms
Fruit is as shown in table 1.
Table 1TLS-ESPRIT algorithm oscillation mode identification results
From identification result, there is 2 subsynchronous frequency range oscillation modes, frequency point in the system when whetheing there is wind power plant
Not Wei 13.4Hz and 24.5Hz, but it is wind farm grid-connected after, make oscillation mode SSO1 and SSO2 amplitude and phase angle all there occurs inclined
Move, and weaken the former damping of system, cause the damping of pattern 1 to become negative, easily cause oscillation and divergence, be unfavorable for system stable operation.
2nd, active disturbance rejection additional damping controller designs
According to the identification result of table 1, using fertile hereby (Butterworth) bandpass filter of 6 rank Barts by different Oscillatory mode shapes
Decompose different passages, and be utilized respectively TLS-ESPRIT algorithms and the system model of 2 kinds of oscillation modes is recognized, after pass through
Balance truncation method depression of order, retain each oscillation mode and correspond to dominant pole, obtain system low order corresponding to two oscillation modes and transmit letter
Number, as shown in formula (7), (8).ESO in Active Disturbance Rejection Control uncertain to system model caused by depression of order can be compensated.
Respectively using transmission function shown in formula (7) and formula (8) as the controlled device of Active Disturbance Rejection Control, using proposition based on
The Active Disturbance Rejection Control of improved adaptive GA-IAGA designs the rank automatic disturbance rejection controller of multichannel 2 with step shown in Fig. 2.Active disturbance rejection direct current
Additional damping controller structure is as shown in Figure 3.
When genetic algorithm is with formula (5) optimizing, controller parameter hunting zone R is taken1For β03∈ (1,50), [β01,β02,β1,
β2] ∈ (0,001,1), system operation conditions hunting zone R2It is taken as PDC∈ (10%, 100%), with reference to minimax estimation,
Objective function is：
For oscillation mode SSO1 and SSO2, the multichannel second-order active disturbance rejection controller designed removes β in SSO103=
β in 1.91, SSO203Remaining each oscillation mode all same of parameter two, it is respectively [β outside=6.9301,β02,β1,β2]=[0.548,
0.461,0.639,0.44]。
3rd, Accuracy Verification
Simulation model as shown in Figure 4 is built on PSCAD, determines to add present invention proposition at electric current in upward DC rectifier side
Improvement multichannel active disturbance rejection damping controller, after traditional active disturbance rejection damping controller and classical PI controllers, simulation analysis exist
System dynamic characteristic under a variety of methods of operation and different perturbation actions, to verify inhibitory action of each controller to SSO.Emulation
When controlled wind speed it is constant be 15m/s, wind power plant is completely sent out.It is No. 1 unit Δ ω of good fortune small stream due to choosing control signal, is wide area measurement
Signal rather than local signal, therefore 5ms signals transmission time lag is considered during emulation, time lag uses Pade link approximate substitutions.
Upward DC bipolar capacity operation three-phase fault (mode 1), monopole drop power to 50% operation when choosing isolated island
Three-phase fault (mode 2), bipolar drop power to 15% operation single-phase fault (mode 3), three kinds of disturbances.Failure set-up mode is as follows：
A) multiple dragon changes 0.5s generations three-phase ground failure at rectification side change of current bus, the lasting 0.05s of failure；
B) Luzhou is at Burner zone A-wire circuit 99%, single-phase (A phases) earth fault occurs during 1s, failure continues 0.1s.
Respectively as shown in fig. 5-10, as space is limited, every kind of failure only provides typical generator to the simulation result of 3 kinds of modes
Oscillatory condition.Fig. 5 and Fig. 6 is respectively rotor of the Xia Fu small streams power plant of mode 1 under 13.4Hz and 24.5Hz sub-synchronous oscillation patterns
Angular velocity difference；Fig. 7 and Fig. 8 is respectively mode 2 times low pressure (LP) cylinder A to low pressure (LP) cylinder B torque TA-BAnd low pressure (LP) cylinder B is to the torsion of generator
Square TB-G；Fig. 9 and Figure 10 is the rotor angle of the Xia Fu small streams power plant of mode 3 and Luzhou power plant in subsynchronous frequency range 5-45Hz
Speed difference.
Different modes simulation result shows that plus before SSDC sending end power plant sub-synchronous oscillation is not serious, easily causes unit
The fatigue accumulation of big axle.Fig. 5, Fig. 6 and Fig. 7, the failure of the same race that Fig. 8 is different operating modes, show adding improvement active disturbance rejection SSDC
Afterwards, no matter serious three-phase ground failure, shafting torsional oscillation T occur for direct current monopole or bipolar operation upwardsA-BCorresponding SSO1 patterns,
TB-GCorresponding SSO2 patterns sub-synchronous oscillation can preferably be suppressed.It is equal after fault clearance 2.5s to improve active disturbance rejection SSDC
Vibration can be effectively calmed down, compared to traditional ADRC and PI controllers, it can be in shorter time internal resistance damping system sub-synchronous oscillation, to good fortune
The SSO of small stream power plant fired power generating unit has good inhibiting effect.Fig. 9 and Figure 10 shows to change system operation mode at the same time and applied
During the fault type added, PI additional controller inhibitions are substantially deteriorated, and each power plant's fired power generating unit of sending end is secondary same after emulating 20s
Rotor velocity difference in cadence section still suffers from the lasting convergent oscillation of higher magnitude, and the ADRC after GA optimizes is in the situation
Remain to realize quick, the steady suppression to sub-synchronous oscillation, its robustness is better than traditional ADRC and PI controllers, is more beneficial for prolonging
The service life of long each Steam Turbine.
It can be seen that under various working and different faults, the subsynchronous additional control of improvement active disturbance rejection after genetic algorithm optimization
Device can in a short time between each mass of effective damping fired power generating unit shafting torsional oscillation, ensure sending steam turbine generator
Shafting safety, compared to traditional ADRC and PI controllers, has more excellent control performance.
Claims (2)
- A kind of 1. active disturbance rejection direct current additional longitudinal forces method for being used to suppress sub-synchronous oscillation, it is characterised in that including following Step：Step 1：The electricity that sub-synchronous oscillation is most likely to occur near sending end DC converter station is filtered out using unit function coefficient method Factory, determine to apply 0.02p.u. step disturbances at electric current in HVDC rectification sides, take rotor of the Power Plant when whetheing there is microvariations Angular velocity difference for output, using TLS-ESPRIT algorithms to test system whether there is wind power plant access in the case of carry out oscillating characteristic Identification；Step 2：Different Oscillatory mode shapes are decomposed into different passages using the fertile hereby bandpass filter of 6 rank Barts, and it is sharp again respectively The system model of all oscillation modes is recognized with TLS-ESPRIT algorithms, by balance truncation method depression of order, reservation is respectively shaken Swing pattern and correspond to dominant pole, obtain system low-order transfer function corresponding to all oscillation modes；Step 3：Using system low-order transfer function corresponding to all oscillation modes that step 2 obtains as the controlled of Active Disturbance Rejection Control Object, using the Active Disturbance Rejection Control of improved adaptive GA-IAGA, design the rank automatic disturbance rejection controller of multichannel 2；The improved adaptive GA-IAGA used in the Active Disturbance Rejection Control of the improved adaptive GA-IAGA for：1) initial population is producedInitial population is randomly generated, individual uses floating-point code mode, and chromosome length is parameter [β to be asked01,β02,β03,β1, β2] number；2) fitness function is determinedThe important step that reasonable fitness function is genetic algorithm entirety optimizing is set；Commented from the error functional in control system Valency index：Control targe of the integral of time multiplied by the absolute value of error criterion as Active Disturbance Rejection Control, while consider the intrinsic of controlled device Saturated characteristic, weighting introduce controlled quentity controlled variable limited resource, set out the multiple target for considering control energy constraint and error functional Evaluation index, it is shown below：<mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>J</mi> <mo>=</mo> <msub> <mi>J</mi> <mrow> <mi>I</mi> <mi>T</mi> <mi>A</mi> <mi>E</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>J</mi> <mi>u</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>=</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>&infin;</mi> </msubsup> <mi>t</mi> <mo>|</mo> <mi>e</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>|</mo> <mi>d</mi> <mi>t</mi> <mo>+</mo> <mi>&eta;</mi> <mo>&CenterDot;</mo> <mo>|</mo> <mrow> <msub> <mi>u</mi> <mi>max</mi> </msub> <mo>-</mo> <msub> <mi>u</mi> <mi>min</mi> </msub> </mrow> <mo>|</mo> </mrow> </mtd> </mtr> </mtable> </mfenced>Wherein, e (t) is control error, and t is the time of integration, umax、uminRespectively controlled quentity controlled variable maximum and minimum value, η are weight Coefficient, η ＞ 0；Defining the final fitness function of genetic algorithm is：<mrow> <msup> <mi>J</mi> <mo>&prime;</mo> </msup> <mo>=</mo> <mover> <mrow> <mi>m</mi> <mi>i</mi> <mi>n</mi> </mrow> <mrow> <mi>&beta;</mi> <mo>&Element;</mo> <msub> <mi>R</mi> <mn>1</mn> </msub> </mrow> </mover> <mo>{</mo> <mover> <mi>max</mi> <mrow> <mi>C</mi> <mo>&Element;</mo> <msub> <mi>R</mi> <mn>2</mn> </msub> </mrow> </mover> <mi>J</mi> <mo>}</mo> </mrow>In formula, Matrix C is the service condition matrix of system；R1For the set of all possible controller parameter, R2To be possible to Service condition set；3) genetic manipulationA) select：Each individual fitness value in population is calculated, and elite parent is selected with trap queuing；B) intersect, make a variation：Automatic adjusument is carried out as the following formula from intersection, mutation probability：<mrow> <mi>P</mi> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>k</mi> <mn>1</mn> </msub> <mo>+</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>k</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>(</mo> <msub> <mi>f</mi> <mrow> <mi>m</mi> <mi>a</mi> <mi>x</mi> </mrow> </msub> <mo>-</mo> <mi>f</mi> <mo>)</mo> </mrow> <mrow> <msub> <mi>f</mi> <mrow> <mi>m</mi> <mi>a</mi> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>f</mi> <mrow> <mi>a</mi> <mi>v</mi> <mi>g</mi> </mrow> </msub> </mrow> </mfrac> <mo>,</mo> <mi>f</mi> <mo>&GreaterEqual;</mo> <msub> <mi>f</mi> <mrow> <mi>a</mi> <mi>v</mi> <mi>g</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>k</mi> <mn>2</mn> </msub> <mo>,</mo> <mi>f</mi> <mo><</mo> <msub> <mi>f</mi> <mrow> <mi>a</mi> <mi>v</mi> <mi>g</mi> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>In formula, P is crossover probability PcOr mutation probability Pm, fmaxFor population maximum adaptation angle value, favgFor the average suitable of per generation colony Angle value is answered, f is the individual fitness value that will intersect or make a variation；k1,k2Take the value in section (0,1)；Take respectively according to demand Different k1,k2Value calculates Pc、Pm, and then it is adaptively adjusted PcAnd Pm。
- 2. the active disturbance rejection direct current additional longitudinal forces method as claimed in claim 1 for being used to suppress sub-synchronous oscillation, its feature It is, it is fertile after hereby different Oscillatory mode shapes are decomposed different passages by bandpass filter using 6 rank Barts in step 2, can be to certain Individual oscillation mode provides positive damping, without providing negative damping to other oscillation modes or exciting new oscillation mode.
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