CN107887909A - A kind of time delay matching power system stabilizer, PSS and its design method - Google Patents
A kind of time delay matching power system stabilizer, PSS and its design method Download PDFInfo
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- CN107887909A CN107887909A CN201711154870.4A CN201711154870A CN107887909A CN 107887909 A CN107887909 A CN 107887909A CN 201711154870 A CN201711154870 A CN 201711154870A CN 107887909 A CN107887909 A CN 107887909A
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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
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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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in 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
- H02J3/002—Flicker reduction, e.g. compensation of flicker introduced by non-linear load
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/70—Smart grids as climate change mitigation technology in the energy generation sector
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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
-
- 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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
-
- 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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/22—Flexible AC transmission systems [FACTS] or power factor or reactive power compensating or correcting units
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- Engineering & Computer Science (AREA)
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- Feedback Control In General (AREA)
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Abstract
The present invention discloses a kind of time delay matching power system stabilizer, PSS, it is sequentially connected in series by blocking filtration module W, feedback oscillator module K, time delay matching module T and output violent change module B, its input signal comes from power system phasor measurement unit PMU, the stable regulation device of its output signal input electric power system.The invention further relates to a kind of design method of time delay matching power system stabilizer, PSS, according to the characteristic root of controlled oscillation mode and its amplitude and phase, the actual time delay of control loop of corresponding residual, it can determine that time delay matches parameters of power system stabilizer, the overall delay of backfeed loop is set to be optimal value by time delay matching, so as to obtain optimal stability contorting effect.
Description
Technical field
The present invention relates to power system stability and control technical field, more particularly to a kind of new time delay matching power system
Stabilizer and its design method.
Background technology
With the regenerative resources such as solar energy, wind energy, biomass energy and increasing electric automobile and energy-storage travelling wave tube
It is grid-connected, in order to meet energy transmission and the needs of raising efficiency, the scale of modern power systems constantly expands.To understand
The certainly stability problem of large-scale electrical power system, WAMS (Wide-area is applied in electric power system stability control
Measurement System, WAMS) it is very necessary.But in wide area power system stabilizer (Wide-area Power
System Stabilizer, WAPSS) engineer applied in, the problem of time delay intrinsic WAMS is inevitable, in design PSS
When need consider time delay influence.Design controller if based on the hypothesis without time delay, in system when postpone a meeting or conference influence system
Stability, therefore many researchers employ control theory that some have time delay to design WAPSS in recent years, it is expected to obtain
Preferable damping.Separately there is researcher to think, time delay is compensated before using no-delay control method, Ye Shiyi
The feasible Research Thinking of kind.But according to the method, with the increase of time lag, the quantity of compensating module can also increase therewith, control
Structure processed can become more complicated.Moreover, if existed in closed-loop control compared with long time delay, phasor measurement unit is accurately predicted
The feedback control signal of (Phasor Measurement Unit, PMU) will become very difficult.
In fact, influence of the time delay to the stability of a system and non-fully negative.Delayed phase is with being caused by signal time delay
Phase offset essence in transmission function of uniting is identical, both can make input signal to producing phase difference between output signal, when
When system phase deviation is advanced, even there is certain complementarity in both.In control theory, if added in the input signal
The time delay of matching, can reach the effect for improving the stability of a system, and this method has been widely used in system damping control.
The content of the invention
The present invention will overcome the disadvantages mentioned above of prior art, there is provided a kind of time delay matching power system stabilizer, PSS and its design
Method.
The present invention devises a kind of new time delay matching power system stabilizer, PSS DMPSS (Delay-Matching
Power System Stabilizer), the shortcomings that classical PSS controller architectures are complicated, control method is cumbersome at present can be overcome.
This new DMPSS and classical PSS main distinction is：The lead-lag in classical architecture is instead of with time delay matching module
Module, additional time delay is introduced by the module in the controller, be optimal total delay of control loop, it is true in feedback oscillator
In the case of fixed, damping is significantly improved.
In order to realize above-mentioned technical goal, technical scheme proposed by the present invention is as follows：
A kind of time delay matches power system stabilizer, PSS DMPSS, and its architectural feature is：Increased by blocking filtration module W, feedback
Beneficial module K, time delay matching module T, output violent change module B are sequentially connected in series and formed, and its input signal comes from power system phasor
Measuring unit PMU, the stable regulation device of its output signal input electric power system；Wherein, time delay matching module T transmission function T
(s) such as formula (1)：
T (s)=e-sΔτ (1)
In formula, s represents complex variable, and Δ τ represents matching time delay, it is necessary to according to the real system method of operation and control loop
Real-time time delay determines to calculate.
The design method of above-mentioned time delay matching power system stabilizer, PSS, its step are as follows：
Step 1：Control loop is screened in power system, including determines input DMPSS phasor measurement unit PMU
(Phasor Measurement Unit) signal, chooses suitable stability contorting actuator, determines to control under normal operation
The actual measurement delay, τ of loop processed；
Step 2：The control oscillation modes of system are determined, its characteristic root is λj, and calculate the oscillation mode and correspond to residual Rj's
Amplitude | Rj| and its phase angle ∠ Rj, and make ∠ RjIn the range of [0,2 π]；
Step 3：Adjust the matching time delay Δ τ and feedback oscillator module K of time delay matching module T in DMPSS yield value
K, concrete mode are as follows：
Step 31：Damped coefficient desired value ξ is determined, oscillation mode eigenvalue λ is calculated according to formula (2)jVariable quantity
Δλj：
Δλj≈-ξωj-σj (2)
Wherein σjAnd ωjIt is λ respectivelyjReal and imaginary parts；
Step 32：Adjust matching time delay Δ τ and feedback oscillator value K, computational methods such as formula (3)-(4)：
If 2k π≤∠ Rj-ωjτ ＜ (2k+1) π, then
(if 2k+1) π≤∠ Rj-ωjτ ＜ (2k+2) π, then
In formula, k=0 or 1
Step 4：The matching time delay Δ τ for calculating step 3 gained makees further fine setting, to obtain optimal damping；
Step 5：Blocking filtration module W and output violent change module B parameter is determined according to conventional methods.
It is an advantage of the invention that：The lead-lag module in classical architecture is instead of with time delay matching module, can not only be had
The structure and its design method of controller are simplified to effect, while also improves system damping effect and robustness, can be effective
Power oscillation damping.
Brief description of the drawings
Fig. 1 is the structure chart using New England's power system of the time delay matching power system stabilizer, PSS of the present invention.
Fig. 2 is the time delay matching power system stabilizer, PSS DMPSS of present invention structure chart.
Fig. 3 a~Fig. 3 b are that system dynamic is special before and after matching power system stabilizer, PSS DMPSS is prolonged in different control loop accesses
Property change curve, wherein Fig. 3 a are circuit L16-17 active power (PL17-16) dynamic changing curve, Fig. 3 b be generator G5 with
Relative generator rotor angle (Δ δ between G105-10) dynamic changing curve.
Fig. 4 a~Fig. 4 b are relative generator rotor angle (Δ δ between generator G5 and G10 under Different matching time delay Δ τ5-10) dynamic sound
The correlation curve answered, Fig. 4 a correspond to control loop 1 and control loop 3 respectively with Fig. 4 b.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.The present embodiment is emulated using New England's power system, and the system includes 10 units, 39 buses and 46
Bar circuit, concrete structure are as shown in Figure 1.The system is widely used in Small signal stability analysis and region as testing standard
Between low-frequency oscillation research in.By carrying out simulation analysis to New England's power system, the effect of this method is tested.
According to set forth herein technical scheme, it is determined that and build DMPSS structural framing, the structure is by transmission functionBlocking filtration module W, transmission function form be H (s)=K feedback oscillator module K, transmission function form
For T (s)=e-sΔτTime delay matching module T and upper and lower output violent change module B be sequentially connected in series and form, as shown in Figure 2.
According to the structural framing for the DMPSS for building completion, design is for the new DMPSS of New England's power system, tool
Body step is as follows：
Step 1：Suitable control loop is screened in the power system of the embodiment, DMPSS designs base in the present embodiment
Plinth information is as shown in table 1.Table 1 lists the Back ground Information that DMPSS designs are carried out with three kinds of different control loops.With control
Exemplified by loop 1 processed, the active-power P of PMU signals circuit between bus 5 and bus 8L5-8, stable regulation device is static reactive
Compensator SVC (Static Var Compensator), the time delay Δ τ in the case of system worked well1=0.15s.
The DMPSS design basis information of table 1
| Control loop | PMU signals | Stable regulation device | Time delay (s) |
| 1 | PL5-8 | SVC | 0.15 |
| 2 | PL5-8 | EXC4 | 0.25 |
| 3 | Δδ5-10 | SVC | 0.7 |
Step 2：, can be with by the linearisation at standard running condition of power system in embodiment and Eigenvalues analysis
Determine the characteristic root λ of the control oscillation modes of the systemj=-0.1679 ± 4.1683i, damped coefficient 0.0403, oscillation frequency
Rate is 0.66Hz；The transmission function of the linearisation power system is calculated by small-signal analysis, by taking control loop 1 as an example, this shakes
Swing residual R corresponding to patternjAmplitude | Rj|=10.50, its phase angle ∠ Rj=1.49rad.
Step 3：According to the control loop of selection, DMPSS matching time delay Δ τ and feedback oscillator value K are adjusted, with control
Exemplified by loop 1, specific implementation is as follows：
(a) the variation delta λ of characteristic value is calculatedj, target damped coefficient ξ is 0.17, σ hereinjAnd ωjIt is λ respectivelyjReality
Portion and imaginary part：
Δλj≈-ξωj-σj=-0.17 × 4.1683+0.1679=-0.3728
(b) according to formula (3)-(4), the matching time delay Δ τ of control loop 1 is adjusted1And feedback oscillator value K, τ in formula∑1For control
The overall delay of loop 1 processed, τ1For the actual measurement time delay of system：
Δτ1=τ∑1-τ1=(∠ Rj)/ωj-τ1=0.21 (s)
Step 4：Blocking filtration module W and output violent change module B parameter is determined according to conventional methods, in the present embodiment
In, determine time constant TW=5s, amplitude limit value are ± 0.05p.u.
, can be similarly according to the way of self-regulation of control loop 1 after the design using the DMPSS of control loop 1 is completed
The corresponding DMPSS of control loop 2 and 3 parameter is calculated, and is listed in Table 2 below.On this basis, by matching time delay Δ τ's
To obtain more excellent damping, Δ τ trim values are equally listed in Table 2 below for fine setting.The DMPSS access power trains completed will be designed
In system, its control effect is detected.DMPSS design parameter and its control effect are as shown in table 2 under different control loops.From table 2
Understand, after the DMPSS access systems designed using control loop 1 and control loop 3, damped coefficient is significantly improved, control effect
Fruit is preferable.During using control loop 2, even if being limited by the stability of a system, system damping coefficient is still improved.
The different control loop DMPSS of table 2. parameter tuning and control effect
| Control loop | τ(s) | Δ τ calculated values (s) | Δ τ trim values (s) | K | ξ | f(Hz) |
| 1 | 0.15 | 0.21 | 0.15 | -0.04 | 0.1700 | 0.65 |
| 2 | 0.25 | 0.11 | 0.10 | 0.60 | 0.0821 | 0.66 |
| 3 | 0.70 | 0.40 | 0.35 | 0.10 | 0.1654 | 0.52 |
In order to verify effectiveness of the invention, also need to carry out stability analysis to the power system after access DMPSS.This is imitative
True embodiment tests the damping of DMPSS in control loop 1 and control loop 3.Set in emulation：During t=1s, bus 16
Three phase short circuit fault occurs for the wherein circuit between bus 17, and the faulty line is removed after 0.1s.Fig. 3 a~Fig. 3 b
It is system dynamic characteristic change comparison diagram before and after different control loop access DMPSS.After failure is removed, bus 16 and mother
The active-power P of another fault-free circuit between line 17L17-16It is changed into 2 times of former power, and power produces obvious vibration, such as schemes
Shown in 3a.From Fig. 3 a~Fig. 3 b as can be seen that before DMPSS accesses, circuit L16-17Active-power PL17-16And generator
Relative generator rotor angle (Δ δ between G5 and G105-10) vibration more than 15s；After the DMPSS accesses that the present invention is designed, vibration is equal
It can be significantly suppressed within 5s, the result of the emulation embodiment has absolutely proved designed DMPSS of the invention validity.
Influences of the time delay Δ τ to system dynamic response is matched as shown in Fig. 4 a~Fig. 4 b, when Δ τ values are different, generator
Relative generator rotor angle (Δ δ between G5 and G105-10) oscillating curve has significant difference.Fig. 4 a correspond to the access design of control loop 1
After DMPSS, when Δ τ is arranged to 0.15s, i.e. control loop 1 matching time delay optimal value, the damping of the DMPSS is optimal；
When Δ τ is 0.00s or 0.35s, DMPSS still has preferable damping.Fig. 4 b correspond to the access design of control loop 3
After DMPSS, when Δ τ is 0.00s, i.e., when much deviateing its optimal value 0.35s, the system will lose stabilization.Fig. 4 a~Fig. 4 b
Further illustrate the validity and accuracy for the matching time delay Δ τ that this method is adjusted.
The present invention devises a kind of new time delay matching power system stabilizer, PSS, and classical knot is instead of with time delay matching module
Lead-lag module in structure, it is proposed that feedback oscillator and the method for matching time delay complementary design, do not simplify control only effectively
The structure and its design method of device processed, while also improve system damping effect and robustness.The present invention is in New England's electric power
Simulation Application has been carried out in system, has as a result shown low-frequency oscillation of its active power and generator to power system with respect to generator rotor angle
There is good inhibiting effect.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Scope is not construed as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention is also and in art technology
Personnel according to present inventive concept it is conceivable that equivalent technologies mean.
Claims (3)
1. a kind of time delay matches power system stabilizer, PSS, its input signal comes from power system phasor measurement unit PMU, and its is defeated
Go out the stable regulation device of signal input electric power system, it is characterised in that：By blocking filtration module W, feedback oscillator module K, time delay
Matching module T and output violent change module B are sequentially connected in series.
2. time delay as claimed in claim 1 matches power system stabilizer, PSS, it is characterised in that：Described time delay matching module
(T) transmission function T (s) such as formulas (1)：
T (s)=e-sΔτ (1)
Wherein, s represents complex variable, and Δ τ represents matching time delay, it is necessary to real-time according to the real system method of operation and control loop
Time delay determines to calculate.
3. the design method of time delay matching power system stabilizer, PSS as claimed in claim 1, step are as follows：
Step 1：Control loop is screened in power system, including determines input DMPSS phasor measurement unit PMU signal, choosing
Suitable stability contorting actuator is taken, determines the actual measurement delay, τ of control loop under normal operation；
Step 2：The control oscillation modes of system are determined, its characteristic root is λj, and calculate the oscillation mode and correspond to residual RjAmplitude
|Rj| and its phase angle ∠ Rj, and make ∠ RjIn the range of [0,2 π]；
Step 3：The matching time delay Δ τ of time delay matching module T in the DMPSS and yield value K of feedback oscillator module (K) is adjusted,
Concrete mode is as follows：
Step 31：Damped coefficient desired value ξ is determined, oscillation mode eigenvalue λ is calculated according to formula (2)jVariation delta λj：
Δλj≈-ξωj-σj (2)
Wherein σjAnd ωjIt is λ respectivelyjReal and imaginary parts；
Step 32：Adjust matching time delay Δ τ and feedback oscillator value K, computational methods such as formula (3)-(4)：
If 2k π≤∠ Rj-ωjτ ＜ (2k+1) π, then
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Step 4：The matching time delay Δ τ for calculating step 3 gained makees further fine setting, to obtain optimal damping；
Step 5：Determine blocking filtration module W and output violent change module B parameter.
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