CN109149600A - A kind of frequency response centralized control method based on Model Predictive Control - Google Patents
A kind of frequency response centralized control method based on Model Predictive Control Download PDFInfo
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- CN109149600A CN109149600A CN201811027604.XA CN201811027604A CN109149600A CN 109149600 A CN109149600 A CN 109149600A CN 201811027604 A CN201811027604 A CN 201811027604A CN 109149600 A CN109149600 A CN 109149600A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
Abstract
The present invention relates to technical field of electric power more particularly to a kind of frequency response centralized control methods based on Model Predictive Control.It include: for fired power generating unit expansion research, the working principle for describing each region unit frequency response dynamic process in interconnected network using analytic method, analyzing each module of unit, four each machine unit speed regulating device, steam turbine, generator, PID controller modular models are built, obtain each module frequency response dynamics model analyzing expression formula；Existing frequency response is controlled, centralized control is changed by decentralised control；For system frequency is promptly restored to rated value；Signal is controlled according to centralized control input signal real-time computer group using Model Predictive Control, adjustment model predictive controller output adjusts governor valve opening, changes unit output.The present invention improves the ability that system intercepts frequency decline under the premise of guaranteeing the constraint of system operational safety, reduces the accidents such as low-frequency load shedding, off-the-line and occurs, improves the frequency stabilization ability of system under large disturbances.
Description
Technical field
The present invention relates to technical field of electric power more particularly to a kind of frequency response centralized controls based on Model Predictive Control
Method.
Background technique
China is vast in territory, and energy source distribution and resource consumption distribution are very unbalanced, and to solve the problems, such as transmission of electricity, extra-high voltage is handed over straight
Flow Line rapidly develops, and is popularized, this allows for power grid single failure power shortage and substantially increases；At the same time, in recent years
Come, new energy online amount increasingly increases, and has tied up the power generation space of conventional power unit significantly, reduces system rotary inertia, frequency
Responding ability reduces, and the frequency stabilization ability of system reduces under high-power miss fault.To improve China's power grid to large disturbances
Resilience, it is proposed that a kind of frequency response centralized control method based on Model Predictive Control.
Summary of the invention
For above-mentioned problems of the prior art, the present invention provides a kind of frequency response based on Model Predictive Control
Centralized control method, it is therefore an objective to centralized control being changed by decentralised control by controlling frequency response existing in power grid, being used
Each unit control characteristic in model predictive control method coordination system calculates the practical controling parameter of each unit, and it is whole to improve system
Frequency response ability, to guarantee the safety and stability of mains frequency under large disturbances.
To achieve the above object of the invention, the present invention is achieved through the following technical solutions:
A kind of frequency response centralized control method based on Model Predictive Control, comprising the following steps:
Step 1: for fired power generating unit expansion research, describing each region unit frequency in interconnected network using analytic method and ring
It answers dynamic process, analyze the working principle of each module of unit, while building each machine unit speed regulating device, steam turbine, generator, PID control
Four modular models of device processed, obtain each module frequency response dynamics model analyzing expression formula；
Step 2: existing frequency response being controlled, centralized control is changed by decentralised control；Under centralized control, for by system
Frequency is promptly restored to rated value；Using Model Predictive Control according to centralized control input signal real-time computer group control letter
Number, adjustment model predictive controller output, and then governor valve opening is adjusted, change unit according to centralized control instruction and goes out
Power.
The step includes: in interconnected network, and power grid overall frequency response ability is by units all in region and load
It is common to provide, it is that there is spontaneous, continuity, belong to subsequent control mode according to the feedback control of local frequency difference；Because in system
Each unit output is limited by local frequency difference, its frequency response ability cannot be given full play under large disturbances, first will be existing
Frequency response control is changed into centralized control by decentralised control, to provide integrating action foundation for unit each in region；
Firstly, each region unit frequency response dynamic process in interconnected network is described using analytic method, to each in the i of region
Module working principle carries out parsing description, for single region fired power generating unit, including governor, steam turbine, generator, PID
Four modules of controller, dynamic process meet:
Governor:
In formula (1): i indicates region in interconnected network；ΔPl.iFor governor input；uiFor model predictive controller output
Signal；Tg,iFor governor time constant；Rg,iFor difference coefficient；ΔXt,iFor governor output power；
Steam turbine:
In formula (2): i indicates region in interconnected network；Tt,iFor steam turbine time constant；ΔXt,iFor governor output work
Rate；ΔPt,iFor steam turbine output power；
Generator:
In formula (3): i indicates region in interconnected network；ΔfiFor the frequency difference of region i；HiFor system inertia time constant；Di
For system loading damped coefficient；ΔPL.iFor power disturbance；ΔPt,iFor steam turbine output power；
Dominant eigenvalues meet between region i and region j:
In formula (4): Δ fi、ΔfjFor region i, the frequency difference of j；Ti,jFor dominant eigenvalues synchronization factor；ΔPtie,iFor contact
Linear heat generation rate；
PID controller output meets:
In formula (5): kp,iFor PID controller proportionality coefficient；BiFor frequency bias coefficient；HiFor system inertia time constant；
ΔPt,iFor steam turbine output power；ΔPtie,iFor dominant eigenvalues；ΔPL.iFor power disturbance；ki,iFor controller integral coefficient；
DiFor system loading damped coefficient；Δfi、ΔfjFor region i, the frequency difference of j；Ti,jFor dominant eigenvalues synchronization factor；ΔPsp,iFor
PID controller increment；
No matter centralized control or decentralised control are used, above-mentioned module remains unchanged；Its changing content is mainly manifested in
In governor input, have for original decentralised control:
In formula (6): Psp,iFor PID controller output；RiFor difference coefficient；ΔfiFor the frequency difference of region i；ΔPl.iFor speed regulation
Device input；
Have for centralized control proposed by the present invention:
Wherein, i indicates region in interconnected network, Δ Pl.iFor governor input, RiFor difference coefficient, Δ fiFor local frequency
Difference, Psp,iFor PID controller output, Csin gnal,iFor centralized control input signal.
The step includes: because under large disturbances, unit answers the moment to adjust specific power output, Yuan Youpin according to system power vacancy
Rate response control adjusts governor valve opening according to local frequency difference in real time；It is that system frequency is extensive rapidly under centralized control
Rated value is arrived again, calculates control signal in real time according to centralized control input signal using Model Predictive Control, and adjustment controller is defeated
Out, governor valve opening is instructed, unit output is changed；Frequency response centralized control containing Model Predictive Control meets:
ui=fi(Csignal,i) (8)；
In formula (8): uiFor model predictive controller output signal, Csin gnal,iFor centralized control input signal；uiFor model
Predictive controller output signal；
In formula (9): uiFor model predictive controller output signal, Δ Pl.iFor governor input, Psp,iIt is defeated for PID controller
Out.
The present invention has the following advantages and beneficial effects:
The present invention realizes frequency response by decentralised control to central controlled transformation, can provide for unit each in region
Integrating action foundation can establish under the background that frequency response regulating measure becomes increasingly abundant for the coordination optimization of a variety of frequency modulation means
Determine theoretical basis.
The hysteresis, spontaneity, on-line analysis of existing frequency response control can be overcome difficult using Model Predictive Control
The problems such as, and parsing description is carried out to frequency response models, the operating status of moment monitoring system is guaranteeing system operational safety
Under the premise of constraint, the ability that system intercepts frequency decline is improved, reduces the generation of the accidents such as low-frequency load shedding, off-the-line, is improved big
Disturb the frequency stabilization ability of lower system.
The following is a clear and complete description of the technical scheme in the embodiments of the invention, it is clear that described embodiment
Only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Detailed description of the invention
Fig. 1 is that two district system of single fighter of the present invention carries out modeling and simulating model framework chart；
Fig. 2 is that present invention disturbance synchronization zone i frequency effects meet information drawing；
Fig. 3 is that non-disturbance synchronization zone of the invention i frequency effects meet information drawing.
Specific embodiment
The present invention is a kind of frequency response centralized control method based on Model Predictive Control, comprising:
1. it is dynamic to describe each region unit frequency response in interconnected network using analytic method for fired power generating unit expansion research
State process, the working principle for analyzing each module of unit, while building each machine unit speed regulating device, steam turbine, generator, PID controller
Four modular models obtain each module frequency response dynamics model analyzing expression formula.
2. existing frequency response is controlled and is changed into centralized control by decentralised control.Under centralized control, for by system frequency
It is promptly restored to rated value, the present invention is using Model Predictive Control according to centralized control input signal real-time computer group control letter
Number, adjustment model predictive controller output, and then governor valve opening is adjusted, change unit according to centralized control instruction and goes out
Power.
Embodiment 1:
In interconnected network, power grid overall frequency response ability is provided by units all in region with load jointly, be according to
According to the feedback control of local frequency difference, there is spontaneous, continuity, belong to subsequent control mode.Because unit output each in system by
To the limitation of local frequency difference, its frequency response ability cannot be given full play under large disturbances, the present invention first rings existing frequency
It should control and centralized control is changed by decentralised control, to provide integrating action foundation for unit each in region.
Firstly, analytic method need to be used to describe each region unit frequency response dynamic process in interconnected network, in the i of region
Each module working principle carries out parsing description, mainly includes governor, steam turbine, power generation for single region fired power generating unit
Four machine, PID controller modules, dynamic process meet:
Governor:
In formula (1): i indicates region in interconnected network；ΔPl.iFor governor input；uiFor model predictive controller output
Signal；Tg,iFor governor time constant；Rg,iFor difference coefficient；ΔXt,iFor governor output power.
Steam turbine:
In formula (2): i indicates region in interconnected network；Tt,iFor steam turbine time constant；ΔXt,iFor governor output work
Rate；ΔPt,iFor steam turbine output power；
Generator:
In formula (3): i indicates region in interconnected network；ΔfiFor the frequency difference of region i；HiFor system inertia time constant；Di
For system loading damped coefficient；ΔPL.iFor power disturbance；ΔPt,iFor steam turbine output power；
Dominant eigenvalues meet between region i and region j:
In formula (4): Δ fi、ΔfjFor region i, the frequency difference of j；Ti,jFor dominant eigenvalues synchronization factor；ΔPtie,iFor contact
Linear heat generation rate；
PID controller output meets:
In formula (5): kP, iFor PID controller proportionality coefficient；BiFrequency bias coefficient；HiFor system inertia time constant；Δ
Pt,iFor steam turbine output power；ΔPtie,iFor dominant eigenvalues；ΔPL.iFor power disturbance；ki,iFor controller integral coefficient；Di
For system loading damped coefficient；Δfi、ΔfjFor region i, the frequency difference of j；Ti,jFor dominant eigenvalues synchronization factor；ΔPsp,iFor
PID controller increment；
No matter centralized control or decentralised control are used, above-mentioned module remains unchanged.Its changing content is mainly manifested in
In governor input, have for original decentralised control:
In formula (6): Psp,iFor PID controller output；RiFor difference coefficient；ΔfiFor the frequency difference of region i；ΔPl.iFor speed regulation
Device input；
Have for centralized control proposed by the present invention:
Wherein, i indicates region in interconnected network, Δ Pl.iFor governor input, RiFor difference coefficient, Δ fiFor local frequency
Difference, Psp,iFor PID controller output, Csingnal,iFor centralized control input signal.
Embodiment 2:
Because under large disturbances, unit answers the moment to adjust specific power output according to system power vacancy, original frequency response control according to
Governor valve opening is adjusted in real time according to local frequency difference.Under centralized control, for system frequency is promptly restored to rated value, this
Invention calculates control signal, adjustment controller output, guidance according to centralized control input signal using Model Predictive Control in real time
Governor valve opening changes unit output.Frequency response centralized control containing Model Predictive Control meets:
ui=fi(Csignal,i) (8)；
In formula (8): uiFor model predictive controller output signal, Csin gnal,iFor centralized control input signal；uiFor model
Predictive controller output signal.
In formula (9): uiFor model predictive controller output signal, Δ Pl.iFor governor input, Psp,iIt is defeated for PID controller
Out.
After the present invention completes step 1 and step 2 related work, the mentioned method of the present invention can be used to obtain two region of single fighter
Control system is specific as figure (1) shows.
Method validity is proposed by verifying, carries out modeling and simulating using two district system of single fighter, system model block diagram is such as
Shown in Fig. 1, wherein region i is that synchronization zone occurs for disturbance, and region j is that synchronization zone occurs for non-disturbance.To simplify the calculation, using concentration
Parameter carries out simulation analysis.
As shown in Figures 2 and 3, Fig. 2 is that present invention disturbance synchronization zone i frequency effects meet information drawing；Fig. 3 is that the present invention is non-
Disturbance synchronization zone i frequency effects meet information drawing.It can be seen that jointly from Fig. 2 and Fig. 3 simulation result, guaranteeing system emulation parameter
With external disturbance it is constant in the case where, for disturbance synchronization zone as shown in Figure 2 with non-disturbance synchronization zone it is as shown in Figure 3 for,
Frequency is largely improved, and not only transient frequency minimum point gets a promotion, and system frequency is restored to the stable time
It shortens, hunting of frequency reduces, and stability increases.This just illustrates, the frequency response proposed by the present invention based on Model Predictive Control
Centralized control method can give full play to system frequency response ability, there is disturbance synchronization zone and disturbance synchronization zone frequency
Effect improves, and success intercepting system frequency decline effectively prevents the generation of disturbance synchronization zone low-frequency load shedding accident, improves and disturb greatly
Dynamic lower system frequency stabilizing power.
Claims (3)
1. a kind of frequency response centralized control method based on Model Predictive Control, it is characterized in that: the following steps are included:
Step 1: for fired power generating unit expansion research, it is dynamic to describe each region unit frequency response in interconnected network using analytic method
State process, the working principle for analyzing each module of unit, while building each machine unit speed regulating device, steam turbine, generator, PID controller
Four modular models obtain each module frequency response dynamics model analyzing expression formula；
Step 2: existing frequency response being controlled, centralized control is changed by decentralised control；Under centralized control, for by system frequency
It is promptly restored to rated value；Signal is controlled according to centralized control input signal real-time computer group using Model Predictive Control, is adjusted
The output of integral mould predictive controller, and then governor valve opening is adjusted, change unit output according to centralized control instruction.
2. a kind of frequency response centralized control method based on Model Predictive Control according to claim 1, it is characterized in that:
The step includes:
In interconnected network, power grid overall frequency response ability is provided by units all in region with load jointly, is according to this
The feedback control of ground frequency difference has spontaneous, continuity, belongs to subsequent control mode；Because unit output each in system is by this
The limitation of ground frequency difference cannot give full play to its frequency response ability under large disturbances, first control existing frequency response by dividing
Scattered control is changed into centralized control, to provide integrating action foundation for unit each in region；
Firstly, each region unit frequency response dynamic process in interconnected network is described using analytic method, to each module in the i of region
Working principle carries out parsing description, for single region fired power generating unit, including governor, steam turbine, generator, PID control
Four modules of device, dynamic process meet:
Governor:
In formula (1): i indicates region in interconnected network；ΔPl.iFor governor input；uiFor model predictive controller output signal；
Tg,iFor governor time constant；Rg,iFor difference coefficient；ΔXt,iFor governor output power；
Steam turbine:
In formula (2): i indicates region in interconnected network；Tt,iFor steam turbine time constant；ΔXt,iFor governor output power；Δ
Pt,iFor steam turbine output power；
Generator:
In formula (3): i indicates region in interconnected network；ΔfiFor the frequency difference of region i；HiFor system inertia time constant；DiTo be
System load damped coefficient；ΔPL.iFor power disturbance；ΔPt,iFor steam turbine output power；
Dominant eigenvalues meet between region i and region j:
In formula (4): Δ fi、ΔfjFor region i, the frequency difference of j；Ti,jFor dominant eigenvalues synchronization factor；ΔPtie,iFor interconnection function
Rate；
PID controller output meets:
In formula (5): kp,iFor PID controller proportionality coefficient；BiFor frequency bias coefficient；HiFor system inertia time constant；ΔPt,i
For steam turbine output power；ΔPtie,iFor dominant eigenvalues；ΔPL.iFor power disturbance；ki,iFor controller integral coefficient；DiFor
System loading damped coefficient；Δfi、ΔfjFor region i, the frequency difference of j；Ti,jFor dominant eigenvalues synchronization factor；ΔPsp,iFor PID
Controller increment；
No matter centralized control or decentralised control are used, above-mentioned module remains unchanged；Its changing content is mainly manifested in speed regulation
In device input, have for original decentralised control:
In formula (6): Psp,iFor PID controller output；RiFor difference coefficient；ΔfiFor the frequency difference of region i；ΔPl.iIt is defeated for governor
Enter；
Have for centralized control proposed by the present invention:
Wherein, i indicates region in interconnected network, Δ Pl.iFor governor input, RiFor difference coefficient, Δ fiFor local frequency difference,
Psp,iFor PID controller output, Csingnal,iFor centralized control input signal.
3. a kind of frequency response centralized control method based on Model Predictive Control according to claim 1, it is characterized in that:
The step includes:
Because under large disturbances, unit answers the moment to adjust specific power output according to system power vacancy, and original frequency response control is according to this
Ground frequency difference adjusts governor valve opening in real time；Under centralized control, for system frequency is promptly restored to rated value, using mould
Type PREDICTIVE CONTROL calculates control signal according to centralized control input signal in real time, and governor valve is instructed in adjustment controller output
Aperture changes unit output；Frequency response centralized control containing Model Predictive Control meets:
ui=fi(Csignal,i) (8)；
In formula (8): uiFor model predictive controller output signal, Csingnal,iFor centralized control input signal；uiFor model prediction
Controller output signal；
In formula (9): uiFor model predictive controller output signal, Δ Pl.iFor governor input, Psp,iFor PID controller output.
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| CN112260304A (en) * | 2020-10-21 | 2021-01-22 | 大连理工大学 | Three-section type control strategy for back-to-back converter station |
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