CN107579525B - Cold-start linear optimal power flow calculation method capable of calculating complete power flow information - Google Patents
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Abstract
The invention discloses a cold-start linearized optimal power flow calculation method capable of calculating complete power flow information. The example simulation result shows that the method maintains the high efficiency of the DC optimal power flow, and has higher precision and strong applicability.
Description
Technical Field
The invention relates to an optimal power flow calculation method, in particular to a cold-start linear optimal power flow calculation method capable of calculating complete power flow information.
Background
With the continuous increase of the load of the power grid and the increasingly complex operation characteristics of the power grid, the online calculation and analysis of the power system have more and more important significance in the operation and control of the power grid. An alternating current model is adopted for calculating the Optimal Power Flow (OPF) of the Power system. The alternating-current model is a typical nonlinear model, has high calculation precision and can completely reflect the real situation of the system. However, due to the nonlinear characteristics of the alternating current model, the calculation scale and difficulty of the alternating current model become larger with the increase of the power grid scale, so that the solution efficiency becomes lower, and even the situation of non-convergence may occur, which will hardly meet the requirements of online calculation and analysis of modern power systems.
The direct current model is a linear model which is most widely applied at present and is obtained by simplifying and approximating on the basis of an alternating current model, the direct current model is simple in calculation method, small in data volume, easy to obtain, high in calculation efficiency and free of convergence problems, but the direct current model ignores the influence of active loss and branch reactive power of a system, two important electrical quantities of a node voltage amplitude and reactive power cannot be obtained through calculation, and the two quantities have important significance for the stability and control of a power system.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a cold-start linear Optimal Power Flow calculation method capable of calculating complete Power Flow information, and solves the problems of poor precision and poor applicability of Direct Current Optimal Power Flow (DCOPF) in the field of electric Power system analysis and calculation degree.
The technical scheme is as follows:
the most central in the optimal power flow calculation is to establish a mathematical model of the optimal power flow calculation, and the mathematical model can substitute the obtained power parameters into the calculation for multiple iterations to finally obtain an optimal result; OPF mathematical models have long been applied to the planning and practical operation of power systems.
The mathematical model of OPF can be generally described as:
wherein: (x) is an objective function, h (x) is an equality constraint, g (x) is an inequality constraint, gmax、gminRespectively an upper limit and a lower limit of inequality constraint;
the objective function is mainly that the cost of the generator is minimum or the network loss of the system is minimum, namely:
or
In the formula: pGiActive power, P, for the i-th generatorDiIs the active load of node i, a2i、a1i、a0iIs the consumption characteristic curve parameter of the ith generator, ngNumber of generators, nbIs the number of system nodes.
The equality constraint is primarily a node power balance constraint, i.e.
In the formula: qGiReactive power, Q, for the i-th generatorDiFor reactive load of node i, Vi、VjVoltage amplitudes of nodes i, j, respectively,θi、θjThe voltage phase angles, G, of nodes i, j, respectivelyij、BijRespectively a real part and an imaginary part of the ith row and the jth column of the node admittance matrix; thetaijIs the voltage phase angle difference of the nodes i and j.
The inequality constraint is
In the formula: pijThe active power transmitted for the line ij, ·respectively, the upper and lower limits of the variable.
As can be seen from the OPF model, the method is a complex nonlinear programming problem, has more nonlinear equations, and as the scale of the power system is continuously enlarged, the OPF has higher and higher computational complexity, low computational efficiency and easy occurrence of the problem of non-convergence, which is difficult to meet the requirements of on-line computational analysis of the power system. Therefore, the invention linearizes the OPF model through 3 links of decoupling, replacing and cold starting.
1) Decoupling
Firstly, decoupling a nonlinear part in an equation constraint to obtain a new linear equation constraint, wherein the expression is as follows
Wherein: nl is the number of system branches, PGi、QGiActive and reactive power, P, respectively, from generators connected to node iil、QilActive and reactive power, P, respectively, at the head end of branch ll loss、Active and reactive losses, P, in the branch lDi、QDiActive and reactive loads, A, respectively, of node iilIs constant when node i sends on branch lThe transmission power is 1, the reception power is-1, and the other cases are 0. A. theil' is a constant, A when node i receives power on branch lil' is 1, otherwise 0.
2) Substitution
Let i and j be the first and last nodes of branch l, then the flow equation of the branch is
In the formula: pjl、QjlActive and reactive powers, g, at the ends of the branches lij、bijThe algebraic relation with the corresponding element in the admittance matrix is gij=-Gij、bij=-Bij。
The active and reactive losses of a branch can be expressed as:
in this case, the formula (7) may be substituted for the formula (8)
By transforming the formula (9)
Since the node voltage amplitude is approximately 1.0, the square term V of the voltage amplitude in equations (7) and (9) can be obtained2Performing Taylor series expansion around 1.0, and omitting high-order terms
V2≈2V-1 (11)
Suppose that
ViVjsinθij≈θi-θj(12)
At this time, the linear branch power flow equation can be obtained by simultaneously carrying the equations (10), (11) and (12) into the equation (7):
thus, a linear calculation formula of the branch I power is obtained and is substituted into an equality constraint and an inequality constraint.
3) Cold start
A traditional alternating current power flow equivalent model diagram is shown in an attached drawing 2, and a network loss equivalent load r is introduced on the basis of the traditional alternating current power flowequ,ijInstead of the line active loss, virtual nodes i ', j' are introduced at the same time. As shown in fig. 3. Pi、PjAnd Pi′、Pj' are the active power of the corresponding nodes, respectively. Assuming that the voltage at each node is approximately equal to 1.0, when r is satisfiedequ,ij=2/Ploss,ijIn time, the active power consumed by the resistor is Ploss,ij[ 2 ] satisfies Pi=Pj+Ploss,ijSo that the active loss of the branch can be equivalent to the increased resistance. In the alternating current power flow calculation, the active loss of the branch is shown as the formula (14):
in the formula: i isr,ijIs flowed through rijCurrent of (S)ij' is the apparent power of branch i ' j ', αijTaking a proportionality factor between the branch apparent power and the active power as 1.05, Pij' is the active power of line i ' j '.
Based on the model shown in FIG. 3, the sum of the active power consumed by the equivalent load on the i side of all branches connected to the node i can be obtained according to equation (14)
In the formula: ploss,ijIs the active loss of branch ij.
P of all nodes except balance nodeequ.iForming a network loss equivalent load vector Pequ. At this time, the node injects an active power vector of
P=PG-PD-Pequ(16)
In the formula: pGFor generating an active power vector, P, for the generatorDIs an active load vector.
P in formula (14)ijThe solution method is as follows:
the direct current power flow simplified branch model is shown in figure 3. The branch resistance is omitted from the model and V is assumedi,Vj≈1,θijAbout 0 is then sin thetaij≈θij,cosθ ij1, neglecting branch reactive power and only considering branch reactance xijThe active power of the branch is Pij=(θi-θj)/xij. Solving a direct current model equation to obtain the voltage phase angle of each node, and calculating the active power of each branch according to the formula (17)
In the formula: pij' active power of branch ij, [ theta ]i′、θj' the magnitude of the phase angle of the voltage at nodes i, j, respectively.
According to the above concept, the active and reactive losses of each branch in equation (13) can be obtained by the following equation
In the formula: sijThe active power calculated according to the formula 17 is substituted into the formula (18) to obtain the active and reactive power losses for the apparent power at the head end of the branch l.
After the information such as the voltage phase angle and the like is obtained after each calculation, the active loss and the reactive loss are calculated through the formula (17) and then substituted into the next calculation.
Has the advantages that: the invention carries out linear processing on the optimal power flow calculation of the power system, can not only use the problem that the direct current model is inaccurate in result and limited in application occasions due to neglecting important parameters, but also solve the problem of low solving efficiency in the alternating current model, can be widely applied to power grids of various scales and meets the requirements of online calculation and analysis of modern power systems.
Drawings
FIG. 1: a method flow diagram of the invention;
FIG. 2 is a drawing: traditional alternating current power flow equivalent model diagram
FIG. 3: and simplifying a branch model by the direct current power flow.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The cold-start linearization optimal power flow calculation method capable of calculating complete power flow information is realized by the following steps:
(1) obtaining the bus number, name, active load, reactive load, parallel compensation capacitor of the power system, the branch number, the serial node number of the head end and the tail end node number, the series impedance, the parallel admittance, the transformer transformation ratio and the impedance of the power transmission line, the upper and lower limits of the active output and the reactive output of the generator, the coal-fired economic parameters of the generator and other network parameter information;
(2) initializing a program;
(3) calculating a complementary Gap, judging whether the complementary Gap meets the precision requirement, namely whether the complementary Gap is smaller than the convergence precision, if so, outputting an optimal solution, and ending circulation, otherwise, continuing;
(4) the optimal power flow mathematical model is established as follows:
wherein: (x) is an objective function, h (x) is an equality constraint, g (x) is an inequality constraint, gmax、gminRespectively an upper limit and a lower limit of inequality constraint;
wherein the objective function is the system network loss minimum, namely:
in the formula: pGiActive power, P, for the i-th generatorDiIs the active load of node i, ngNumber of generators, nbIs the number of system nodes.
Where the equation is constrained to:
wherein: nl is the number of system branches, PGi、QGiActive and reactive power, P, respectively, from generators connected to node iil、QilActive and reactive power, P, respectively, at the head end of branch ll loss、Active and reactive losses, P, in branch lDi、QDiActive and reactive loads, A, respectively, of node iilIs a constant value, 1 when node i transmits power on branch l, -1 when receiving power, otherwise 0. A. theil' is a constant, A when node i receives power on branch lil' is 1, otherwise 0.
Wherein the inequality constraints are:
in the formula: pijThe active power transmitted for the line ij, ·respectively, the upper and lower limits of the variable.
The active power and the reactive power of the line can be calculated by utilizing the following branch flow equation and substituted into the constraint model for calculation:
(5) solving an optimized power flow mathematical model by using a primal-dual interior point method:
computing equality constraints, inequalitiesConstrained jacobian matrixHessian matrix for calculating objective function, equality constraint and inequality constraintAnd each constant term L'x、Ly、Lw、Solving the increment delta x, delta y, delta u and delta w of the total variable x, the Lagrange multiplier y and the relaxation variables u and w according to the following equations;
wherein:
(6) determining iteration step sizes of an original variable and a dual variable:
(7) update all variables and lagrange multipliers:
(8) obtaining node voltage phase angle information, and updating branch network loss substitution according to the following formula to perform next iterative calculation:
wherein: p'ij、S′ij、Ploss,ijThe equivalent active power, the equivalent apparent power and the active power loss of the line ij; i isr,ijTo flow through a resistor rijα is the proportional factor of the apparent power and the active power of the line, and takes 1.05Pequ,iAnd is the network loss equivalent load of the node i.
Wherein:
in the formula: p'ijIs the equivalent active power of line ij, thetai、θjThe phase angles of the voltages, x, of nodes i, j, respectivelyijIs the branch reactance.
(9) And (4) judging whether the iteration frequency reaches the maximum value, if so, calculating to be not converged, and if not, adding 1 to the iteration frequency, returning to the step (3) and continuing.
The program initialization in the step 2 comprises the following steps: setting an initial value for a state variable in an algorithm, setting an iteration counter K to be 0 and setting the maximum iteration number KmaxConvergence accuracy, forming a node admittance matrix B, etc.
Therefore, the invention processes the OPF model into the linearized OPF model by the linearization processing technology, the model has less simplification, theoretically has higher calculation precision, and can solve more complete trend information.
The invention carries out linear processing on the nonlinear concentrated node power balance equation and the line transmission power equation in the alternating current optimal power flow model, has higher calculation efficiency and stronger convergence compared with the alternating current optimal power flow theoretically, and has higher precision while solving and perfecting the power flow information.
The calculation method provided by the invention carries out example simulation in an IEEE-30, IEEE-300, Polish-2736 and Polish-3120 node system, and verifies that the calculation method provided by the invention has higher precision and can calculate more complete load flow information while ensuring the calculation efficiency by comparing the difference value between the DCOPF and the calculation result of the provided Optimal load flow model and (Alternating Current Optimal Power flow, ACOPF).
The following describes the results of the experiments of the present invention:
the invention takes IEEE-30, IEEE-300, Polish-2736 and Polish-3120 node systems as examples to verify the linearized optimal power flow model provided by the invention. For the convenience of observation and analysis, the optimum Cost of ACOPF is taken as the benchmark and is recorded as CostACAnd recording the optimal Cost of the optimal power flow of the linearized model as CostgThen the relative error of each model to ACOPF can be calculated according to equation (18):
ΔCostg=|Costg-CostAC|/CostAC×100%
TABLE 1 optimal load flow calculation accuracy comparison based on different models
Table 1 gives the calculated results and relative errors for the different models. As can be seen from table 1, in each test system, the model provided by the present invention can be well converged to obtain the optimal solution and its neighborhood, which verifies the feasibility and effectiveness of the application of the linearization model introduced herein to the optimal power flow calculation. In addition, compared with ACOPF, the optimization result precision of DCOPF is poor, the relative error is more than 1.5%, and the error is larger and larger along with the increase of the system scale, so that a larger application bottleneck exists. The error of the linearized optimal power flow model provided by the invention is positively correlated with the system scale, but the errors are kept within 1%, compared with the DCOPF, the accuracy is greatly improved, and the accuracy is insensitive to the system scale change.
TABLE 2 number of calculation iterations and calculation times for different models
Table 2 gives the number of calculation iterations and the calculation time for the different models. As can be seen from the table, the number of iterations of the ACOPF increases with the increase of the system scale, a non-convergence situation is likely to occur in a large system due to the situations of an excessive load, an increase of the line impedance ratio, and the like, and the calculation time increases with the increase of the system scale, so that the online calculation and analysis requirements of the power system are difficult to meet. The DCOPF greatly simplifies the program by linearizing the complex nonlinear constraint, greatly reduces the iteration times, keeps the calculation time within 0.5s and has higher calculation efficiency. The linearization OPF provided by the invention linearizes the nonlinear constraint through less simplification, although the calculation time and the iteration times are slightly improved compared with the DCOPF, the efficiency is still kept, the calculation time is within 0.7s and is greatly improved compared with the ACOPF, and meanwhile, the iteration times are not greatly changed along with the system scale, the sensitivity to the system scale is low, and the online calculation analysis of a power system can be met.
Claims (4)
1. A cold start linearization optimal power flow calculation method capable of calculating complete power flow information is characterized by comprising the following steps:
(1) obtaining network parameter information of the power system;
(2) initializing a program;
(3) calculating the complementary Gap, judging whether the complementary Gap meets the precision requirement, if so, outputting an optimal solution, and ending circulation, otherwise, continuing;
(4) the optimal power flow mathematical model is established as follows:
wherein: (x) is an objective function, h (x) is an equality constraint, g (x) is an inequality constraint, gmax、gminRespectively an upper limit and a lower limit of inequality constraint;
(5) solving an optimized power flow mathematical model by using a primal-dual interior point method:
calculating Jacobian matrix of equality constraint and inequality constraintHessian matrix for calculating objective function, equality constraint and inequality constraintAnd each constant term L'x、Ly、Lw、Solving the increment delta x, delta y, delta u and delta w of the total variable x, the Lagrange multiplier y and the relaxation variables u and w according to the following equations;
wherein:
(6) determining iteration step sizes of an original variable and a dual variable:
(7) update all variables and lagrange multipliers:
(8) and updating the branch network loss according to the following calculation formula, and substituting the branch network loss into the next iterative calculation:
wherein, P'ij、S′ij、Ploss,ijThe equivalent active power, the equivalent apparent power and the branch network loss of the line ij are respectively; i isr,ijTo flow through a resistor rijα current magnitudeijIs a proportional factor between the apparent power and the active power of the branch circuit;
(9) judging whether the iteration frequency reaches the maximum value, if so, calculating to be not convergent, if not, adding 1 to the iteration frequency, returning to the step (3), and continuing;
the method is characterized in that: the equality constraint in the optimal power flow mathematical model specifically comprises the following steps:
wherein: nl is the number of system branches, PGi、QGiActive and reactive power, P, respectively, from generators connected to node iil、QilActive and reactive power, P, respectively, at the head end of branch ll loss、Active and reactive losses, P, in branch lDi、QDiActive and reactive loads, A, respectively, of node iilIs a constant, 1 when node i transmits power on branch l, -1 when receiving power, 0 otherwise; a. theil' is a constant, A when node i receives power on branch lil' is 1, otherwise 0;
wherein: pil、QilCalculated as follows:
in the formula: pil、QilActive and reactive powers, g, at the ends of the branches lij、bijThe algebraic relation with the corresponding element in the admittance matrix is gij=-Gij、bij=-Bij,Gij、BijThe real part and the imaginary part, P, of the ith row and the jth column of the node admittance matrix respectivelyl loss、Respectively, the active and reactive power losses, V, on branch li、VjVoltage amplitudes at nodes i, j respectivelyValue of thetai、θjVoltage phase angles of the nodes i and j are respectively;
Pijactive power transmitted for line ij, αijFor the branch by a proportional factor between apparent power and active power, SijApparent power, x, of line ijijIs a branch reactance;
PGi、QGirespectively active and reactive power, V, from generators connected to node iiIs the voltage amplitude of node i, θiIs the voltage phase angle of node i;P Gi、Q Gi、V i、θ i、P ijrespectively represent PGi、QGi、Vi、θi、PijA lower limit value of (d);respectively represent PGi、QGi、Vi、θi、PijAn upper limit value of (d);
wherein: p in the inequality constraintijThe calculation method is as follows
gij、bijThe algebraic relation with the corresponding element in the admittance matrix is gij=-Gij、bij=-Bij,Gij、BijRespectively are the real part and the imaginary part, V, of the ith row and the jth column of the node admittance matrixi、VjThe voltage amplitudes, θ, of nodes i, j, respectivelyi、θjThe voltage phase angles of nodes i and j, respectively.
2. The cold-start linearized optimal power flow calculation method capable of calculating complete power flow information as claimed in claim 1, wherein: the equivalent active power P 'in the step (8)'ijThe calculation formula is as follows:
in the formula: p'ijEquivalent active power of branch ij, θiAnd thetajThe phase angles of the voltages, x, of nodes i, j, respectivelyijIs the branch reactance.
3. The method of claim 1, wherein the branch circuit apparent power to active power scaling factor α is a cold-start linearized optimal power flow calculation method capable of calculating complete power flow informationijThe value was 1.05.
4. The cold-start linearized optimal power flow calculation method capable of calculating complete power flow information as claimed in claim 1, wherein the network parameter information in step (1) includes: the system comprises a bus serial number, a name, an active load, a reactive load, a parallel compensation capacitor, a branch serial number, a head end node and a tail end node serial number, series impedance, a parallel admittance, transformer transformation ratio and impedance of a power transmission line, upper and lower limits of active power output and reactive power output of a generator and coal-fired economic parameters of the generator.
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