CN108964089B - Power system load frequency control method and related product - Google Patents

Power system load frequency control method and related product Download PDF

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CN108964089B
CN108964089B CN201810836502.6A CN201810836502A CN108964089B CN 108964089 B CN108964089 B CN 108964089B CN 201810836502 A CN201810836502 A CN 201810836502A CN 108964089 B CN108964089 B CN 108964089B
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frequency
sliding mode
control
load
power
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CN108964089A (en
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郭建平
鲁仁全
李鸿一
周琪
任鸿儒
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Guangdong University of Technology
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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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Abstract

The invention provides a load frequency control method of a power system, which comprises the following steps: acquiring power error and frequency deviation of a power network; calculating to obtain a control quantity by using the power error and the frequency deviation and adopting a full-order sliding mode control method; and controlling a speed regulator of a power station by using the control quantity so as to regulate the load and frequency of the power network. The invention adopts a full-order sliding mode control mode to control the speed regulator, and compared with the mode of adopting a reduced-order sliding mode control mode in the prior art, the sliding mode surface mode is full-order, and in the frequency load regulation of the power system, the singularity and the buffeting degree are reduced. The load frequency control device, the load frequency control system, the computer device and the computer readable storage medium of the power system provided by the invention also have the beneficial effects, and are not described herein again.

Description

Power system load frequency control method and related product
Technical Field
The invention relates to the technical field of power system regulation and control, in particular to a power system load frequency control method and a related product.
Background
With the increasing of the electricity consumption year by year, people put higher and higher requirements on the stability and the electricity quality of the electric energy, so that the load frequency control is one of the important subjects in the design and the operation of the electric power system. For the power system, the load is always changed constantly, and various faults may happen at any time, and it is necessary to design a load frequency control system, so that the power system controls the load of the generator depending on the frequency; therefore, how to control the frequency within an acceptable range for an electric power system with uncertain parameters is always a very challenging research topic.
The prior art models for load frequency control of power systems are all linear-based models, and only one model exists even if non-linearity is included. In practical systems, however, the power system is an interconnected, complex, coupled nonlinear system. Therefore, linear systems do not really represent a model of load frequency control of an electric power system, and it becomes necessary to represent a load frequency control model of an electric power system with a nonlinear model. The sliding mode control has the capability of resisting external interference and parameter change, so that the sliding mode control has a great deal of application in nonlinear systems, stochastic systems, power electronics, motors and the like. Sliding mode control is also applied to load frequency control of power systems at home and abroad. However, most sliding mode surfaces of sliding mode control based on load frequency control are reduced-order sliding mode surfaces, and singularity is easily generated on the reduced-order sliding mode surfaces.
Therefore, it is an urgent technical problem to be solved by those skilled in the art how to provide a frequency load control scheme for an electric power system, which can reduce singularity and buffeting level in the frequency load adjustment of the electric power system.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method for controlling a load frequency of a power system and a related product, which can reduce singularity and buffeting in frequency load adjustment of the power system. The specific scheme is as follows:
in a first aspect, the present invention provides a method for controlling a load frequency of an electrical power system, including:
acquiring power error and frequency deviation of a power network;
calculating to obtain a control quantity by using the power error and the frequency deviation and adopting a full-order sliding mode control method;
and controlling a speed regulator of a power station by using the control quantity so as to regulate the load and frequency of the power network.
Preferably, the first and second electrodes are formed of a metal,
the full-order sliding mode control method is a full-order terminal sliding mode control method;
the nonlinear equation of the full-order terminal sliding mode control method is as follows:
Figure BDA0001744597210000021
wherein x is a vector, f (x, t) and a (x, t) are both nonlinear equations, d is external disturbance, and u is a controlled variable;
and the equation for the terminal sliding-mode surface is:
Figure BDA0001744597210000022
beta in the above formulaiAnd λiAre all constants; beta is aiIs chosen such that the polynomial pn+βnpn-1+βn-1pn-2+…β2p+β1The solutions of (a) are all negative numbers;
said lambdaiThe following formula is referred to for selection:
Figure BDA0001744597210000023
wherein λ isn+1＝1，λn＝λ，λ∈(0,1)；
And making the equation of the terminal sliding mode surface equal to zero to obtain a control quantity:
u＝a-1(ueq+un)＝u'eq+u'n
wherein,
Figure BDA0001744597210000024
said u isnComprises the following steps:
Figure BDA0001744597210000031
wherein v is:
Figure BDA0001744597210000032
wherein l is a positive preset coefficient, s is a sliding mode surface equation, and xi is a preset positive number.
Preferably, the first and second electrodes are formed of a metal,
the full-order sliding mode control method is a full-order linear sliding mode control method;
the nonlinear equation of the full-order linear sliding mode control method is as follows:
Figure BDA0001744597210000033
wherein x is a vector, f (x, t) and a (x, t) are both nonlinear equations, d is external disturbance, and u is a controlled variable;
the equation for a linear sliding mode surface is:
Figure BDA0001744597210000034
beta in the above formulaiAnd λiAre all constants; beta is aiIs chosen such that the polynomial pn+βnpn-1+βn-1pn-2+…β2p+β1The solutions of (a) are all negative numbers;
said lambdaiThe following formula is referred to for selection:
Figure BDA0001744597210000035
wherein,
λn+1＝1，λn＝λ，λ∈(0,1)；
and (3) making the sliding mode surface equal to zero to obtain a control quantity:
u＝a-1(ueq+un)＝u'eq+u'n
wherein,
ueq＝-f(x,t)-βnxn-…-β1x1
said u isnComprises the following steps:
Figure BDA0001744597210000036
wherein v is:
Figure BDA0001744597210000037
wherein l is a positive preset coefficient, s is a sliding mode surface equation, and xi is a preset positive number.
Preferably, the control quantity is limited by both GDB and/or GRC non-linearities of the generator.
In a second aspect, the present invention provides a power system load frequency control apparatus, including:
the deviation acquisition module is used for acquiring power errors and frequency deviations of the power network;
the control quantity calculation module is used for calculating and obtaining a control quantity by using the power error and the frequency deviation and adopting a full-order sliding mode control method;
and the speed regulator control module is used for controlling the speed regulator of the power station by utilizing the control quantity so as to regulate the load and the frequency of the power network.
In a third aspect, the present invention provides a load frequency control system for an electrical power system, which is applied to an interconnected electrical power network between two regions, where the electrical power network includes: a first power network and a second power network connected by a tie line;
the first regional power grid is provided with a first load frequency control device, and the second regional power grid is provided with a second load frequency control device;
the first load frequency control device includes:
the first deviation acquiring module is used for acquiring a first power error and a first frequency deviation of a first power network;
the first control quantity calculating module is used for calculating a first control quantity by using the first power error, the first frequency deviation and the second frequency deviation and adopting a first full-order sliding mode control method;
the first speed regulator control module is used for controlling a speed regulator of a first power generation station by utilizing the first control quantity so as to adjust the load and the frequency of a first power network;
the second load frequency control device includes:
the second deviation acquiring module is used for acquiring a second power error and a second frequency deviation of a second power network;
the second control quantity calculating module is used for calculating a second control quantity by using the second power error, the second frequency deviation and the first frequency deviation and adopting a second full-order sliding mode control method;
the second speed regulator control module is used for controlling a speed regulator of a second power station by utilizing the second control quantity so as to adjust the load and the frequency of a second power network;
preferably, the first full-order sliding mode control method and the second full-order sliding mode control method are full-order terminal sliding mode control methods.
Preferably, the first full-order sliding mode control method and the second full-order sliding mode control method are both full-order linear sliding mode control methods.
In a fourth aspect, the present invention provides a computer apparatus comprising:
a memory for storing a computer program;
a processor for implementing the steps of any of the above described power system load frequency control methods of the first aspect when executing the computer program.
In a fifth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of any of the power system load frequency control methods described above in the first aspect.
The invention provides a load frequency control method of a power system, which comprises the following steps: acquiring power error and frequency deviation of a power network; calculating to obtain a control quantity by using the power error and the frequency deviation and adopting a full-order sliding mode control method; and controlling a speed regulator of a power station by using the control quantity so as to regulate the load and frequency of the power network. The invention adopts a full-order sliding mode control mode to control the speed regulator, and compared with the mode of adopting a reduced-order sliding mode control mode in the prior art, the sliding mode surface mode is full-order, and in the frequency load regulation of the power system, the singularity and the buffeting degree are reduced.
The load frequency control device, the load frequency control system, the computer device and the computer readable storage medium of the power system provided by the invention also have the beneficial effects, and are not described herein again.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a method for controlling a load frequency of an electrical power system according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a load frequency control apparatus of an electrical power system according to another embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a load frequency control system of an electrical power system according to an embodiment of the present invention;
FIG. 4 is a comparison of frequency difference between a full-order sliding mode control method using terminals and a conventional sliding mode control method according to an embodiment of the present invention;
FIG. 5 is a graph comparing the power difference of the tie line using the terminal full-order sliding mode control method and the conventional sliding mode control method according to an embodiment of the present invention;
FIG. 6 is a graph comparing the difference in regional control using the terminal full-order sliding mode control method and the conventional sliding mode control method in an embodiment of the present invention;
FIG. 7 is a graph comparing frequency differences between a linear full-order sliding mode control method and a conventional sliding mode control method according to an embodiment of the present invention;
FIG. 8 is a graph comparing the crossline power difference using a linear full-order sliding-mode control method with a conventional sliding-mode control method in accordance with an embodiment of the present invention;
FIG. 9 is a graph comparing the regional control differences between a linear full-order sliding mode control method and a conventional sliding mode control method according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a computer device according to yet another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1, fig. 1 is a method for controlling a load frequency of a power system according to an embodiment of the present invention.
In a specific implementation manner of the present invention, an embodiment of the present invention provides a method for controlling a load frequency of an electrical power system, including:
s11: acquiring power error and frequency deviation of a power network;
s12: calculating to obtain a control quantity by using the power error and the frequency deviation and adopting a full-order sliding mode control method;
s13: and controlling a speed regulator of a power station by using the control quantity so as to regulate the load and frequency of the power network.
In the embodiment of the invention, the power error and the evaluation deviation of the power network are firstly acquired, and the frequency deviation refers to the difference between the actual value and the nominal value of the system frequency under the normal operation condition of the power system. The rate deviation expression is: the frequency deviation is the actual frequency-nominal frequency (the nominal frequency of the system in China is 50HZ, and the nominal frequency of the system in foreign countries is 60 HZ); the allowable value of normal frequency deviation of the power system in China is +/-0.2 HZ, and when the system capacity is small, the frequency deviation value can be widened to +/-0.5 HZ; the system active power imbalance is the root cause for the frequency deviation.
Therefore, the power error is closely connected with the frequency deviation, and the power error can be adjusted by using a speed regulator of the power station. In the sliding mode control, the general traditional sliding mode surfaces are as same as those of the sliding mode
Figure BDA0001744597210000071
Shown, and the equation for the terminal sliding-mode surface is
Figure BDA0001744597210000072
The equation for a linear sliding mode surface is
Figure BDA0001744597210000073
Therefore, the invention uses a full-order sliding mode control method adopting a full-order sliding mode surface equation to calculate the acquired power error and frequency deviation to obtain the control quantity for adjusting the speed regulator of the power station, thereby being capable of adjusting the load balance and the frequency stability of the power network.
Further, in a specific embodiment, the full-order sliding mode control method may be a full-order terminal sliding mode control method; the nonlinear equation of the full-order terminal sliding mode control method is as follows:
Figure BDA0001744597210000074
wherein x is a vector, f (x, t) and a (x, t) are both nonlinear equations, d is external disturbance, and u is a controlled variable;
and the equation for the terminal sliding-mode surface is:
Figure BDA0001744597210000075
beta in the above formulaiAnd λiAre all constants; beta is aiIs chosen such that the polynomial pn+βnpn-1+βn-1pn-2+…β2p+β1The solutions of (a) are all negative numbers;
said lambdaiThe following formula is referred to for selection:
Figure BDA0001744597210000076
wherein λ isn+1＝1，λn＝λ，λ∈(0,1)；
And making the equation of the terminal sliding mode surface equal to zero to obtain a control quantity:
u＝a-1(ueq+un)＝u'eq+u'n
wherein,
Figure BDA0001744597210000081
said u isnComprises the following steps:
Figure BDA0001744597210000082
wherein v is:
Figure BDA0001744597210000083
wherein l is a positive preset coefficient, s is a sliding mode surface equation, and xi is a preset positive number.
Of course, a full-order linear sliding mode control method can also be adopted, namely the full-order sliding mode control method is the full-order linear sliding mode control method; the nonlinear equation of the full-order linear sliding mode control method is as follows:
Figure BDA0001744597210000084
wherein x is a vector, f (x, t) and a (x, t) are both nonlinear equations, d is external disturbance, and u is a controlled variable;
the equation for a linear sliding mode surface is:
Figure BDA0001744597210000085
beta in the above formulaiAnd λiAre all constants; beta is aiIs chosen such that the polynomial pn+βnpn-1+βn-1pn-2+…β2p+β1The solutions of (a) are all negative numbers;
said lambdaiThe following formula is referred to for selection:
Figure BDA0001744597210000086
wherein,
λn+1＝1，λn＝λ，λ∈(0,1)；
and (3) making the sliding mode surface equal to zero to obtain a control quantity:
u＝a-1(ueq+un)＝u'eq+u'n
wherein,
ueq＝-f(x,t)-βnxn-…-β1x1
said u isnComprises the following steps:
Figure BDA0001744597210000087
wherein v is:
Figure BDA0001744597210000091
wherein l is a positive preset coefficient, s is a sliding mode surface equation, and xi is a preset positive number. In general, ξ is a number close to zero, and may be set to a number of 0.1, 0.01, 0.001 or less as needed.
It should be noted that when the control of the governor is calculated by using the full-step sliding mode calculation method in the above embodiment, it is possible to calculate the control amount exceeding the regulation range of the generator, and after the control amount is calculated, the control amount is limited by two non-linearities, i.e., GDB and/or GRC, of the generator. That is, if the calculated control amount exceeds the maximum adjustment threshold of the generator, the control amount may be controlled to be equal to the maximum adjustment threshold. The maximum regulation threshold of the generator is limited by both the GDB (generator control dead band) and/or GRC (generator rate of change non-linearity) non-linearities of the generator.
The invention provides a load frequency control method of a power system, which comprises the following steps: acquiring power error and frequency deviation of a power network; calculating to obtain a control quantity by using the power error and the frequency deviation and adopting a full-order sliding mode control method; and controlling a speed regulator of a power station by using the control quantity so as to regulate the load and frequency of the power network. The invention adopts a full-order sliding mode control mode to control the speed regulator, and compared with the mode of adopting a reduced-order sliding mode control mode in the prior art, the sliding mode surface mode is full-order, and in the frequency load regulation of the power system, the singularity and the buffeting degree are reduced.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating a load frequency control device of an electrical power system according to another embodiment of the present invention.
In a second aspect, the present invention provides a power system load frequency control apparatus 200, comprising:
a deviation obtaining module 210, configured to obtain a power error and a frequency deviation of the power network;
the control quantity calculating module 220 is configured to calculate a control quantity by using the power error and the frequency deviation and using a full-order sliding mode control method;
and the speed regulator control module 230 is used for controlling the speed regulator of the power station by using the control quantity so as to regulate the load and the frequency of the power network.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a load frequency control system of an electrical power system according to an embodiment of the present invention.
In a third aspect, the present invention provides a load frequency control system for an electrical power system, which is applied to an interconnected electrical power network between two regions, where the electrical power network includes: a first power network 311 and a second power network 321 connected by a tie line;
the first regional power grid is provided with a first load frequency control device 312, and the second regional power grid is provided with a second load frequency control device 322;
the first load frequency control device 312 includes:
a first deviation obtaining module, configured to obtain a first power error and a first frequency deviation of the first power network 311;
the first control quantity calculating module is used for calculating a first control quantity by using the first power error, the first frequency deviation and the second frequency deviation and adopting a first full-order sliding mode control method;
the first speed regulator control module is used for controlling a speed regulator 313 of a first power generation station by utilizing the first control quantity so as to regulate the load and the frequency of a first power network;
the second load frequency control device 322 includes:
the second deviation acquiring module is used for acquiring a second power error and a second frequency deviation of a second power network;
the second control quantity calculating module is used for calculating a second control quantity by using the second power error, the second frequency deviation and the first frequency deviation and adopting a second full-order sliding mode control method;
a second speed regulator control module, configured to control a speed regulator of a second power plant by using the second control quantity, so as to adjust load and frequency of a second power network 321;
in practice, please refer to the drawings3, outputs of ACE1 and ACE2 are control quantity u1Or u2Wherein T isG1,TG2Is the governor time constant, Tt1,Tt2Is the time constant of the steam box, kRIs a high voltage rating, TRHIs the high to low pressure phase time, Kp1,Kp2Is the generator constant, Tp1,Tp2As generator time constant, T12,T21To coefficient of tie lines, ACE1,ACE2For regional control errors, B1,B2As a frequency response coefficient, R1,R2Is the speed droop coefficient, Δ Ptie1,ΔPtie2Is the tie line power error, Δ f1，Δf2Is the frequency deviation, Δ PL1,ΔPL2Is a load disturbance, Δ xg1，Δxg2Is the change in valve position, Δ Pg1,ΔPg2The mechanical energy (where i ═ 1 and 2 represent different regions) is represented, where reference numeral 1 represents the upper half region in fig. 3 and reference numeral 2 represents the lower half region in fig. 3.
The load frequency control of fig. 3 includes two interconnected regions, each of which is composed of a governor, a steam turbine and a generator. Steam turbines include the same types: a non-reheat steam turbine, and the system takes into account governor dead band and generator rate of change non-linear constraints.
Specifically, when calculating the control quantity, Δ x is set to Δ f, and then the third derivative of the frequency difference is finally obtained according to the transfer function of the power system. And designing a sliding mode surface controlled by a linear sliding mode, bringing the obtained frequency difference or the derivatives of several orders into the sliding mode surface controlled by the linear sliding mode, and finally obtaining the control quantity. Specifically, reference may be made to the arrangement in the above-described embodiment.
Based on the above embodiments, in one embodiment, the third derivative of the frequency difference is:
Figure BDA0001744597210000111
where i is 1 or 2.
The slip form face can be designed as:
Figure BDA0001744597210000112
ueqcan be designed as follows:
Figure BDA0001744597210000113
uncan be designed as follows:
Figure BDA0001744597210000114
the total control quantity can be designed as:
u＝a-1(ueq+un) As for the meaning of the parameters and the arrangement of other parts in the present embodiment, reference may be made to the contents of the above-described embodiments.
Specifically, in implementation, in order to achieve adjustment consistency of the two regions and reduce asynchronous conflicts which may be caused between different adjustment modes, the full-order sliding mode control methods of the power networks of the two regions may be set to be the same control mode, that is, both the first full-order sliding mode control method and the second full-order sliding mode control method may be set to be a full-order terminal sliding mode control method; the first full-order sliding mode control method and the second full-order sliding mode control method may be set as full-order linear sliding mode control methods.
Referring to fig. 4 to 9, fig. 4 is a diagram illustrating a comparison of frequency differences between a terminal full-order sliding mode control method and a conventional sliding mode control method according to an embodiment of the present invention; FIG. 5 is a graph comparing the power difference of the tie line using the terminal full-order sliding mode control method and the conventional sliding mode control method according to an embodiment of the present invention; FIG. 6 is a graph comparing the difference in regional control using the terminal full-order sliding mode control method and the conventional sliding mode control method in an embodiment of the present invention; FIG. 7 is a graph comparing frequency differences between a linear full-order sliding mode control method and a conventional sliding mode control method according to an embodiment of the present invention; FIG. 8 is a graph comparing the crossline power difference using a linear full-order sliding-mode control method with a conventional sliding-mode control method in accordance with an embodiment of the present invention; FIG. 9 is a graph comparing the regional control differences between the linear full-order sliding mode control method and the conventional sliding mode control method according to an embodiment of the present invention.
As can be seen from fig. 4 to 9, the full-order sliding mode control method can achieve a good control effect. And compared with the traditional sliding mode control, the response time, the overshoot and the buffeting performance are obviously reduced.
Referring to fig. 10, fig. 10 is a schematic structural diagram of a computer device according to still another embodiment of the present invention.
In another embodiment of the present invention, a computer device includes:
a memory for storing a computer program;
a processor for implementing the steps of the power system load frequency control method according to any of the above embodiments when executing the computer program.
Reference is now made to FIG. 10, which illustrates a schematic block diagram of a computer device suitable for use in implementing embodiments of the present application. The computer device shown in fig. 10 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 10, the computer system 1000 includes a processor (CPU)1001 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)1002 or a program loaded from a storage section 1008 into a Random Access Memory (RAM) 1003. In the RAM 1003, various programs and data necessary for the operation of the system 1000 are also stored.
The CPU 1001, ROM 1002, and RAM 1003 are connected to each other via a bus 1004. An input/output (I/O) interface 1003 is also connected to bus 1004.
The following components are connected to the I/O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 1008 including a hard disk and the like; and a communication section 1009 including a network interface card such as a LAN card, a modem, or the like. The communication section 1009 performs communication processing via a network such as the internet. The driver 1010 is also connected to the I/O interface 1007 as necessary. A removable medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1010 as necessary, so that a computer program read out therefrom is mounted into the storage section 1008 as necessary.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication part 1009 and/or installed from the removable medium 1011. The computer program, when executed by the processor (CPU)1001, performs the above-described functions defined in the method of the present application. It should be noted that the computer readable medium described herein can be a computer readable signal medium or a computer readable medium or any combination of the two. A computer readable medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As another specific embodiment, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the power system load frequency control method in any of the specific embodiments.
The computer-readable medium may be included in the computer or the terminal device described in the above embodiments; or may exist separately and not be incorporated into the computer device. The computer readable medium carries one or more programs which, when executed by the computing device, cause the computing device to: acquiring power error and frequency deviation of a power network; calculating to obtain a control quantity by using the power error and the frequency deviation and adopting a full-order sliding mode control method; and controlling a speed regulator of a power station by using the control quantity so as to regulate the load and frequency of the power network. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above detailed description is provided for the method for controlling the load frequency of the power system and the related products, and the specific examples are applied herein to explain the principle and the implementation of the present invention, and the description of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (6)

1. A method for controlling a load frequency of an electrical power system, comprising:
acquiring power error and frequency deviation of a power network;
calculating to obtain a control quantity by using the power error and the frequency deviation and adopting a full-order sliding mode control method;
controlling a speed regulator of a power station by using the control quantity so as to regulate the load and frequency of the power network;
the full-order sliding mode control method is a full-order linear sliding mode control method;
the nonlinear equation of the full-order linear sliding mode control method is as follows:
Figure DEST_PATH_IMAGE002
wherein, the
Figure DEST_PATH_IMAGE004
Is a vector, the
Figure DEST_PATH_IMAGE006
And said
Figure DEST_PATH_IMAGE008
Are all non-linear equations, said
Figure DEST_PATH_IMAGE010
For external disturbance, said
Figure DEST_PATH_IMAGE012
Is a control quantity;
the equation for a linear sliding mode surface is:
Figure DEST_PATH_IMAGE014
；
in the above formula
Figure DEST_PATH_IMAGE016
And
Figure DEST_PATH_IMAGE018
are all constants;
Figure DEST_PATH_IMAGE020
is selected to make a polynomial
Figure DEST_PATH_IMAGE022
The solutions of (a) are all negative numbers;
the above-mentioned
Figure DEST_PATH_IMAGE023
The following formula is referred to for selection:
Figure DEST_PATH_IMAGE025
wherein,
Figure DEST_PATH_IMAGE027
，
Figure DEST_PATH_IMAGE029
，
Figure DEST_PATH_IMAGE031
；
and (3) making the sliding mode surface equal to zero to obtain a control quantity:
Figure DEST_PATH_IMAGE033
wherein,
Figure DEST_PATH_IMAGE035
the above-mentioned
Figure DEST_PATH_IMAGE037
Comprises the following steps:
Figure DEST_PATH_IMAGE039
wherein, the
Figure DEST_PATH_IMAGE041
Comprises the following steps:
Figure DEST_PATH_IMAGE043
，
wherein,
Figure DEST_PATH_IMAGE045
the coefficient is a positive preset coefficient and is,
Figure DEST_PATH_IMAGE047
is a sliding mode surface equation,
Figure DEST_PATH_IMAGE049
is a preset positive number;
when the method for controlling the load frequency of the power system is applied to a power network with two interconnected regions, the power network comprises: the system comprises a first regional power grid and a second regional power grid which are connected through a tie line; the first regional power grid is provided with a first load frequency control device, and the second regional power grid is provided with a second load frequency control device;
setting when calculating the control quantity
Figure DEST_PATH_IMAGE051
(ii) a Finally, obtaining a third derivative of the frequency difference according to the transfer function of the power system; designing a sliding mode surface controlled by a linear sliding mode; the obtained frequency difference or the derivatives of several orders thereof are brought into a sliding mode surface of linear sliding mode control to obtain the control quantity; wherein the third derivative of the frequency difference is:
Figure DEST_PATH_IMAGE053
wherein
Figure DEST_PATH_IMAGE055
=1 or 2;
the slip form surface is designed as follows:
Figure DEST_PATH_IMAGE057
Figure DEST_PATH_IMAGE059
the design is as follows:
Figure DEST_PATH_IMAGE061
Figure DEST_PATH_IMAGE063
the design is as follows:
Figure DEST_PATH_IMAGE065
the total control quantity is designed as:
Figure DEST_PATH_IMAGE067
；
wherein
Figure DEST_PATH_IMAGE069
、
Figure DEST_PATH_IMAGE071
Are respectively control quantities
Figure DEST_PATH_IMAGE073
Or
Figure DEST_PATH_IMAGE075
Wherein
Figure DEST_PATH_IMAGE077
,
Figure DEST_PATH_IMAGE079
As a time constant of the speed regulator,
Figure DEST_PATH_IMAGE081
,
Figure DEST_PATH_IMAGE083
is the time constant of the steam box,
Figure DEST_PATH_IMAGE085
is a high voltage rating and is,
Figure DEST_PATH_IMAGE087
is the high pressure to low pressure phase time,
Figure DEST_PATH_IMAGE089
,
Figure DEST_PATH_IMAGE091
is the constant of the generator and is,
Figure DEST_PATH_IMAGE093
,
Figure DEST_PATH_IMAGE095
as a function of the time constant of the generator,
Figure DEST_PATH_IMAGE097
,
Figure DEST_PATH_IMAGE099
in order to be the tie-line coefficient,
Figure DEST_PATH_IMAGE101
,
Figure DEST_PATH_IMAGE103
in order to control the error for the region,
Figure DEST_PATH_IMAGE105
,
Figure DEST_PATH_IMAGE107
in order to be a frequency response coefficient,
Figure DEST_PATH_IMAGE109
,
Figure DEST_PATH_IMAGE111
is the speed droop coefficient of the speed at which,
Figure DEST_PATH_IMAGE113
,
Figure DEST_PATH_IMAGE115
is the power error of the tie-line,
Figure DEST_PATH_IMAGE117
，
Figure DEST_PATH_IMAGE119
is the deviation in the frequency of the signal,
Figure DEST_PATH_IMAGE121
,
Figure DEST_PATH_IMAGE123
is a disturbance of the load and,
Figure DEST_PATH_IMAGE125
，
Figure DEST_PATH_IMAGE127
is the change in the position of the valve,
Figure DEST_PATH_IMAGE129
,
Figure DEST_PATH_IMAGE131
the representative is the mechanical energy of the gas,
Figure DEST_PATH_IMAGE133
is a first load frequency control device for controlling the load frequency,
Figure DEST_PATH_IMAGE135
for controlling the frequency of the second loadThe device is characterized in that, among other things,
Figure DEST_PATH_IMAGE137
representing different regions.
2. The power system load frequency control method of claim 1, wherein the control amount is limited by a generator control dead band of the generator and/or a generator rate of change nonlinearity.
3. An electric power system load frequency control device, characterized by comprising:
the deviation acquisition module is used for acquiring power errors and frequency deviations of the power network;
the control quantity calculation module is used for calculating and obtaining a control quantity by using the power error and the frequency deviation and adopting a full-order sliding mode control method;
the speed regulator control module is used for controlling a speed regulator of the power station by utilizing the control quantity so as to regulate the load and the frequency of the power network;
the full-order sliding mode control method is a full-order linear sliding mode control method;
the nonlinear equation of the full-order linear sliding mode control method is as follows:
Figure 967494DEST_PATH_IMAGE002
wherein, the
Figure 592510DEST_PATH_IMAGE004
Is a vector, the
Figure 858406DEST_PATH_IMAGE006
And said
Figure 732822DEST_PATH_IMAGE008
Are all non-linear equations, said
Figure 857379DEST_PATH_IMAGE010
For external disturbance, said
Figure 71323DEST_PATH_IMAGE012
Is a control quantity;
the equation for a linear sliding mode surface is:
Figure 508120DEST_PATH_IMAGE014
；
in the above formula
Figure 869831DEST_PATH_IMAGE016
And
Figure 50277DEST_PATH_IMAGE018
are all constants;
Figure 633574DEST_PATH_IMAGE020
is selected to make a polynomial
Figure 241273DEST_PATH_IMAGE022
The solutions of (a) are all negative numbers;
the above-mentioned
Figure 27963DEST_PATH_IMAGE023
The following formula is referred to for selection:
Figure 808837DEST_PATH_IMAGE025
wherein,
Figure 262953DEST_PATH_IMAGE027
，
Figure 526706DEST_PATH_IMAGE029
，
Figure 800692DEST_PATH_IMAGE031
；
and (3) making the sliding mode surface equal to zero to obtain a control quantity:
Figure 119678DEST_PATH_IMAGE033
wherein,
Figure 428300DEST_PATH_IMAGE035
the above-mentioned
Figure 377801DEST_PATH_IMAGE037
Comprises the following steps:
Figure 388352DEST_PATH_IMAGE039
wherein, the
Figure DEST_PATH_IMAGE139
Comprises the following steps:
Figure 714291DEST_PATH_IMAGE043
，
wherein,
Figure 142998DEST_PATH_IMAGE045
the coefficient is a positive preset coefficient and is,
Figure 997821DEST_PATH_IMAGE047
is a sliding mode surface equation,
Figure 11781DEST_PATH_IMAGE049
is a preset positive number;
when the method for controlling the load frequency of the power system is applied to a power network with two interconnected regions, the power network comprises: the system comprises a first regional power grid and a second regional power grid which are connected through a tie line; the first regional power grid is provided with a first load frequency control device, and the second regional power grid is provided with a second load frequency control device;
setting when calculating the control quantity
Figure 672570DEST_PATH_IMAGE051
(ii) a Finally, obtaining a third derivative of the frequency difference according to the transfer function of the power system; designing a sliding mode surface controlled by a linear sliding mode; the obtained frequency difference or the derivatives of several orders thereof are brought into a sliding mode surface of linear sliding mode control to obtain the control quantity; wherein the third derivative of the frequency difference is:
Figure 955783DEST_PATH_IMAGE053
wherein
Figure 981508DEST_PATH_IMAGE055
=1 or 2;
the slip form surface is designed as follows:
Figure 717383DEST_PATH_IMAGE057
Figure DEST_PATH_IMAGE141
the design is as follows:
Figure DEST_PATH_IMAGE142
Figure DEST_PATH_IMAGE144
the design is as follows:
Figure DEST_PATH_IMAGE145
the total control quantity is designed as:
Figure DEST_PATH_IMAGE146
；
wherein
Figure DEST_PATH_IMAGE147
、
Figure DEST_PATH_IMAGE148
Are respectively control quantities
Figure DEST_PATH_IMAGE149
Or
Figure DEST_PATH_IMAGE150
Wherein
Figure DEST_PATH_IMAGE151
,
Figure DEST_PATH_IMAGE152
As a time constant of the speed regulator,
Figure DEST_PATH_IMAGE153
,
Figure DEST_PATH_IMAGE154
is the time constant of the steam box,
Figure DEST_PATH_IMAGE155
is a high voltage rating and is,
Figure DEST_PATH_IMAGE156
is the high pressure to low pressure phase time,
Figure DEST_PATH_IMAGE157
,
Figure DEST_PATH_IMAGE158
is the constant of the generator and is,
Figure DEST_PATH_IMAGE159
,
Figure DEST_PATH_IMAGE160
as a function of the time constant of the generator,
Figure DEST_PATH_IMAGE161
,
Figure DEST_PATH_IMAGE162
in order to be the tie-line coefficient,
Figure DEST_PATH_IMAGE163
,
Figure DEST_PATH_IMAGE164
in order to control the error for the region,
Figure DEST_PATH_IMAGE165
,
Figure DEST_PATH_IMAGE166
in order to be a frequency response coefficient,
Figure DEST_PATH_IMAGE167
,
Figure DEST_PATH_IMAGE168
is the speed droop coefficient of the speed at which,
Figure DEST_PATH_IMAGE169
,
Figure DEST_PATH_IMAGE170
is the power error of the tie-line,
Figure DEST_PATH_IMAGE171
，
Figure DEST_PATH_IMAGE172
is the deviation in the frequency of the signal,
Figure DEST_PATH_IMAGE173
,
Figure DEST_PATH_IMAGE174
is a disturbance of the load and,
Figure DEST_PATH_IMAGE175
，
Figure DEST_PATH_IMAGE176
is the change in the position of the valve,
Figure DEST_PATH_IMAGE177
,
Figure DEST_PATH_IMAGE178
the representative is the mechanical energy of the gas,
Figure DEST_PATH_IMAGE180
is a first load frequency control device for controlling the load frequency,
Figure DEST_PATH_IMAGE182
is a second load frequency control device, wherein,
Figure DEST_PATH_IMAGE183
representing different regions.
4. A system for controlling the load frequency of an electrical power system, for use in an interconnected electrical power network between two regions, the electrical power network comprising: the system comprises a first regional power grid and a second regional power grid which are connected through a tie line;
the first regional power grid is provided with a first load frequency control device, and the second regional power grid is provided with a second load frequency control device;
the first load frequency control device includes:
the first deviation acquisition module is used for acquiring a first power error and a first frequency deviation of the first regional power grid;
the first control quantity calculating module is used for calculating a first control quantity by using the first power error, the first frequency deviation and the second frequency deviation and adopting a first full-order sliding mode control method;
the first speed regulator control module is used for controlling a speed regulator of a first power generation station by utilizing the first control quantity so as to adjust the load and the frequency of the first regional power grid;
the second load frequency control device includes:
the second deviation acquisition module is used for acquiring a second power error and a second frequency deviation of the second regional power grid;
the second control quantity calculating module is used for calculating a second control quantity by using the second power error, the second frequency deviation and the first frequency deviation and adopting a second full-order sliding mode control method;
the second speed regulator control module is used for controlling a speed regulator of a second power station by utilizing the second control quantity so as to adjust the load and the frequency of the second regional power grid;
the first full-order sliding mode control method and the second full-order sliding mode control method are full-order linear sliding mode control methods;
the nonlinear equation of the full-order linear sliding mode control method is as follows:
Figure DEST_PATH_IMAGE184
wherein, the
Figure DEST_PATH_IMAGE185
Is a vector, the
Figure DEST_PATH_IMAGE186
And said
Figure DEST_PATH_IMAGE187
Are all non-linear equations, said
Figure DEST_PATH_IMAGE188
For external disturbance, said
Figure DEST_PATH_IMAGE189
Is a control quantity;
the equation for a linear sliding mode surface is:
Figure DEST_PATH_IMAGE190
；
in the above formula
Figure DEST_PATH_IMAGE191
And
Figure DEST_PATH_IMAGE192
are all constants;
Figure DEST_PATH_IMAGE193
is selected to make a polynomial
Figure DEST_PATH_IMAGE194
The solutions of (a) are all negative numbers;
the above-mentioned
Figure DEST_PATH_IMAGE195
The following formula is referred to for selection:
Figure DEST_PATH_IMAGE196
wherein,
Figure DEST_PATH_IMAGE197
，
Figure DEST_PATH_IMAGE198
，
Figure DEST_PATH_IMAGE199
；
and (3) making the sliding mode surface equal to zero to obtain a control quantity:
Figure DEST_PATH_IMAGE200
wherein,
Figure DEST_PATH_IMAGE201
the above-mentioned
Figure DEST_PATH_IMAGE202
Comprises the following steps:
Figure DEST_PATH_IMAGE203
wherein, the
Figure DEST_PATH_IMAGE204
Comprises the following steps:
Figure DEST_PATH_IMAGE205
，
wherein,
Figure DEST_PATH_IMAGE206
the coefficient is a positive preset coefficient and is,
Figure DEST_PATH_IMAGE207
is a sliding mode surface equation,
Figure DEST_PATH_IMAGE208
is a preset positive number;
setting when calculating the control quantity
Figure DEST_PATH_IMAGE209
(ii) a Finally, obtaining a third derivative of the frequency difference according to the transfer function of the power system; designing a sliding mode surface controlled by a linear sliding mode; the obtained frequency difference or the derivatives of several orders thereof are brought into a sliding mode surface of linear sliding mode control to obtain the control quantity; wherein the third derivative of the frequency difference is:
Figure DEST_PATH_IMAGE210
wherein
Figure DEST_PATH_IMAGE211
=1 or 2;
the slip form surface is designed as follows:
Figure DEST_PATH_IMAGE212
Figure DEST_PATH_IMAGE213
the design is as follows:
Figure 965218DEST_PATH_IMAGE142
Figure 102938DEST_PATH_IMAGE144
the design is as follows:
Figure 548832DEST_PATH_IMAGE145
the total control quantity is designed as:
Figure 772003DEST_PATH_IMAGE146
；
wherein
Figure 40173DEST_PATH_IMAGE147
、
Figure 32400DEST_PATH_IMAGE148
Are respectively control quantities
Figure 399927DEST_PATH_IMAGE149
Or
Figure 852338DEST_PATH_IMAGE150
Wherein
Figure 861882DEST_PATH_IMAGE151
,
Figure 505353DEST_PATH_IMAGE152
As a time constant of the speed regulator,
Figure 574940DEST_PATH_IMAGE153
,
Figure 241545DEST_PATH_IMAGE154
is the time constant of the steam box,
Figure 851518DEST_PATH_IMAGE155
is a high voltage rating and is,
Figure 802025DEST_PATH_IMAGE156
is a high pressureThe time to the low-pressure phase is reached,
Figure 776935DEST_PATH_IMAGE157
,
Figure 196415DEST_PATH_IMAGE158
is the constant of the generator and is,
Figure 547761DEST_PATH_IMAGE159
,
Figure 165825DEST_PATH_IMAGE160
as a function of the time constant of the generator,
Figure 327947DEST_PATH_IMAGE161
,
Figure 969144DEST_PATH_IMAGE162
in order to be the tie-line coefficient,
Figure 124182DEST_PATH_IMAGE163
,
Figure 800013DEST_PATH_IMAGE164
in order to control the error for the region,
Figure 179042DEST_PATH_IMAGE165
,
Figure 822382DEST_PATH_IMAGE166
in order to be a frequency response coefficient,
Figure 249952DEST_PATH_IMAGE167
,
Figure 45870DEST_PATH_IMAGE168
is the speed droop coefficient of the speed at which,
Figure 330221DEST_PATH_IMAGE169
,
Figure 211589DEST_PATH_IMAGE170
is the power error of the tie-line,
Figure 456232DEST_PATH_IMAGE171
，
Figure 841077DEST_PATH_IMAGE172
is the deviation in the frequency of the signal,
Figure 765171DEST_PATH_IMAGE173
,
Figure 664994DEST_PATH_IMAGE174
is a disturbance of the load and,
Figure 434367DEST_PATH_IMAGE175
，
Figure 454144DEST_PATH_IMAGE176
is the change in the position of the valve,
Figure 345877DEST_PATH_IMAGE177
,
Figure 936258DEST_PATH_IMAGE178
the representative is the mechanical energy of the gas,
Figure DEST_PATH_IMAGE214
is a first load frequency control device for controlling the load frequency,
Figure DEST_PATH_IMAGE215
is a second load frequency control device, wherein,
Figure 197737DEST_PATH_IMAGE183
representing different regions.
5. A computer device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the power system load frequency control method according to any one of claims 1 to 2 when executing the computer program.
6. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the power system load frequency control method according to any one of claims 1 to 2.
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