CN108258700A - A kind of wide area damping control design method suitable for bulk power grid - Google Patents
A kind of wide area damping control design method suitable for bulk power grid 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
- H02J3/24—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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Abstract
The present invention provides a kind of wide area damping control design method suitable for bulk power grid, this method is included according to the method for operation collection of wide area damping control and power grid control oscillation modes information, is carrying out upset test where wide area damping control on unit；According to the upset test data of acquisition, the open-loop transfer function of wide area damping control is calculated；The phase of the method for operation and wide area damping control parameter are determined according to open-loop transfer function.Technical solution provided by the invention realizes good control ability of the controller under multi-operating condition, suitable for practical bulk power grid.
Description
Technical field
The present invention relates to field of power, in particular to a kind of wide area damping control suitable for bulk power grid designs
Method.
Background technology
With the development of Large-Scale Interconnected electric system, influence of the low-frequency oscillation of electric power system to system stability is gradually shown
It writes, the damping controller on the spot based on power system stabilizer, PSS is inhibiting electricity grid oscillating and ensureing electricity net safety stable fortune
Row aspect played an important role.Simultaneously Wide Area Measurement System breach on the spot damping controller can only using local signal as
The limitation of feed back input can introduce the good wide area signal of distant place ornamental as wide area damping control feedback signal, make wide area
Damping controller becomes the powerful tool for inhibiting bulk power grid low-frequency oscillation.
Wide area damping control is configured as ensureing the key of wide-area damping control damping, the research of design method
The hot issue of wide-area damping control research field is become.
Existing research is the research based on single system mostly, directly applies to bulk power grid and has difficulties, and existing research
It is controller parameter to be designed based on the single method of operation, but must ensure good conformity of the controller parameter under the method for operation mostly
Property.
To meet adaptability of the prior art to controller parameter under the method for operation, it is desirable to provide a kind of novel
Wide area damping control design method.
Invention content
To meet the needs of prior art development, the present invention provides a kind of wide area damping control design methods.
Wide area damping control design method provided by the invention, it is improved in that the method includes：
According to the method for operation collection of wide area damping control and power grid control oscillation modes information, in wide area damping control
Upset test is carried out on the unit of place, and acquires test data；
According to the upset test data of acquisition, the open-loop transfer function of wide area damping control is calculated；
The phase of the method for operation and wide area damping control parameter are determined according to open-loop transfer function.
Further, the method for operation collection of the wide area damping control is { Case1, Case2 ..., CaseM }, wherein,
M：Represent the type of the method for operation；
Unit carries out the disturbing signal u of upset test where acquiring the wide area damping controli(t) and control signal
Response curve yi(t), i=1,2 ..., m.
Further, the open-loop transfer function G of the method for operation Case i of the wide area damping controli(s) calculating
Including：
(1) to disturbing signal ui(t) and control signal response curve yi(t) it carries out Fast Fourier Transform (FFT) and obtains U (s) and Y
(s)；
(2) it is decomposed to obtain matrix [Y with rectangular projection and QRre Ure]T；
(3) the transmission function G (s) between power grid input variable and output variable is calculated as follows：
Wherein, Δ U1(s)：For power grid input variable；ΔY1(s)：For power grid output variable；A：Represent sytem matrix；B：Table
Show input matrix；C：Represent output matrix；I：Represent unit matrix.
Further, the matrix [Yre Ure]TCalculating include：
By real number matrix YreRow orthogonal space project to real number matrix UreRow orthogonal space mend, be shown below：
Yre/Ure,⊥=WmXre/Ure,⊥
In formula, YreAnd Xre：It is real number matrix；Ure,⊥：Represent real number matrix UreOrthocomplement, orthogonal complement；Wm：Represent broad sense observation
Matrix；
To matrix [Yre Ure]TMake QR decomposition, can obtain：
In formula,WithRespectively QR points
The triangular matrix and orthogonal matrix that solution obtains；
To triangular matrixIn elementSingular value decomposition is carried out, is obtained:
Diagonal matrix J is formed by preceding n non-zero singular values, and using n as the exponent number of power grid, and use Least Square Method
Obtain sytem matrix A, input matrix B and output matrix C.
Further, the phase of the method for operation Case iCalculating include：
If control oscillation modes such as formula λ1,2Shown in=δ ± j ω, by load transfer function coefficientIt substitutes into and transmits
In function, transmission function shown in following formula and the relational expression of phasetophase are obtained：
Wherein, G：Represent amplitude；ε：It represents to add in the expectation damping ratio after wide area damping control；ω：Power grid, which is dominated, to shake
Swing mode oscillating frequency；j：Represent imaginary part；δ：Represent the real part of control oscillation modes；ωd：It represents to add in wide area damping control
The concussion frequency of power grid control oscillation modes afterwards.
Further, the step of wide area damping control parameter is calculated by genetic algorithm includes：
(1) using wide area damping control parameter as decision variable, floating-point encoding is used；Adapt to the following formula institute of value function
Show：
Wherein, Cmax:Represent the maximum value estimation of adaptive value variable；F：Represent the adaptive value variable of adaptation value function, it is as follows
Shown in formula：
Wherein, φWPSS：For corresponding phase under wide area damping control control oscillation modes；φi：Method of operation Case i
Phase；WiFor weight coefficient；T1,…,T4：Represent the parameter of wide area damping control, i.e. decision variable；
(2) the Optimal Parameters constraints of the wide area damping control, is shown below：
Tminβ≤Tβ≤Tmaxβ
Wherein, β=1,2,3,4；Tminβ=0.01, Tmaxβ=10；
(3) in the genetic operator of the genetic algorithm：Selection opertor is random uniform function；Crossover operator is dispersion letter
Number；Compiling operator is Gaussian function.
Further, the parameter of the wide area damping control includes：Wide area damping control gain K and wide area damp control
Device lead-lag parameter processed.
Further, the wide area damping control gain K is calculated as follows：
Wherein, T1~T4：The lead-lag time constant of device parameter in order to control, i.e. wide area damping control；Tω：It is wide
The blocking link time constant of domain damping controller；GWPSS：Corresponding transmission letter under wide area damping control control oscillation modes
Number；
The lead-lag link parameter of the wide area damping control is calculated as described below：
Wherein, φxDesired phase for wide area damping control；ω is power grid control oscillation modes frequency of oscillation；α：Table
Show auxiliary parameter.
Compared with the latest prior art, technical solution provided by the invention has following excellent effect：
1st, attitude conirol process is completed based on measurement method in technical solution provided by the invention, independent of being
The detailed model of system, implementation process is simple and effective, is suitble to practical engineering application；
2nd, technical solution provided by the invention realizes controller more by means of the multiple-objection optimization function of intelligent algorithm
Good control ability under the method for operation is modeled without real system, suitable for practical bulk power grid application；
3rd, in technical solution provided by the invention wide area damp control is demonstrated with the oscillation example analysis results of actual electric network
The validity of device design method processed shows the stronger engineering practicability of the designing scheme.
Description of the drawings
Fig. 1 is wide area damping control coordination design method flow chart provided by the invention；
Fig. 2 is actual electric network connection figure provided by the invention；
Fig. 3 is the wide area damping control control effect figure of the method for operation one provided by the invention；
Fig. 4 is the wide area damping control control effect figure of the method for operation two provided by the invention.
Specific embodiment
Below with reference to Figure of description, technical solution provided by the invention is discussed in detail in a manner of specific embodiment.
In view of the deficiencies of the prior art, the present invention has studied a kind of wide area damping control coordination suitable for bulk power grid and sets
Meter method, it is proposed that wide area damping control parameter Frequency Domain Design Method based on frequency-domain constraints identification theory and based on something lost
The wide area damping control multi-operating condition coordination design method of propagation algorithm.The present invention realizes controller in a variety of methods of operation
Under good control ability, and detailed model of this method independent of system, implementation process is simple and effective, has stronger work
Journey practicability.
In order to achieve the above-mentioned object of the invention, the present invention is realized using following technical proposals：
Wide area damping control coordination design method flow chart as shown in Figure 1, includes the following steps：
(1) method of operation collection { Case 1, Case 2, Case M } of design wide area damping control, obtains electricity
Net control oscillation modes information, and determine the infield of wide area damping control and control signal；Corresponding i-th kind of method of operation
Case i are carrying out upset test, and are recording disturbing signal u on unit where wide area damping controli(t) and control signal
Response curve yi(t), wherein, i=1,2 ..., M；M：Represent the type of the method for operation；
Power grid control oscillation modes are determined, and then determine the installation of wide area damping control according to stabilization of power grids result of calculation
Place and control signal；
(2) wide area damping control open-loop transfer function G in Case i is calculated based on frequency-domain constraints identification theoryi(j
ω)；
The wide area damping control under i-th kind of method of operation Case i is calculated based on frequency-domain constraints identification theory and transmits letter
Number GiThe process of (j ω) is：
It enablesRespectively to disturbing signal ui(t) and control signal response curve yi(t) fast Fourier is carried out
U (ω) and Y (ω) is got in change in return；Then matrix [Y is obtained using rectangular projection and QR decomposition computationsre Ure]TComputational methods such as
Under：
A, by real number matrix YreRow orthogonal space project to real number matrix UreRow orthogonal space mend, it is known that Ure/Ure,⊥
=0, it obtains：
Yre/Ure,⊥=WmXre/Ure,⊥ 1)
In formula：Yre、XreIt is real number matrix；Ure,⊥：Real number matrix UreOrthocomplement, orthogonal complement；WmFor broad sense observing matrix.
B, to matrixMake QR decomposition, can obtain：
In formula：WithRespectively QR is decomposed down
Triangular matrix and orthogonal matrix.
To the element in triangular matrixSingular value decomposition is carried out, is obtainedBy preceding n
Non-zero singular value forms diagonal matrix J as main singular values, and using n as the exponent number of power grid, so that it is determined that systematic education
N finally utilizes the sytem matrix A, output matrix C, input matrix B of the linearized system equation of Least Square Method；
When power grid input is Δ U1(s), output Δ Y1(s) when being, the transmission letter between input variable and output variable can be obtained
Number：
Wherein, A：Sytem matrix；C：Output matrix；B：Input matrix；
(3) step (1)~(2) are repeated until completing the power grid transmission function collection { G under all methods of operationi(j ω) } its
In, i=1,2, M；ω=0~4 π, ω：Power grid control oscillation modes frequency of oscillation, and determined according to transmission function collection
Phase set { the φ of the wide area damping control of designi, i=1,2, M；The π of ω=0~4 and power grid dominate oscillation mode
Formula；
If control oscillation modes are λ1,2=δ ± j ω it is expected that damping ratio is ξ, in design after adding in wide area damping control
It can be further simplified, that is, omit its real part, it willSubstitution formula (3) can obtain：
In formula, G and φ are respectively G (s) in s=j ωdWhen amplitude and phase；
The corresponding phase of transmission function of each method of operation is calculated respectivelyi, determine the phase set of multi-operating condition
{φi}。
(4) wide area damping control parameter is determined based on genetic algorithm；
Wide area damping control parameter coordination optimization method based on genetic algorithm, the process for determining controller parameter are：
A. decision variable and coding are determined.
By wide area damping control parameter as decision variable；Coding mode uses floating-point encoding, individual each base
Because value is represented with a floating number in a certain range, individual code length is equal to the number of its decision variable.The present invention
The code length of individual is wide area damping control number of parameters to be designed.
B. value function design is adapted to.
It adapts to value function and optimization object function is closely related, choosing optimization object function herein is：
In formula：φWPSSFor corresponding phase under wide area damping control control oscillation modes, φiFor i-th of method of operation
Under desired phase, WiFor weight coefficient, determined generally according to method of operation damping situation；T1,…,T4：Represent wide area damp control
The parameter of device processed, i.e. decision variable；
Then adapting to value function is：
In formula：F：Adapt to the adaptation variable of value function；CmaxThe compare larger number appropriate for one, is the maximum value of F
Estimation, can be a suitable input value；(CmaxValue determine that F is determined by research object by F).
C. initialization of population and constraints computational methods.
The individual of initial population is required to meet the optional solution of constraints.Optimal Parameters constraints is：
Tminβ≤Tβ≤Tmaxβ 7)
In formula：β=1,2,3,4；Tminβ=0.01, Tmaxβ=10.
D. genetic operator designs.Selection opertor is random uniform function, and crossover operator is dispersion function, and mutation operator is height
This function.
E. operating parameter selects.
Recommend value as follows：Group size is 20, crossover probability pcIt is 0.8, mutation probability pmIt is terminated for 0.2 genetic operation
Evolutionary generation is 100.Above-mentioned numerical value can modify according to actual conditions.
(5) wide area damping control gain K and wide area damp control are determined according to damping control effect and system operation demand
Device lead-lag link parameter processed, specific implementation process are：
A. shown wide area damping control transmission function, and according to damping control effect and Operation of Electric Systems as the following formula
Demand determines wide area damping control gain K：
Wherein, T1~T4：The lead-lag time constant of device parameter in order to control, i.e. wide area damping control；GWPSS：Extensively
Corresponding transmission function under the damping controller control oscillation modes of domain, GWPSS∈{Gi(jω)}；
B. wide area damping control it is advanced-calculation formula of delay component parameter is：
In formula：φxDesired phase for wide area damping control；ω is power grid control oscillation modes frequency of oscillation；α：Table
Show auxiliary parameter.
The damping carried out to obtained wide area damping control parameter under multi-operating condition verifies, it is necessary in the case of into
Row small parameter perturbations finally determine wide area damping control coordinated operation parameter.
Embodiment
Below by taking East China-Fujian Electric Power Network under " three China " power grid background in planning shown in Fig. 2 as an example to the present invention into
The detailed description of one step.Small signal stability analysis is carried out to system it is found that the control oscillation modes of system are to China for Fujian Electric Power Network
The oscillation mode of eastern power grid, the mode characteristic values are -0.062+2.573, frequency of oscillation 0.409Hz, and damping ratio 0.024 is
Weakly damped oscillation pattern can not meet operation demand.Use the resistance of wide-area damping control skill upgrading system control oscillation modes
Damping characteristics.
Wide area damping control parameter designing is carried out using method provided by the invention, step is as follows：
Step 1：Design and operation mode collection to ensure adaptability of the controller under multi-operating condition, selects in design
2 kinds of method of operation constituted mode collection are selected：Typical way 1 is sends the 1 two-wire method of operation of interconnection outside, and typical way 2 is sends outside
The 1 single line method of operation of interconnection.
Acquisition system control oscillation modes information, the control oscillation modes of system are oscillation of the Fujian Electric Power Network to East China Power Grid
Pattern, and determine the infield of wide area damping control and control signal, wide area damping control installation site is strong correlation
Unit 1, input signal are the active power of important interconnection 1；
Step 2：Corresponding each method of operation, is carrying out upset test, and record on unit where wide area damping control
The response curve y of disturbing signal u (t) and alternative signali(t)；
Step 3：Damping controller open-loop transfer function G in Case i is calculated based on frequency-domain constraints identification theoryi(j
ω)；
Step 4：Complete the ssystem transfer function collection identification { G under all methods of operationi(j ω) } (i=1,2,
M；The π of ω=0~4), and pick out the phase set { φ that design controller needsi(i=1,2, M；The π of ω=0~4) and
The information such as oscillation mode；
Step 5：Determine that controller is joined using the wide area damping control parameter coordination optimization method based on genetic algorithm
Number；Wide area damping control gain and remaining link parameter are determined according to damping control effect and system operation demand；
Verify damping of the wide area damping control parameter under multi-operating condition, it is micro- to carry out parameter in the case of necessary
It adjusts, finally determines wide area damping control coordinated operation parameter.
Wide area damp control is completed by the wide area damping control coordination design method for being suitable for multi-operating condition in this example
Device parameter designing processed：The wide area damping control that Fig. 3, Fig. 4 and table 1~2 are designed for institute's extracting method of the present invention is in different operation sides
Control effect under formula.Wherein, Fig. 3, Fig. 4 are respectively the time-domain simulation results of the method for operation one and the method for operation two, table 1~2
The respectively small interference calculation result of the method for operation one and the method for operation two.
The small interference result of 1 method of operation one of table
| The method of operation | Dominant characteristics value | Frequency of oscillation/Hz | Damping ratio/% | Remarks |
| Without wide-area control | -0.062+2.573 | 0.41 | 0.024 | Underdamping |
| There is wide-area control | -0.293+2.792 | 0.44 | 0.104 | Heavy damping |
The small interference result of 2 method of operation two of table
| The method of operation | Dominant characteristics value | Frequency of oscillation/Hz | Damping ratio/% | Remarks |
| Without wide-area control | -0.050+2.427 | 0.39 | 0.021 | Underdamping |
| There is wide-area control | -0.218+2.533 | 0.40 | 0.086 | Heavy damping |
By simulation result it is found that after using the wide area damping control of the invention designed, system damping characteristic is substantially improved,
The weakly damped oscillation pattern of original system is become into heavy damping oscillation mode, and because method provided by the invention has multi-operating condition
The characteristics of adaptation, wide area damping control all achieve good damping control effect under different power system operating modes, can
To meet operation of power networks demand, so as to demonstrate validity of the method provided by the invention in real system analysis.
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, although with reference to above-described embodiment pair
The present invention is described in detail, those of ordinary skill in the art still can to the present invention specific embodiment into
Row modification either equivalent replacement these without departing from any modification of spirit and scope of the invention or equivalent replacement, applying
Within the claims of the pending present invention.
Claims (8)
1. a kind of wide area damping control design method suitable for bulk power grid, which is characterized in that the method includes：
According to the method for operation collection of wide area damping control and power grid control oscillation modes information, where wide area damping control
Upset test is carried out on unit, and acquires test data；
According to the upset test data of acquisition, the open-loop transfer function of wide area damping control is calculated；
The phase of the method for operation and wide area damping control parameter are determined according to open-loop transfer function.
2. the method as described in claim 1, which is characterized in that the method for operation collection of the wide area damping control is
{ Case1, Case2 ..., CaseM }, wherein, M：Represent the type of the method for operation；
Unit carries out the disturbing signal u of upset test where acquiring the wide area damping controli(t) and control signal response
Curve yi(t), i=1,2 ..., m.
3. the method as described in claim 1, which is characterized in that the method for operation Case i's of the wide area damping control opens
Ring transmission function Gi(s) calculating includes：
(1) to disturbing signal ui(t) and control signal response curve yi(t) it carries out Fast Fourier Transform (FFT) and obtains U (s) and Y (s)；
(2) it is decomposed to obtain matrix [Y with rectangular projection and QRre Ure]T；
(3) the transmission function G (s) between power grid input variable and output variable is calculated as follows：
Wherein, Δ U1(s)：For power grid input variable；ΔY1(s)：For power grid output variable；A：Represent sytem matrix；B：Represent defeated
Enter matrix；C：Represent output matrix；I：Represent unit matrix.
4. method as claimed in claim 3, which is characterized in that the matrix [Yre Ure]TCalculating include：
By real number matrix YreRow orthogonal space project to real number matrix UreRow orthogonal space mend, be shown below：
Yre/Ure,⊥=WmXre/Ure,⊥
In formula, YreAnd Xre：It is real number matrix；Ure,⊥：Represent real number matrix UreOrthocomplement, orthogonal complement；Wm：Represent broad sense observing matrix；
To matrix [Yre Ure]TMake QR decomposition, can obtain：
In formula, WithRespectively QR decomposes to obtain
Triangular matrix and orthogonal matrix；
To triangular matrixIn elementSingular value decomposition is carried out, is obtained:
Diagonal matrix J is formed by preceding n non-zero singular values, and using n as the exponent number of power grid, and obtained with Least Square Method and be
Unite matrix A, input matrix B and output matrix C.
5. the method as described in claim 1, which is characterized in that the phase of the method for operation Case iCalculating include：
If control oscillation modes such as formula λ1,2Shown in=δ ± j ω, by load transfer function coefficientSubstitute into transmission function
In, obtain transmission function shown in following formula and the relational expression of phasetophase：
Wherein, G：Represent amplitude；ε：It represents to add in the expectation damping ratio after wide area damping control；ω：Power grid dominates oscillation mode
Formula frequency of oscillation；j：Represent imaginary part；δ：Represent the real part of control oscillation modes；ωd：It represents after adding in wide area damping control
The concussion frequency of power grid control oscillation modes.
6. the method as described in claim 1, which is characterized in that the wide area damping control parameter is calculated by genetic algorithm
The step of include：
(1) using wide area damping control parameter as decision variable, floating-point encoding is used；Value function is adapted to be shown below：
Wherein, Cmax:Represent the maximum value estimation of adaptive value variable；F：The adaptive value variable of adaptation value function is represented, with following formula institute
The optimization object function shown represents：
Wherein, φWPSS：For corresponding phase under wide area damping control control oscillation modes；φi：The phase of method of operation Case i
Position；Wi is weight coefficient；T1..., T4：Represent the parameter of wide area damping control, i.e. decision variable；
(2) the Optimal Parameters constraints of the wide area damping control, is shown below：
Tminβ≤Tβ≤Tmaxβ
Wherein, β=1,2,3,4；Tminβ=0.01, Tmaxβ=10；
(3) in the genetic operator of the genetic algorithm：Selection opertor is random uniform function；Crossover operator is dispersion function；It compiles
Operator is translated as Gaussian function.
7. the method as described in claim 1, which is characterized in that the parameter of the wide area damping control includes：Wide area damp
Controller gain K and wide area damping control lead-lag parameter.
8. the method for claim 7, which is characterized in that the wide area damping control gain K is calculated as follows：
Wherein, T1~T4：The lead-lag time constant of device parameter in order to control, i.e. wide area damping control；Tω：It is hindered for wide area
The blocking link time constant of Buddhist nun's controller；GWPSS：Corresponding transmission function under wide area damping control control oscillation modes；
The lead-lag link parameter of the wide area damping control is calculated as described below：
Wherein, φxDesired phase for wide area damping control；ω is power grid control oscillation modes frequency of oscillation；α：Represent auxiliary
Parameter.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109149601A (en) * | 2018-09-05 | 2019-01-04 | 北京建筑大学 | Wide area damp of electrical power system controller parameter determines method and system |
| CN110571831A (en) * | 2019-09-16 | 2019-12-13 | 广东电网有限责任公司 | Stability control method for active power distribution network interconnection system considering new energy access |
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