CN109120196B - Method and device for setting PID (proportion integration differentiation) parameters of hydroelectric generating set speed regulating system - Google Patents
Method and device for setting PID (proportion integration differentiation) parameters of hydroelectric generating set speed regulating system Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a method and a device for setting a PID parameter of a hydroelectric generating set speed control system, wherein the method for setting the PID parameter of the hydroelectric generating set speed control system comprises the following steps: simulating the hydroelectric generating set by adopting a preset simulation model, and determining a proportional link amplification factor and a corresponding oscillation period when a critical stable state is reached; calculating the amplification factor of a proportional link and the amplification factor of a differential link in the PID parameters according to the amplification factor of the proportional link and the corresponding oscillation period when the critical stable state is reached; according to the proportional link amplification factor and the differential link amplification factor in the obtained PID parameter, a preset simulation model is adopted for simulation, and the integral link amplification factor reaching a critical stable state is determined and is used as the integral link amplification factor in the PID parameter; and according to the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameters, adopting a preset simulation model to perform simulation verification to complete the setting of the PID parameters.
Description
Technical Field
The invention relates to the technical field of power system machine network coordination, in particular to a method and a device for setting a PID (proportion integration differentiation) parameter of a hydroelectric generating set speed regulating system.
Background
The parameter configuration of the hydro-power generating unit speed regulating system has important influence on the dynamic characteristic of the frequency of the power system, and different hydro-power generating unit speed regulating system parameters need to be configured for power systems of different scales. After the large-scale power grid is asynchronously networked, a power grid in a certain area originally belonging to the large-scale power grid is separated from the large-scale power grid to asynchronously operate. After asynchronous operation, if the scale of installation, load and the like of a regional power grid is greatly reduced compared with that of a large-scale power grid, the original speed regulation system parameters of a water motor set in the regional power grid cannot adapt to the regional power grid after the asynchronous operation, and the phenomenon of long-time, large-amplitude and ultralow-frequency oscillation of the regional power grid after the asynchronous networking operation is easily caused.
At present, corresponding researches and achievements are made on a parameter configuration method of a hydro-electric generating set speed regulation system in a large-scale power grid and a parameter configuration method of a hydro-electric generating set speed regulation system in an isolated power grid with local load of a single hydro-electric power plant, but the dynamic characteristic of the power grid frequency is optimized by reasonably configuring the hydro-electric generating set speed regulation system parameters in a medium-scale power grid, and the problem of ultralow frequency oscillation is avoided.
PID parameters configured in a speed regulating system of a hydroelectric generating set in a large-scale power grid easily cause the problem that the response speed of the generating set at the running position of a medium-scale power grid is too high and the ultra-low frequency oscillation damping is insufficient; and PID parameters configured by a water and electricity generating set speed regulating system in an isolated power grid with local load of a single hydropower plant easily cause the problem that the response speed of the set is too low at the operation position of a medium-scale power grid and the response speed of primary frequency modulation is too low.
Disclosure of Invention
The embodiment of the invention provides a method and a device for setting PID (proportion integration differentiation) parameters of a hydroelectric generating set speed regulating system, which can effectively solve the problem of reasonably configuring parameters of the hydroelectric generating set speed regulating system in a medium-scale power grid in the prior art, effectively optimize the dynamic characteristic of the power grid frequency and avoid the problem of ultralow frequency oscillation.
An embodiment of the invention provides a method for setting a PID parameter of a hydroelectric generating set speed regulating system, which comprises the following steps:
performing time domain simulation on the hydroelectric generating set by adopting a preset simulation model, and determining a proportional link amplification factor and a corresponding oscillation period when the hydroelectric generating set reaches a critical stable state;
calculating a proportional link amplification factor and a differential link amplification factor in a PID parameter according to the proportional link amplification factor and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state;
performing time domain simulation by adopting the preset simulation model according to the proportional link amplification factor and the differential link amplification factor in the calculated PID parameters, and determining an integral link amplification factor of the hydroelectric generating set reaching a critical stable state as the integral link amplification factor in the PID parameters;
and according to the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameters, adopting the preset simulation model to perform simulation verification to complete the setting of the PID parameters.
As an improvement of the above scheme, the construction of the simulation model comprises the following steps:
inputting KP (K) in the PID parameters to be 0, KD to be 0 and KI to be 0 into the simulation model to carry out load shedding simulation; wherein KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link, and KI is the amplification factor of the integral link;
setting a load shedding fault according to a preset load capacity; wherein the load capacity is not more than 2% of the rated power of the hydroelectric generating set.
As an improvement of the above scheme, a preset simulation model is adopted to perform time domain simulation on the hydroelectric generating set, and the specific steps of determining the amplification factor of the proportional link and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state are as follows:
load shedding simulation is carried out through the simulation model, and the value of the amplification factor of the proportional link is gradually increased to obtain a first frequency change curve;
and acquiring a corresponding proportional link amplification factor value and a corresponding sinusoidal oscillation period when the first frequency variation curve generates sinusoidal constant amplitude oscillation, and taking the proportional link amplification factor and the corresponding sinusoidal oscillation period as the proportional link amplification factor and the corresponding sinusoidal oscillation period when the hydroelectric generating set reaches a critical stable state.
As an improvement of the above scheme, the calculating of the proportional link amplification factor and the differential link amplification factor in the PID parameter according to the proportional link amplification factor and the corresponding oscillation period when the hydroelectric generating set reaches the critical stable state specifically includes:
calculating the amplification factor of proportional element in the PID parameter according to the formula (1)
KP1＝0.6×KPMAX(1)
Wherein KP1For the proportional element amplification factor, KP, in the PID parametersMAXThe amplification factor of a proportional link when the hydroelectric generating set reaches a critical stable state;
calculating the amplification factor of a differential link in the PID parameters according to a formula (2)
KD1＝min{0.075×KPMAX×T，KD0} (2)
Wherein KD1The amplification factor of a differential link in the PID parameter is T, and T is the corresponding oscillation period, KD, of the hydroelectric generating set when the hydroelectric generating set reaches a critical stable state0Amplifying the numerical value of the differential link during the normal operation of the hydroelectric generating set; min {0.075 XKPMAX×T，KD0The smaller of the two parameters is taken.
As an improvement of the above scheme, the performing time domain simulation by using the preset simulation model according to the proportional link amplification factor and the differential link amplification factor in the calculated PID parameter, and determining the integral link amplification factor of the hydroelectric generating set reaching the critical stable state as the integral link amplification factor in the PID parameter, previously includes:
setting the PID parameter of the simulation model as KP ═ KP1，KD＝KD1KI is 0; and KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link, and KI is the amplification factor of the integral link.
Setting a load shedding fault according to a preset load capacity; wherein the load capacity is not more than 2% of the rated power of the hydroelectric generating set.
As an improvement of the above scheme, the preset simulation model is used for time domain simulation, and an integral link amplification factor of the hydroelectric generating set reaching a critical stable state is determined, and the integral link amplification factor used as the PID parameter specifically includes:
inputting the proportional link amplification factor and the differential link amplification factor in the PID parameters into the simulation model for load shedding simulation, and gradually increasing the value of the integral link amplification factor to obtain a second frequency change curve;
and acquiring the corresponding integral link amplification factor value when the second frequency change curve generates sinusoidal constant amplitude oscillation, and taking the integral link amplification factor as the integral link amplification factor when the hydroelectric generating set reaches a critical stable state.
As an improvement of the above scheme, the preset simulation model is adopted to perform simulation verification according to the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameter, so as to complete the setting of the PID parameter, specifically:
inputting the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameters into the simulation model for fault simulation to obtain a third frequency change curve;
and verifying whether the PID parameters optimize ultra-low frequency oscillation damping, and finishing the setting of the PID parameters after the verification is passed.
As an improvement of the above scheme, it is verified whether the PID parameter optimizes the ultra low frequency oscillation damping by:
comparing the difference between the first frequency change curve and the third frequency change curve; the first frequency variation curve is obtained by inputting PID parameters of KP (KP is 0), KD is 0 and KI is 0 into the simulation model for simulation, KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link and KI is the amplification factor of the integral link;
and when the ultralow frequency oscillation damping of the third frequency change curve is higher than the ultralow frequency oscillation damping of the first frequency change curve, determining that the PID parameter optimizes the ultralow frequency oscillation damping.
As an improvement of the above, the method further comprises:
and when the ultralow frequency oscillation damping of the third frequency change curve is not higher than the ultralow frequency oscillation damping of the first frequency change curve, performing time domain simulation on the hydroelectric generating set by using a preset simulation model again, and determining the amplification factor of a proportional link and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state.
Another embodiment of the present invention correspondingly provides a device for setting a PID parameter of a speed regulation system of a hydroelectric generating set, which is characterized by comprising:
the system comprises a first module, a second module and a third module, wherein the first module is used for performing time domain simulation on the hydroelectric generating set by adopting a preset simulation model and determining a proportional link amplification factor and a corresponding oscillation period when the hydroelectric generating set reaches a critical stable state;
the second module is used for calculating the amplification factor of a proportional link and the amplification factor of a differential link in the PID parameters according to the amplification factor of the proportional link and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state;
a third module, configured to perform time domain simulation using the preset simulation model according to the proportional link amplification factor and the differential link amplification factor in the calculated PID parameter, and determine an integral link amplification factor at which the hydroelectric generating set reaches a critical stable state, as the integral link amplification factor in the PID parameter;
and the fourth module is used for performing simulation verification by adopting the preset simulation model according to the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameters to complete the setting of the PID parameters.
Compared with the prior art, the embodiment of the invention discloses a method for setting the PID parameter of the speed regulating system of the hydroelectric generating set, the amplification factor of a proportional link and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state are obtained by adopting a preset simulation model for simulation, according to the obtained value, calculating the amplification factor of proportional element and the amplification factor of differential element in PID parameter, then, according to the obtained PID parameter value, a preset simulation model is adopted for simulation, the integral link amplification factor in the PID parameter is determined, the PID parameter value is simulated and verified through a simulation model, the setting of the PID parameter is completed, the problem of how to reasonably configure parameters of a hydroelectric generating set speed regulating system in a medium-scale power grid can be effectively solved, the dynamic characteristic of the power grid frequency can be optimized, ultralow frequency oscillation is avoided, and the coordination optimization between the primary frequency modulation response speed and the ultralow frequency oscillation damping is realized.
Drawings
Fig. 1 is a schematic flow chart of a method for setting a PID parameter of a speed regulation system of a hydroelectric generating set according to an embodiment of the present invention;
FIG. 2 is a process schematic diagram of a method for setting PID parameters of a main hydroelectric generating set speed control system in a power grid according to an embodiment of the invention;
fig. 3 is a frequency variation graph of the #1 glutinous ferry hydro-power unit reaching a critical stable state under the initial parameter setting according to an embodiment of the present invention;
fig. 4 is a frequency variation graph of the #1 waxy transit hydroelectric generating set provided by the embodiment of the present invention when the critical steady state is reached under setting KP and KD values;
FIG. 5 is a graph of frequency change before and after optimization of PID parameters according to an embodiment of the invention;
fig. 6 is a schematic structural diagram of a PID parameter setting device of a hydro-power generating unit speed control system according to an 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic flow chart of a method for setting a PID parameter of a speed regulation system of a hydroelectric generating set according to an embodiment of the present invention includes:
and S11, performing time domain simulation on the hydroelectric generating set by adopting a preset simulation model, and determining the amplification factor of a proportional link and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state.
And S12, calculating the amplification factor of the proportional link and the amplification factor of the differential link in the PID parameters according to the amplification factor of the proportional link and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state.
And S13, performing time domain simulation by adopting the preset simulation model according to the proportional link amplification factor and the differential link amplification factor in the calculated PID parameters, and determining the integral link amplification factor of the hydroelectric generating set reaching a critical stable state as the integral link amplification factor in the PID parameters.
And S14, according to the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameters, performing simulation verification by adopting the preset simulation model to complete the setting of the PID parameters.
In the embodiment, time domain simulation is carried out on the hydroelectric generating set, proportional link amplification factor, differential link amplification factor and integral link amplification factor in PID parameters are calculated and determined, then the obtained PID parameters are simulated, and the effect of optimizing the damping characteristic of the ultra-low frequency oscillation of the power grid is verified, so that the setting of the PID parameters is completed, the problem of how to reasonably configure the parameters of the speed regulating system of the hydroelectric generating set in the medium-scale power grid can be effectively solved, the dynamic characteristic of the power grid frequency can be optimized, and the ultra-low frequency oscillation is avoided.
In another preferred embodiment, the method further comprises constructing a simulation model, specifically:
inputting KP (K) in the PID parameters to be 0, KD to be 0 and KI to be 0 into the simulation model to carry out load shedding simulation; wherein KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link, and KI is the amplification factor of the integral link;
setting a load shedding fault according to a preset load capacity; wherein the load capacity is not more than 2% of the rated power of the hydroelectric generating set.
Preferably, the construction of the simulation model is operated in an electromechanical transient simulation program, and a simulation model of a single hydroelectric generating set which operates under load is constructed for simulation.
Specifically, in step S11, performing time domain simulation on the hydroelectric generating set by using a preset simulation model, and determining a proportional link amplification factor and a corresponding oscillation period when the hydroelectric generating set reaches a critical stable state specifically are:
load shedding simulation is carried out through the simulation model, and the value of the amplification factor of the proportional link is gradually increased to obtain a first frequency change curve;
and acquiring a corresponding proportional link amplification factor value and a corresponding sinusoidal oscillation period when the first frequency variation curve generates sinusoidal constant amplitude oscillation, and taking the proportional link amplification factor and the corresponding sinusoidal oscillation period as the proportional link amplification factor and the corresponding sinusoidal oscillation period when the hydroelectric generating set reaches a critical stable state.
Preferably, the amplification factor value of the proportional link is gradually increased to be 0.5n, and if the frequency variation curve tends to sinusoidal oscillation, the value range is reduced until sinusoidal constant amplitude oscillation occurs; if the frequency change curve does not have obvious change, continuously increasing the value according to 0.5 n; wherein n is 0,1,2 … ….
For example, the amplification factor of the proportional link is 0 at the first time and 0.5 at the second time, and if the frequency variation curve tends to sinusoidal oscillation, the amplification factor of the proportional link is 0.51 at the third time until sinusoidal constant amplitude oscillation occurs.
The method comprises the steps of utilizing an electromechanical transient simulation program to conduct load shedding simulation, gradually increasing the value of KP, observing the frequency change curve of the hydroelectric generating set during each load shedding simulation until sinusoidal constant amplitude oscillation occurs in the frequency, and recording the KP value KP at the momentMAXAnd a period T of sinusoidal oscillation.
Specifically, step S12 is
Calculating the amplification factor of proportional element in the PID parameter according to the formula (1)
KP1＝0.6×KPMAX(1)
Wherein KP1For the proportional element amplification factor, KP, in the PID parametersMAXThe amplification factor of a proportional link when the hydroelectric generating set reaches a critical stable state;
calculating the amplification factor of a differential link in the PID parameters according to a formula (2)
KD1＝min{0.075×KPMAX×T，KD0} (2)
Wherein KD1The amplification factor of a differential link in the PID parameter is T, and T is the corresponding oscillation period, KD, of the hydroelectric generating set when the hydroelectric generating set reaches a critical stable state0Amplifying the numerical value of the differential link during the normal operation of the hydroelectric generating set; min {0.075 XKPMAX×T，KD0The smaller of the two parameters is taken.
Wherein, before the step S13, adding KP to the simulation model1And KD1The values of (a) are specifically:
setting the PID parameter of the simulation model as KP ═ KP1，KD＝KD1KI is 0; and KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link, and KI is the amplification factor of the integral link.
Setting a load shedding fault according to a preset load capacity; wherein the load capacity is not more than 2% of the rated power of the hydroelectric generating set.
It is understood that the same simulation model of the load operation of the single hydroelectric generating set as that in step S11 is used, and the PID parameters of the governing system are set to KP1, KD1 and KI 0, and the same load shedding fault as that in step S11 is set.
Specifically, in step S13, according to the proportional link amplification factor and the differential link amplification factor in the calculated PID parameter, the preset simulation model is used to perform time domain simulation, and the integral link amplification factor that the hydroelectric generating set reaches a critical stable state is determined, and as the integral link amplification factor in the PID parameter, the integral link amplification factor specifically includes:
inputting the proportional link amplification factor and the differential link amplification factor in the PID parameters into the simulation model for load shedding simulation, and gradually increasing the value of the integral link amplification factor to obtain a second frequency change curve;
and acquiring the corresponding integral link amplification factor value when the second frequency change curve generates sinusoidal constant amplitude oscillation, and taking the integral link amplification factor as the integral link amplification factor when the hydroelectric generating set reaches a critical stable state.
The load shedding simulation is carried out by utilizing an electromechanical transient simulation program, the value of KI is gradually increased, the frequency change curve of the hydroelectric generating set during each load shedding simulation is observed until sinusoidal constant amplitude oscillation occurs in the frequency, and the KI value KI1 at the moment is recorded.
Specifically, in step S14, according to the proportional link amplification factor, the differential link amplification factor, and the integral link amplification factor in the PID parameter, the preset simulation model is adopted for simulation verification, and the tuning of the PID parameter is specifically:
inputting the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameters into the simulation model for fault simulation to obtain a third frequency change curve;
and verifying whether the PID parameters optimize ultra-low frequency oscillation damping, and finishing the setting of the PID parameters after the verification is passed.
Wherein the fault comprises a direct current blocking, a power plant unit tripping or a load shedding;
preferably, it is verified whether the PID parameters optimize ultra low frequency oscillation damping by:
comparing the difference between the first frequency change curve and the third frequency change curve; the first frequency variation curve is obtained by inputting PID parameters of KP (KP is 0), KD is 0 and KI is 0 into the simulation model for simulation, KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link and KI is the amplification factor of the integral link;
and when the ultralow frequency oscillation damping of the third frequency change curve is higher than the ultralow frequency oscillation damping of the first frequency change curve, determining that the PID parameter optimizes the ultralow frequency oscillation damping.
Wherein, the setting method further comprises:
and when the ultralow frequency oscillation damping of the third frequency change curve is not higher than the ultralow frequency oscillation damping of the first frequency change curve, performing time domain simulation on the hydroelectric generating set by using a preset simulation model again, and determining the amplification factor of a proportional link and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state.
Referring to fig. 2, a process schematic diagram of the method for setting the PID parameter of the speed regulation system of the main hydroelectric generating set in the power grid according to this embodiment is shown, and a flow of the method for setting the PID parameter of the speed regulation system of the hydroelectric generating set is applied to the PID parameter setting process of the main hydroelectric generating set in the power grid.
Preferably, the main hydroelectric generating sets refer to a hydroelectric generating set with a large capacity of a single machine assembling machine in a power grid and a hydroelectric generating set with a large total installed capacity of a power plant.
Specifically, PID setting of a speed regulation system is carried out on a main hydroelectric generating set in a power grid. Firstly, the method is utilized to obtain the PID parameters of the speed regulating system of each hydroelectric generating set one by one; setting the obtained parameters into a unit, and setting faults such as direct current blocking, power plant unit tripping or load shedding and the like in a power grid; and finally, performing fault simulation by using an electromechanical transient simulation program, recording a frequency change curve of an important substation bus node in the power grid, and analyzing the effect of the optimized PID parameter on optimizing the damping characteristic of the ultralow frequency oscillation of the power grid by comparing the frequency change difference before and after the PID parameter optimization of the unit speed regulation system to complete the setting of the PID parameter.
In another preferred embodiment, on the basis of the above embodiment, the method for setting the PID parameters of the speed regulation system of the hydroelectric generating set is applied to an actual power grid.
In order to optimize the ultra-low frequency oscillation damping characteristic of the power grid in the transmitting capacity of the Yunnan power grid after operation, the method is adopted to set the PSS parameter of the unit to verify the effectiveness of the method.
Preferably, the embodiment selects a #1 hydroelectric generating set of a glutinous ferry power plant.
Specifically, the implementation process of the method is as follows:
referring to step S11 of the foregoing embodiment, in the electromechanical transient simulation program, a simulation model of the #1 waxy ferry hydroelectric generating set running with load is constructed; the load size is equal to 650MW of rated power of the #1 waxy-crossing hydroelectric generating set, initial parameters of a PID of the speed regulating system are set to be KP (KP-0), KD-0 and KI-0;
setting a load shedding fault, wherein the load capacity is equal to 10 MW;
carrying out load shedding simulation by using an electromechanical transient simulation program, gradually increasing the value of KP, observing the frequency change curve of the hydroelectric generating set during each load shedding simulation until sinusoidal constant amplitude oscillation appears at the frequency, and recording the value KP of KP at the momentMAXThe period T of the sinusoidal oscillation is 21.3 seconds, 3.5.
Wherein, the frequency variation curve chart of the #1 glutinous ferry hydro-power unit reaching the critical stable state under the initial parameter setting is shown in fig. 3, and KP is obtained by the frequency variation curveMAXAnd the value of the corresponding oscillation period T.
Preferably, the present embodiment employs a PSD-BPA electromechanical transient simulation program developed by the chinese academy of electrical sciences.
With reference to step S12 of the above embodiment, KP obtained according to the above stepsMAXAnd T, obtaining the amplification factor KP of the proportional link in the PID parameters by using the following formula1Differential element amplification factor KD1：
KP1＝0.6×KPMAX＝0.6×3.5＝2.1
KD1＝min{0.075×KPMAX×T，KD0}
＝min{0.075×3.5×21.3，6}
＝min{5.6，6}
＝5.6
Wherein KD0Setting the operation of a large power grid of a unit as 3The differential element of (2) amplifies the numerical value.
Referring to step S13 in the above embodiment, the PID parameters of the speed control system of the #1 glutinous ferry hydro-power generating unit are set as follows: KP is 2.1, KD is 5.6, KI is 0;
setting the same load dump failure as in step S11;
load shedding simulation is carried out by utilizing an electromechanical transient simulation program, the value of KI is gradually increased, the frequency change curve of the hydroelectric generating set during load shedding simulation at each time is observed until sinusoidal equal-amplitude oscillation occurs in the frequency, and the value KI1 of KI at the moment is recorded as 0.45.
The frequency change curve of the #1 waxy-ferry hydro-power unit when the critical stable state is achieved under the condition that KP and KD values are set is shown in figure 4, and the value of KI is obtained through the frequency change curve.
Referring to step S14 of the above embodiment, the speed regulation system PID parameters are optimized one by one for the main hydroelectric generating sets in the Yunnan power grid by using the methods of steps S11-S13.
Setting a Chuear direct-current single-pole lock as a fault;
the electromechanical transient simulation program is utilized to carry out Chu ear direct current single pole blocking fault simulation on the Yunnan power grid, the frequency change curve of an important substation bus node in the power grid is recorded, and the difference of frequency change before and after PID parameter optimization of a unit speed regulation system is compared, so that the optimized PID parameter obviously improves the damping of the ultralow frequency oscillation of the power grid.
For example, the speed regulation system PID parameter setting is performed on the hydroelectric generating sets of the waxy ferry, bay and brook ferry power plants, and the main setting result is as follows:
glutinous rice ferry: KP 1-2.1, KI 1-0.45, KD 1-5.6
Bay: KP 1-2.4, KI 1-0.67, KD 1-5.05
Xiluodi: KP 1-3.0, KI 1-1.10, KD 1-4.1
Referring to fig. 5, the frequency variation graphs before and after the PID parameter optimization provided in this embodiment.
Referring to fig. 6, a schematic structural diagram of a PID parameter setting device for a speed regulation system of a hydroelectric generating set according to an embodiment of the present invention includes:
the system comprises a first module 1, a second module and a third module, wherein the first module is used for performing time domain simulation on the hydroelectric generating set by adopting a preset simulation model, and determining a proportional link amplification factor and a corresponding oscillation period when the hydroelectric generating set reaches a critical stable state;
the second module 2 is used for calculating the amplification factor of a proportional link and the amplification factor of a differential link in the PID parameters according to the amplification factor of the proportional link and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state;
a third module 3, configured to perform time domain simulation by using the preset simulation model according to the proportional link amplification factor and the differential link amplification factor in the calculated PID parameter, and determine an integral link amplification factor at which the hydroelectric generating set reaches a critical stable state, as the integral link amplification factor in the PID parameter;
and the fourth module 4 is configured to perform simulation verification by using the preset simulation model according to the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameter, so as to complete setting of the PID parameter.
In an alternative embodiment, the first module 1 comprises:
the simulation model initial setting unit is used for inputting KP (K) in the PID parameters to 0, KD to 0 and KI to 0 into the simulation model to carry out load shedding simulation;
wherein KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link, and KI is the amplification factor of the integral link;
the load shedding fault setting unit is used for setting a load shedding fault according to a preset load capacity;
wherein the load capacity is not more than 2% of the rated power of the hydroelectric generating set;
the first frequency change curve simulation unit is used for carrying out load shedding simulation through the simulation model and gradually increasing the value of the amplification factor of the proportional link so as to obtain a first frequency change curve;
and the critical stable state simulation result acquisition unit is used for acquiring a corresponding proportional link amplification factor value and a corresponding sinusoidal oscillation period when the first frequency variation curve generates sinusoidal constant amplitude oscillation, and the proportional link amplification factor and the corresponding sinusoidal oscillation period are used as the proportional link amplification factor and the corresponding sinusoidal oscillation period when the hydroelectric generating set reaches the critical stable state.
Preferably, the step is operated in an electromechanical transient simulation program, and a simulation model of the load operation of a single hydroelectric generating set is constructed for simulation.
The method comprises the steps of utilizing an electromechanical transient simulation program to conduct load shedding simulation, gradually increasing the value of KP, observing the frequency change curve of the hydroelectric generating set during each load shedding simulation until sinusoidal constant amplitude oscillation occurs in the frequency, and recording the KP value KP at the momentMAXAnd a period T of sinusoidal oscillation.
In an alternative embodiment, the second module 2 comprises:
a proportional link magnification factor calculation unit for calculating the magnification factor of the proportional link according to a formula KP1＝0.6×KPMAXCalculating the amplification factor of a proportional link in the PID parameter;
a differential element amplification factor calculating unit for calculating the amplification factor of the differential element according to formula KD1＝min{0.075×KPMAX×T，KD0Calculating the amplification factor of a differential link in the PID parameter;
wherein KP1For the proportional element magnification factor, KD in the PID parameter1Amplifying the differential link in the PID parameter; KP (Key Performance)MAXThe amplification factor of a proportional link when the hydroelectric generating set reaches a critical stable state, T is a corresponding oscillation period and KD when the hydroelectric generating set reaches the critical stable state0Amplifying the numerical value of the differential link during the normal operation of the hydroelectric generating set; min {0.075 XKPMAX×T，KD0The smaller of the two parameters is taken.
In an alternative embodiment, the third module 3 comprises:
a simulation model parameter setting unit for setting PID parameter of the simulation model to KP (KP-KP)1，KD＝KD1，KI＝0；
Wherein KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link, and KI is the amplification factor of the integral link;
the load shedding fault setting unit is used for setting a load shedding fault according to a preset load capacity;
wherein the load capacity is not more than 2% of the rated power of the hydroelectric generating set;
it will be appreciated that the same simulation model for the single hydroelectric generating set operating under load as in the first module 1 is used, and the speed regulation system PID parameters are set to KP1, KD1 and KI 0, and the same load shedding fault as in the first module 1 is set.
A second frequency change curve simulation unit, configured to input the proportional link amplification factor and the differential link amplification factor in the PID parameter into the simulation model for load shedding simulation, and gradually increase the value of the integral link amplification factor to obtain a second frequency change curve;
and the integral link amplification factor acquisition unit is used for acquiring a corresponding integral link amplification factor value when the second frequency variation curve generates sinusoidal constant amplitude oscillation, and the integral link amplification factor value is used as an integral link amplification factor when the hydroelectric generating set reaches a critical stable state.
The load shedding simulation is carried out by utilizing an electromechanical transient simulation program, the value of KI is gradually increased, the frequency change curve of the hydroelectric generating set during each load shedding simulation is observed until sinusoidal constant amplitude oscillation occurs in the frequency, and the KI value KI1 at the moment is recorded.
In an alternative embodiment, the fourth module 4 comprises:
the third frequency change curve simulation unit is used for inputting the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameters into the simulation model for fault simulation to obtain a third frequency change curve;
wherein the fault comprises a direct current blocking, a power plant unit tripping or a load shedding;
and the PID parameter verification module is used for verifying whether the PID parameter optimizes the ultra-low frequency oscillation damping and finishing the setting of the PID parameter after the verification is passed.
Preferably, it is verified whether the PID parameters optimize ultra low frequency oscillation damping by:
comparing the difference between the first frequency change curve and the third frequency change curve; and when the ultralow frequency oscillation damping of the third frequency change curve is higher than the ultralow frequency oscillation damping of the first frequency change curve, determining that the PID parameter optimizes the ultralow frequency oscillation damping.
The first frequency variation curve is obtained by inputting PID parameters of KP (KP is 0), KD is 0 and KI is 0 into the simulation model for simulation, KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link and KI is the amplification factor of the integral link;
wherein the method further comprises:
and when the ultralow frequency oscillation damping of the third frequency change curve is not higher than the ultralow frequency oscillation damping of the first frequency change curve, performing time domain simulation on the hydroelectric generating set by using a preset simulation model again, and determining the amplification factor of a proportional link and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state.
For example, the speed regulation system PID setting is carried out on a main hydroelectric generating set; the main hydroelectric generating sets refer to a hydroelectric generating set with a large capacity of a single machine assembling machine in a power grid and a hydroelectric generating set with a large total installed capacity of a power plant.
Specifically, carrying out speed regulation system PID setting on main hydroelectric generating sets in a power grid, and firstly, utilizing the method to obtain speed regulation system PID parameters of each hydroelectric generating set one by one; setting the obtained parameters into a unit, and setting faults such as direct current blocking, power plant unit tripping or load shedding and the like in a power grid; and finally, performing fault simulation by using an electromechanical transient simulation program, recording a frequency change curve of an important substation bus node in the power grid, and analyzing the effect of the modified PID parameter on optimizing the damping characteristic of the ultralow frequency oscillation of the power grid by comparing the frequency change difference before and after the PID parameter of the unit speed regulation system is modified.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A method for setting a PID parameter of a hydroelectric generating set speed control system is characterized by comprising the following steps:
performing time domain simulation on the hydroelectric generating set by adopting a preset simulation model, and determining a proportional link amplification factor and a corresponding oscillation period when the hydroelectric generating set reaches a critical stable state;
calculating a proportional link amplification factor and a differential link amplification factor in a PID parameter according to the proportional link amplification factor and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state;
performing time domain simulation by adopting the preset simulation model according to the proportional link amplification factor and the differential link amplification factor in the calculated PID parameters, and determining an integral link amplification factor of the hydroelectric generating set reaching a critical stable state as the integral link amplification factor in the PID parameters;
and according to the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameters, adopting the preset simulation model to perform simulation verification to complete the setting of the PID parameters.
2. The method for setting the PID parameters of the hydroelectric generating set speed regulating system according to claim 1, wherein the construction of the simulation model comprises the steps of:
inputting KP (K) in the PID parameters to be 0, KD to be 0 and KI to be 0 into the simulation model to carry out load shedding simulation; wherein KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link, and KI is the amplification factor of the integral link;
setting a load shedding fault according to a preset load capacity; wherein the load capacity is not more than 2% of the rated power of the hydroelectric generating set.
3. The method for setting the PID parameter of the hydro-power generating unit speed regulating system according to claim 2, wherein the time domain simulation of the hydro-power generating unit is performed by using a preset simulation model, and the amplification factor of the proportional link and the corresponding oscillation period when the hydro-power generating unit reaches the critical stable state are determined as follows:
load shedding simulation is carried out through the simulation model, and the value of the amplification factor of the proportional link is gradually increased to obtain a first frequency change curve;
and acquiring a corresponding proportional link amplification factor value and a corresponding sinusoidal oscillation period when the first frequency variation curve generates sinusoidal constant amplitude oscillation, and taking the proportional link amplification factor and the corresponding sinusoidal oscillation period as the proportional link amplification factor and the corresponding sinusoidal oscillation period when the hydroelectric generating set reaches a critical stable state.
4. The method for setting the PID parameter of the speed regulation system of the hydroelectric generating set according to claim 1, wherein the calculating of the amplification factor of the proportional link and the amplification factor of the differential link in the PID parameter according to the amplification factor of the proportional link and the corresponding oscillation period when the hydroelectric generating set reaches the critical stable state specifically comprises:
calculating the amplification factor of proportional element in the PID parameter according to the formula (1)
KP1＝0.6×KPMAX(1)
Wherein KP1For the proportional element amplification factor, KP, in the PID parametersMAXFor the water motorThe amplification factor of the proportional link when the group reaches a critical stable state;
calculating the amplification factor of a differential link in the PID parameters according to a formula (2)
KD1＝min{0.075×KPMAX×T，KD0} (2)
Wherein KD1The amplification factor of a differential link in the PID parameter is T, and T is the corresponding oscillation period, KD, of the hydroelectric generating set when the hydroelectric generating set reaches a critical stable state0Amplifying the numerical value of the differential link during the normal operation of the hydroelectric generating set; min {0.075 XKPMAX×T，KD0The smaller of the two parameters is taken.
5. The method for setting the PID parameter of the speed regulation system of the hydroelectric generating set according to claim 4, wherein the time domain simulation is performed by using the preset simulation model according to the proportional link amplification factor and the differential link amplification factor in the calculated PID parameter, and the integral link amplification factor of the hydroelectric generating set reaching the critical stable state is determined as the integral link amplification factor in the PID parameter, and the method comprises the following steps:
setting the PID parameter of the simulation model as KP ═ KP1，KD＝KD1KI is 0; wherein KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link, and KI is the amplification factor of the integral link;
setting a load shedding fault according to a preset load capacity; wherein the load capacity is not more than 2% of the rated power of the hydroelectric generating set.
6. The method for setting the PID parameter of the speed regulation system of the hydroelectric generating set according to claim 5, wherein the time domain simulation is performed by using the preset simulation model to determine the integral link amplification factor of the hydroelectric generating set reaching the critical stable state, and the integral link amplification factor used as the PID parameter specifically comprises:
inputting the proportional link amplification factor and the differential link amplification factor in the PID parameters into the simulation model for load shedding simulation, and gradually increasing the value of the integral link amplification factor to obtain a second frequency change curve;
and acquiring the corresponding integral link amplification factor value when the second frequency change curve generates sinusoidal constant amplitude oscillation, and taking the integral link amplification factor as the integral link amplification factor when the hydroelectric generating set reaches a critical stable state.
7. The method for setting the PID parameter of the speed control system of the hydroelectric generating set according to claim 1, wherein the setting of the PID parameter is completed by performing simulation verification using the preset simulation model according to a proportional link amplification factor, a differential link amplification factor and an integral link amplification factor in the PID parameter, specifically:
inputting the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameters into the simulation model for fault simulation to obtain a third frequency change curve;
and verifying whether the PID parameters optimize ultra-low frequency oscillation damping, and finishing the setting of the PID parameters after the verification is passed.
8. The hydroelectric generating set speed regulating system PID parameter setting method of claim 7, wherein whether the PID parameter optimizes the ultra low frequency oscillation damping is verified by:
comparing the difference between the first frequency change curve and the third frequency change curve; the first frequency variation curve is obtained by inputting PID parameters of KP (KP is 0), KD is 0 and KI is 0 into the simulation model for simulation, KP is the amplification factor of the proportional link, KD is the amplification factor of the differential link and KI is the amplification factor of the integral link;
and when the ultralow frequency oscillation damping of the third frequency change curve is higher than the ultralow frequency oscillation damping of the first frequency change curve, determining that the PID parameter optimizes the ultralow frequency oscillation damping.
9. The method for setting the PID parameter of a hydro-power generating unit speed regulation system according to claim 8, wherein the method further comprises:
and when the ultralow frequency oscillation damping of the third frequency change curve is not higher than the ultralow frequency oscillation damping of the first frequency change curve, performing time domain simulation on the hydroelectric generating set by using a preset simulation model again, and determining the amplification factor of a proportional link and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state.
10. A hydroelectric generating set speed control system PID parameter setting device is characterized by comprising:
the system comprises a first module, a second module and a third module, wherein the first module is used for performing time domain simulation on the hydroelectric generating set by adopting a preset simulation model and determining a proportional link amplification factor and a corresponding oscillation period when the hydroelectric generating set reaches a critical stable state;
the second module is used for calculating the amplification factor of a proportional link and the amplification factor of a differential link in the PID parameters according to the amplification factor of the proportional link and the corresponding oscillation period when the hydroelectric generating set reaches a critical stable state;
a third module, configured to perform time domain simulation using the preset simulation model according to the proportional link amplification factor and the differential link amplification factor in the calculated PID parameter, and determine an integral link amplification factor at which the hydroelectric generating set reaches a critical stable state, as the integral link amplification factor in the PID parameter;
and the fourth module is used for performing simulation verification by adopting the preset simulation model according to the proportional link amplification factor, the differential link amplification factor and the integral link amplification factor in the PID parameters to complete the setting of the PID parameters.
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