CN108512470B - Synchronous generator switched energization control method based on switch control - Google Patents
Synchronous generator switched energization control method based on switch control Download PDFInfo
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- CN108512470B CN108512470B CN201810314829.7A CN201810314829A CN108512470B CN 108512470 B CN108512470 B CN 108512470B CN 201810314829 A CN201810314829 A CN 201810314829A CN 108512470 B CN108512470 B CN 108512470B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2103/00—Controlling arrangements characterised by the type of generator
- H02P2103/20—Controlling arrangements characterised by the type of generator of the synchronous type
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- Control Of Eletrric Generators (AREA)
Abstract
The synchronous generator switched energization control method based on switch control that the invention discloses a kind of, the excitation control method only needs to measure the tach signal of generator, after synchronous generator is by external disturbance, switched between switch type excitation controller and conventional continuous excitation controller according to generator speed in the position in state space.Only there are two value, i.e., maximum excitation voltage and minimum excitation voltages according to the control signal that its switching logic generates for switch type excitation control method.The switchover policy of switched energization control method designs are as follows: when synchronous generator is made the original equalization point of its offspeed by external disturbance, control method is switched to switch type excitation controller, and the revolving speed of generator can be faced in domain under the control of switch type excitation controller with one small near most fast speed convergence to former equalization point；When generator speed is being switched to conventional continuous excitation controller by Yuanping City's weighing apparatus our controller.
Description
Technical field
The present invention relates to power system automation technology fields, and in particular to a kind of synchronous generator based on switch control
Switched energization control method.
Background technique
After short trouble occurs in electric system, the transient stability of system relies primarily on the excitation con-trol of synchronous generator
Device is kept.The excitation controller of synchronous generator can be divided into linear excitation control device and non-linear exciter from mathematical model
Two kinds of controller.Linear excitation control device realizes that the parameter of controller is according to electric power system model flat by PID control
It is calculated after being linearized at weighing apparatus point, therefore linear excitation control device possesses best controller effect near the equalization point of system
Fruit.However, at the transient oscillation initial stage of electric system, the operating point of system considers linear excitation control far from equalization point
The delayed phase of device, prevent linear excitation control device at system oscillation initial stage from the damping characteristic of excitation system is fully utilized,
And then limit its effect played in electric power system transient stability control.Nonlinear excitation controller is using output feedback line
Property, the modes such as state feedback linearization design, it is contemplated that system operating point changes the influence to mission nonlinear, temporary
Quick response is capable of providing in state oscillatory process.But the design of nonlinear excitation controller depends on the accurate model of system,
And need to measure each state variable of system, each of which increases the difficulty that it is applied to engineering.
Traditional method of controlling switch seeks control law by analyzing the maximum of performance function derivative, although it is opened
It closes control law to need to be calculated by the state variable of system, but method of controlling switch can play control to greatest extent
The performance of device makes the dynamic table emersion time optimality of controlled system.In newest research achievement, logic-based operation is opened
It closes control method and on the one hand avoids the problem of traditional switch control method realizes control law by system state variables, it is another
Aspect maintains the advantages of traditional switch control method time optimal.Therefore the method for controlling switch of logic-based operation is transported
For will greatly improve the control performance of excitation controller in the excitation con-trol at electrical power system transient oscillation initial stage.Meanwhile by
Only need the opposite order information of system without the accurate ginseng of system in the design of the switch controller of logic-based operation
Number, model, obtained switch type excitation controller show the strong robustness to system operation conditions variation.
Summary of the invention
The purpose of the present invention is to solve the defect of above-mentioned conventional linear excitation controller and nonlinear excitation controller,
A kind of synchronous generator switched energization control method based on switch control is provided, at the initial stage of electrical power system transient oscillation, is filled
The potential of synchronous generator excited system is waved in distribution, make generator speed with most fast speed convergence to equalization point near, then
Make electric system Asymptotic Stability in former equalization point by conventional linear excitation controller.
The purpose of the present invention can be reached by adopting the following technical scheme that:
A kind of synchronous generator switched energization control method based on switch control, the control method includes following step
It is rapid:
When synchronous generator is in steady-state operation and the inclined absolute value of the difference of synchronous generator revolving speedWhen, switching is encouraged
Magnetic control method controls synchronous generator using conventional continuous excitation controller, whereinFor switched energization control method
The criterion of switch excitation controller is switched to by conventional excitation controller；
After synchronous generator is by external disturbance, the inclined absolute value of the difference of synchronous generator revolving speedWhen, switched energization
Control method is switched to switch excitation controller；
Work as condition: When being satisfied, switched energization
Control method is switched to conventional continuous excitation controller；
Wherein ∨ indicates logical AND operation, and ∧ indicates logic or operation；
Wherein the extreme value sequence of the oscillation track of synchronous generator revolving speed deviation is Γ (t)={ Γ1,Γ2,…,Γj,
Γs=(s ∈ { 1,2 ..., j }) are the maximum value in sequence Γ (t)；
Wherein τ indicates that switched energization controller is switched to the switching of conventional continuous excitation controller by switch type excitation controller
One of criterion；
WhereinWithFor constant, defines switched energization control method and be switched to by switch type excitation controller
One of the transfer criterion of conventional continuous excitation controller,WithDefine output variable tracking error burst error beWherein e is output variable, that is, generator speed deviation delta ω,WithDefine F0Interior
Safe distance.
Further, the switch type excitation controller design the following steps are included:
S1, synchronous generator is modeled using following third-order model:
Wherein, Δ δ is generator's power and angle deviation, ωBFor generator synchronous rotational speed, Δ ω is generator speed deviation, and H is
Generator amature inertia time constant, PmMechanical output, P are inputted for generatoreElectromagnetic power is exported for generator, D is generator
Damped coefficient, EqFor the q axis potential of generator, EfFor excitation voltage, T 'd0For generator unit stator winding d axis open a way transient state when
Between constant；
S2, using generator speed deviation delta ω as output variable, excitation voltage EfFor input variable, output variable pair is sought
The opposite order r=2 of input variable；
S3,2 rank switch type excitation controllers are designed for synchronous generator.
Further, the switching logic of the switch type excitation controller are as follows:
Q (0-)=q0∈{true,false}
Wherein, q (t) and q1It (t) is logical variable and the value in set { true, false }, E is the tracking error of system output,It is the coboundary of tracking error,eIt is under tracking error
Boundary, qoldIt is the logical value of a time step on counterlogic variable,WithDefine the burst error of output variable tracking error
I.e. WithDefine the burst error of output variable first derivative i.e. WithDefine F0Interior safe distance,WithDefine F1Interior safe distance,WithIt is ideal e in F0Interior increase and reduced speed, q1(t-) and q (t-) is q respectively1(t) and q (t) is in upper a period of time
The logical value at quarter.
Further, the output of the switch type excitation controller is
Wherein q (t) is that the logic of switch type excitation controller switches logic exports,For maximum excitation voltage,For minimum
Excitation voltage.
Further, the switchover policy of the switched energization control method are as follows:
Assuming that after electric system is disturbed, the inclined absolute value of the difference of the revolving speed of generator | Δ ω | oscillation track in
Extreme value sequence is Γ (t)={ Γ1,Γ2,…,Γj, wherein Γs=(s ∈ { 1,2 ..., j }) are the maximum in sequence Γ (t)
Value, then the switchover policy of switched energization control method are as follows: when switching condition 1 meets, switched energization control method is by routine
Continuous excitation controller is switched to switch type excitation controller；When switching condition 2 meets, switched energization control method is encouraged by switching
Magnetic controller is switched to conventional continuous excitation controller, and wherein switching condition 1 and switching condition 2 are respectively
Switching condition 1:
Switching condition 2:
Further, the course of work of the conventional continuous excitation controller is as follows:
Synchronous generator revolving speed deviation delta ω is input to power system stabilizer, power system stabilizer output
uPSS；
The output u of power system stabilizerPSSWith synchronous generator set end voltage deviation delta VtIt is input to single order excitation
Device exports excitation voltage Ef, transmission function expression are as follows:
Wherein KAFor the gain coefficient of magnetizing exciter, TAFor the time constant of magnetizing exciter.
The present invention has the following advantages and effects with respect to the prior art:
1, the potential that the present invention has given full play to excitation system is made at transient oscillation initial stage by switch type excitation controller
Electric system is faced in domain with some near most fast speed convergence to equalization point；Then switch to the continuous excitation control of conventional linear
Device processed plays optimality of the conventional excitation system near equalization point, makes system Asymptotic Stability to former equalization point.
2, the switch type excitation controller proposed in the present invention only includes logical operation, so that the phase between its output and input
It is less than conventional continuous excitation controller, therefore the vibration that switch type excitation controller can quickly to synchronous generator revolving speed after steric retardation
It swings and makes a response.Only there are two values for the output of controller simultaneously, facilitate the transmission of control signal.
3, application of the present invention in synchronous generator exciting control can greatly improve large-scale electrical power system operation
Transient stability.Especially in the case where system underdamping is run, the application of switched energization control method can be effective
Avoid system unstability.
Detailed description of the invention
Fig. 1 is the structural block diagram of switched energization control method；
Fig. 2 is the structure chart of conventional continuous excitation controller；
Fig. 3 is the structure chart of PSS；
Fig. 4 is 39 bus test system structure chart of IEEE10 machine；
Fig. 5 is that switched energization control method and the continuous excitation controller of tradition control lower synchronous generator rotor speed dynamic
Comparison diagram, wherein dotted line is that only the conventional continuous excitation controller of equipment, solid line are dynamic using the system of switched energization control method
State；
Fig. 6 is switched energization control method and tradition continuously output comparison diagram of the excitation controller in the system failure,
In, solid line is the output of switched energization control method and dotted line is traditional continuous excitation controller output.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment
The present embodiment devises one kind only comprising the switch type excitation controller of logical operation, then combines conventional linear continuous
Excitation controller proposes switched energization control method.Switched energization control method is being opened according to state variable in the position in space
It closes and switches between excitation controller and the continuous excitation controller of conventional linear, to enhance the transient stability of Operation of Electric Systems.
The structure of switched energization control method is as shown in Figure 1.When synchronous generator is in steady-state operation and synchronous generator
The inclined absolute value of the difference of revolving speedWhen, switched energization control method is using conventional continuous excitation controller to synchronous generator
It is controlled；
Wherein,The criterion of switch excitation controller is switched to by conventional excitation controller for switched energization control method；
The structure of conventional continuous excitation controller is as shown in Fig. 2, wherein include a traditional PS S and a single order excitation
Device.Synchronous generator revolving speed deviation delta ω is input to PSS, and the output signal of PSS is uPSS.Used PSS structure such as Fig. 3,
Transmission function is
Wherein KPSS, Ts, T1, T2, T3, T4For the design parameter of PSS.
The output u of PSSPSSWith synchronous generator set end voltage deviation delta VtIt is input to single order magnetizing exciter, exports excitation voltage
Ef, the transmission function of single order magnetizing exciter may be expressed as:
After synchronous generator is by external disturbance, the inclined absolute value of the difference of synchronous generator revolving speedWhen, switched energization
Control method is switched to switch excitation controller；
The design of switch type excitation controller the following steps are included:
Step S1, synchronous machine modeling and its opposite order calculate
In the multi-machine power system containing n platform synchronous generator, i-th synchronous generator uses following third-order model
Description
Wherein, Δ δiFor generator's power and angle deviation, ωBFor generator synchronous rotational speed, Δ ωiFor generator speed deviation, Hi
For generator amature inertia time constant, PmiMechanical output, P are inputted for generatoreiElectromagnetic power, D are exported for generatoriFor hair
The damped coefficient of motor, EqiFor the q axis potential of generator, EfiFor excitation voltage, T 'd0iFor generator unit stator winding d axis open circuit
Time constant.For the multi-machine power system, defining its state variable iszi=[zi1 zi2
zi3]T=[Δ δi Δωi E′qi]T, defining its output variable is Y=[y1 y2 … yi … yn]T, wherein yi=zi2, definition
It is U=[u that it, which controls variable,1 … ui … un]T, wherein ui=Efi.The mould of i-th synchronous generator in multi-machine power system
Type is write as:
Wherein
The model of multi-machine power system is write as:
Wherein, F (z)=[F1 T(z) … Fi T(z) … Fn T(z)]T, G (z)=block diag [G1(z) … Gi(z)
… Gn(z)].Introduce nonlinear coordinate transformation It is wherein the opposite order that r is model formation (1).The model formation (2) of system is decoupled into n subsystem,
Each subsystem can be write as
Wherein,Model formation (1) output becomes
The all-order derivative of amount is
I-th generated output power be to the derivative of time
(5), which are substituted into (4), to be had
(6), which are substituted into (3), to be had
Consider Pei=E 'qiIqi+(xqi-x'di)IqiIdi, output power can be written as the derivative of time again
(8), which are substituted into (7), to be had
Wherein, Output variable is r=2 to the opposite order of input variable in each subsystem in multi-machine power system,
A 2 rank switch type excitation controllers are designed for each subsystem.
Step S2,2 rank switch type excitation controllers are designed:
The switching logic of 2 rank switch type excitation controllers are as follows:
Q (0-)=q0∈{true,false}
WhereinE is the tracking error of system output,It is tracking error
Coboundary,eIt is the lower boundary of tracking error, qoldIt is the logical value of a time step on counterlogic variable,WithIt defines
The burst error of output variable tracking error isWithDefine output variable single order
The burst error of derivative isWithDefine F0Interior safe distance,WithDefinition
F1Interior safe distance,WithIt is ideal e in F0Interior increase and reduced speed, q1(t-) and q (t-) is q respectively1
(t) and q (t) last moment logical value.
Step S3, the parameter designing of switch type excitation controller
Parameter designing rule 1: the parameter of switch type excitation controller meets
Parameter designing rule 2: existWithMeet
Parameter designing rule 3: the parameter of switch type excitation controller meets
Under the control of above-mentioned switch type excitation, work as condition: When being satisfied, switched energization control method is switched to conventional continuous excitation controller；
Wherein ∨ indicates logical AND operation；
Wherein ∧ indicates logic or operation；
Wherein the extreme value sequence of the oscillation track of synchronous generator revolving speed deviation is Γ (t)={ Γ1,Γ2,…,Γj,
Γs=(s ∈ { 1,2 ..., j }) are the maximum value in sequence Γ (t)；
Wherein τ indicates that switched energization control method is switched to cutting for conventional continuous excitation controller by switch type excitation controller
Change one of criterion.
In 39 bus test system of IEEE10 machine shown in Fig. 4, by switched energization control method proposed by the invention
Applied to No. 1 synchronous generator, wherein the parameter of conventional continuous excitation controller is chosen as shown in table 1.
The parameter list of conventional continuous excitation controller in 1. switched energization control method of table
| KPSS | 25 | Ts | 7.5 | T1 | 0.055 |
| T2 | 0.02 | T3 | 3 | T4 | 5.5 |
The parameter list of switch type excitation controller in 2. switched energization control method of table
When applying 0.1 second three-phase ground failure on the route between node 1 and node 2, No. 1 synchronous generator
Rotor speed dynamic of the machine under the control of conventional continuous excitation controller and switched energization control method is as shown in Figure 5.In Fig. 5
Dotted line is the rotor speed dynamic of only No. 1 synchronous generator of the continuous excitation controller of equipment tradition, and solid line is to be encouraged using switching
The rotor speed dynamic of No. 1 synchronous generator of magnetic control method, it is seen that switched energization control method controls lower synchronous generator
Rotor speed show less deviation.
Output (solid line) and tradition continuous excitation con-trol of the switched energization control method in failure process are given in Fig. 6
The output (dotted line) of device, it is seen that when occurring catastrophe failure in system, switched energization control method being capable of output switch control signal
The maximum control potential for playing excitation system, makes system be easier to restore to stablize.
In conclusion the design of switch type excitation controller only needs the opposite order of system without using other systems
Parameter.According to the control signal that its switching logic generates, only there are two value, i.e., maximum excitation voltage and minimums for switch type excitation control
Excitation voltage.The switchover policy of switched energization control method designs are as follows: when synchronous generator is made its revolving speed by external disturbance
When deviateing original equalization point, control method is switched to switch type excitation controller, generates electricity under the control of switch type excitation controller
The revolving speed of machine can be faced in domain with one small near most fast speed convergence to former equalization point；When generator speed is by former
Equalization point period control method is switched to conventional continuous excitation controller.The advantages of switched energization control method, is: on the one hand,
Make the imbalance power of generator with most fast velocity attenuation using switch type excitation control time optimal；On the other hand, guarantee
High efficiency of the conventional continuous excitation controller near equalization point.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (5)
1. a kind of synchronous generator switched energization control method based on switch control, which is characterized in that the control method
Include the following steps:
When synchronous generator is in steady-state operation and the inclined absolute value of the difference of synchronous generator revolving speedWhen, switched energization control
Method processed controls synchronous generator using conventional continuous excitation controller, whereinIt is switched energization control method by normal
Rule excitation controller is switched to the criterion of switch excitation controller；
After synchronous generator is by external disturbance, the inclined absolute value of the difference of synchronous generator revolving speedWhen, switched energization control
Method is switched to switch excitation controller；
Work as condition: { switching frequency of switch type excitation controller reaches the maximum value that excitation controller can be born } ∨ { { (Γs-
Γj)/Γs>=τ } ∧ | Δ ω | it converges toWhen being satisfied, switched energization control method
It is switched to conventional continuous excitation controller；
Wherein ∨ indicates logical AND operation, and ∧ indicates logic or operation；
Wherein the extreme value sequence of the oscillation track of synchronous generator revolving speed deviation is Γ (t)={ Γ1,Γ2,…,Γj, Γs=(s
∈ { 1,2 ..., j }) it is maximum value in sequence Γ (t)；
Wherein τ indicates that switched energization controller is switched to the transfer criterion of conventional continuous excitation controller by switch type excitation controller
One of；
WhereinWithFor constant, switched energization control method is defined by switch type excitation controller and is switched to routine
One of the transfer criterion of continuous excitation controller,WithDefine output variable tracking error burst error beWherein e is output variable, that is, generator speed deviation delta ω,WithDefine F0Interior
Safe distance.
2. the synchronous generator switched energization control method based on switch control according to claim 1, feature exist
In, the switch type excitation controller design the following steps are included:
S1, synchronous generator is modeled using following third-order model:
Wherein, Δ δ is generator's power and angle deviation, ωBFor generator synchronous rotational speed, Δ ω is generator speed deviation, and H is power generation
Machine rotor inertia time constant, PmMechanical output, P are inputted for generatoreElectromagnetic power is exported for generator, D is the resistance of generator
Buddhist nun's coefficient, EqFor the q axis potential of generator, EfFor excitation voltage, T 'd0It is normal for generator unit stator winding d axis open circuit transient state time
Number；
S2, using generator speed deviation delta ω as output variable e, excitation voltage EfFor input variable, output variable is sought to input
The opposite order r=2 of variable；
S3,2 rank switch type excitation controllers are designed for synchronous generator.
3. the synchronous generator switched energization control method based on switch control according to claim 1, feature exist
In the switching logic of the switch type excitation controller are as follows:
Q (0-)=q0∈{true,false}
Wherein, q (t) and q1It (t) is logical variable and the value in set { true, false }, E is the tracking error of system output,It is the coboundary of tracking error,eIt is under tracking error
Boundary, qoldIt is the logical value of a time step on counterlogic variable,WithDefine the burst error of output variable tracking error
I.e. WithDefine the burst error of output variable first derivative i.e. WithDefine F0Interior safe distance,WithDefine F1Interior safe distance,
λ1 +And λ1 -It is ideal e in F0Interior increase and reduced speed, q1(t-) and q (t-) is q respectively1(t) and q (t) is in upper a period of time
The logical value at quarter.
4. the synchronous generator switched energization control method based on switch control according to claim 1, feature exist
In the output of the switch type excitation controller is
Wherein q (t) is that the logic of switch type excitation controller switches logic exports,For maximum excitation voltage,For minimum excitation
Voltage.
5. the synchronous generator switched energization control method based on switch control according to claim 1, feature exist
In the course of work of the conventional continuous excitation controller is as follows:
Synchronous generator revolving speed deviation delta ω is input to power system stabilizer, and power system stabilizer exports uPSS；
The output u of power system stabilizerPSSWith synchronous generator set end voltage deviation delta VtIt is input to single order magnetizing exciter, it is defeated
Excitation voltage E outf, transmission function expression are as follows:
Wherein KAFor the gain coefficient of magnetizing exciter, TAFor the time constant of magnetizing exciter.
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| CN101145752A (en) * | 2007-08-17 | 2008-03-19 | 国电南京自动化股份有限公司 | Channel switching technology of generator excitation adjusting device |
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| CN105591403A (en) * | 2016-02-01 | 2016-05-18 | 华南理工大学 | Double-fed fan multi-loop switching control system based on logic switch control |
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| US9899942B2 (en) * | 2013-06-25 | 2018-02-20 | Siemens Energy, Inc. | Using static excitation system to reduce the amplitude of torsional oscillations due to fluctuating industrial loads |
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| CN101145752A (en) * | 2007-08-17 | 2008-03-19 | 国电南京自动化股份有限公司 | Channel switching technology of generator excitation adjusting device |
| CN104868808A (en) * | 2015-05-25 | 2015-08-26 | 西北工业大学 | Aerial three-stage brushless power generation system starting excitation control method of two-phase exciter |
| CN105591403A (en) * | 2016-02-01 | 2016-05-18 | 华南理工大学 | Double-fed fan multi-loop switching control system based on logic switch control |
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