CN109449940B - Emergency control wide area coordination method for coping with dynamic process succession events - Google Patents
Emergency control wide area coordination method for coping with dynamic process succession events Download PDFInfo
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
The invention discloses an emergency control wide area coordination method for coping with dynamic process successive events, which comprises the steps that firstly, a safety and stability control device of a control master station judges the operation mode and the operation state of a power grid on the basis of prestored operation information of key elements; searching a preset control strategy table based on the power grid operation mode to obtain a corresponding control object combination and the total amount to be controlled of each type of control object in the current operation state; and on the basis of the prestored running information of the control objects, distributing the total amount to be controlled of each type of control object in the control objects in the subordinate ranges of different control substations in proportion to obtain a control command, thereby realizing the wide-area coordination control of the control objects with the control time sequence matching characteristic. The invention realizes the wide area coordination control of the control object for coping with the dynamic process successive events and solves the technical problem that the power grid safety and stability control system cannot cope with successive faults.
Description
Technical Field
The invention belongs to the technical field of power systems and automation thereof, and particularly relates to an emergency control wide area coordination method for coping with dynamic process successive events.
Background
DL/T723 and 2000 "Power System safety and stability control technical guide" stipulate that in order to guarantee the safety requirement when the Power System is subjected to the type II large disturbance, the second defense line for guaranteeing the safety and stability of the Power System should be realized by the emergency control for preventing the stability damage and the severe parameter violation. When the grid safety and stability control system monitors the guiding rule to stipulate the occurrence of the type II large disturbance, the control strategy table preset in the grid safety and stability control device of the control master station is inquired, and the generator, the load and the like in the grid are rapidly controlled. The large class II disturbance specified by the guiding rule is a plurality of isolated faults, and the fault type, the fault quantity and the like are determined relatively, so that the formulation of the control strategy table and the selection of the control object are relatively easy and are not easy to mismatch.
Compared with the traditional alternating current power grid and a small-scale direct current power transmission power grid, the risk of cascading failures of the extra-high voltage alternating current and direct current interconnected power grid is increased. However, there is currently a lack of control strategy matching techniques that can support coping with dynamic sequential events.
The complexity of the stable form evolution of the alternating-current and direct-current interconnected power grid and the coordination of the stable control means require that the influence of the control time sequence of emergency control means such as generator tripping, load shedding, direct-current modulation, Static Var Compensator (SVC) control and the like on the control effect is fully considered before emergency control, and based on the difficulty, the conventional power grid safety and stability control system cannot well cope with sequential faults.
Disclosure of Invention
In order to solve the problems, the invention provides an emergency control wide-area coordination method for coping with dynamic process successive events, which realizes wide-area coordination control of control objects coping with dynamic process successive events and solves the technical problem that a power grid safety and stability control system cannot cope with successive faults.
The invention adopts the following technical scheme that an emergency control wide area coordination method for coping with dynamic process successive events comprises the following specific steps:
1) the control master station safety and stability control device judges the operation mode and the operation state of the power grid based on the operation information of the key elements stored in advance;
2) searching a preset control strategy table based on the power grid operation mode to obtain a corresponding control object combination and the total amount to be controlled of each type of control object in the current operation state;
3) and on the basis of the prestored running information of the control objects, distributing the total amount to be controlled of each type of control object in the control objects in the subordinate ranges of different control substations in proportion to obtain a control command, thereby realizing the wide-area coordination control of the control objects with the control time sequence matching characteristic.
Preferably, the specific method for pre-storing the operation information of the key element is that the control substation safety and stability control device monitors the operation information of the locally pre-selected key element in real time, and sends the operation information of the pre-selected key element to the control master station safety and stability control device; the control main station safety and stability control device monitors locally preselected key element operation information and receives the key element operation information sent by the control substation safety and stability control device; storing the operation information of the preselected key element and refreshing the operation information at regular intervals;
the operation information of the key element pre-stored in step 1) is the operation information of the key element within a preset time before the first element fault occurs when the power system first generates the successive faults covered by the safety and stability control system control strategy table in a dynamic process successive event.
Preferably, the specific method for presetting the control policy table is as follows:
21) aiming at a safety and stability control system for protecting the stability of a power grid under multiple operation modes, under each operation mode, for preselected key elements, all the key elements which are possible to have faults are arranged and combined based on occurrence time sequence to obtain all successive fault combinations, wherein the number of the successive fault combinations in each operation mode is as follows:
wherein N is the total number of the elements needing to identify faults, namely the total number of the preselected key elements;
22) under each operation mode, setting a control strategy table for each successive fault combination, specifically: combining the maximum time interval T between two successive faults in successive fault groups ZspanDividing into X parts, i.e. obtaining X time intervals, where X is Tspan/Tdiv，TdivRepresenting the minimum time interval between two successive faults, the maximum time interval T between two successive faultsspanAnd a minimum time interval T between two consecutive faultsdivAre preset values, for successive fault combinations Z containing m faults, the successive fault groups are grouped based on the time interval between two successive faultsCombining Z and further dividing to obtain X corresponding to the successive fault combination Zm-1Successive fault combinations in which the faults occur successively at different time intervals, the control strategy table being set for each successive fault combination, i.e. X exists for successive fault combinations Zm-1A control policy table corresponding to faults occurring successively at different time intervals; and the control strategy table stores corresponding control object combinations of faults which occur successively in each running state and the total amount to be controlled of each type of control object combination.
Preferably, the method for saving the operation information of the control object in advance specifically includes:
31) the execution station safety and stability control device monitors the running information of the local control object in real time and sends the running information of all the local control objects to the control substation safety and stability control device;
32) the control substation safety and stability control device receives operation information of all control objects monitored by all subordinate execution station safety and stability control devices, and sends the information to the control main station safety and stability control device;
33) the control main station safety and stability control device receives and stores the control object running information of each execution station sent by the control substation safety and stability control device, and regularly refreshes the control object running information according to a fixed time period;
the control object operation information pre-stored in the step 3) is the control object operation information within a preset time before the first element fault occurs when the power system first generates the successive faults covered by the safety and stability control system control strategy table in a dynamic process successive event.
Preferably, the control object operation information includes a control action time, the control action time includes a control object local emergency control action time, and the control object local emergency control action time includes a traditional control means emergency control action time and a novel control means emergency control action time;
the time of the local emergency control action of the traditional control means is the time from the receiving of a control command to the opening and the closing of the circuit breaker; the novel control means is a time constant from the time when the control command is received to the time when the emergency control action is performed;
the conventional control means include a cutter and a cutting load; the novel control means comprises direct current modulation and Static Var Compensator (SVC) control.
Preferably, the control action time further includes a communication delay from the transmission of the control command under the current communication path to the local, that is, the control action time of the control object is the sum of the local emergency control action time and the communication delay from the transmission of the control command under the current communication path to the local, and the communication delay from the transmission of the control command under the current communication path to the local includes an actual communication delay T from the transmission of the current communication path command between the execution station safety and stability control device and the control substation safety and stability control devicecom_subtoexe_abAnd actual communication delay T for command transmission of current communication path between the control substation safety and stability control device and the control main station safety and stability control devicecom_maintosub_aThe communication delay is determined by the location where the control object is located, and specifically,
if the control object is located at the b-th execution station under the a-th control substation, the communication delay is Tcom_subtoexe_abAnd Tcom_maintosub_aSumming; if a control object is located at the a-th control substation, the communication delay is Tcom_maintosub_a。
Preferably, the actual communication delay T of the command transmission of the current communication path between the execution station safety and stability control device and the control substation safety and stability control devicecom_subtoexe_abThe measuring method specifically comprises the following steps:
71) the safety and stability control device of the a-th control substation and the safety and stability control device of the subordinate b-th execution station carry out clock synchronization;
72) the safety and stability control device of the a-th control substation sends information t containing a test bit and a current time scale to the safety and stability control device of the b-th execution stationabThe control command of (2);
73) the safety and stability control device of the b-th execution station receives the control command in the step 72), and then immediately installs the control command to the a-th control substationThe all-stable control device returns the time mark information t when receiving the control commandba；
74) Calculating the actual communication delay T of the subb execution station safety and stability control device of the a-th control substation for receiving the control command of the a-th control substationcom_subtoexe_ab＝tba-tab；
Preferably, in the step 2), the specific steps of obtaining the corresponding control object combination and the total amount to be controlled of each type of control object in the current operation state are as follows:
2-1) when a preselected key element fails, controlling a master station safety and stability control device to record the time when the element fails, and if the failed element is positioned in the monitoring range of a control substation safety and stability control device, marking a time mark on the spot on a control substation and then sending the time mark to the control master station for recording;
2-2) controlling the safety and stability control device of the main station to arrange all faults into a fault sequence according to the sequence of occurrence:
{(F_name_1,F_time_1)；(F_name_2,F_time_2)；…(F_name_n,F_time_n)}
wherein, F _ name _1, F _ name _2, F _ name _ n respectively represent the first failed component name, the second failed component name and the nth failed component name, and F _ time _1, F _ time _2 and F _ time _ n respectively represent the failure occurrence time of the first failed component, the failure occurrence time of the second failed component and the failure occurrence time of the nth failed component;
and 2-3) correspondingly inquiring a control strategy table preset in the safety and stability control device of the control master station according to the fault sequence to obtain the corresponding control object combination and the total amount to be controlled of various control objects.
Preferably, the step 3) of implementing wide area coordination control of the control object with the control timing coordination feature includes the specific steps of:
3-1) the control master station performs wide-area time sequence coordination on the control objects based on the operation information of various control objects, distributes the total amount to be controlled of various control objects in the subordinate ranges of different control substations in proportion, and determines the action time sequence of the control objects, namely determines the specific objects to be controlled and the control delay thereof as control commands to be sent to the control substations;
3-2) executing the control command, specifically, the control substation executes the control command after receiving the control command; if the object to be controlled belongs to the range of the execution station, the execution station receives the control command sent by the control substation and then executes the control command; the control command is executed by counting down the specific object to be controlled according to the control delay and then actuating the outlet after the time is reached.
The invention has the following beneficial effects: the invention relates to an emergency control wide area coordination method for coping with dynamic process successive events, which realizes wide area coordination control of a control object coping with the dynamic process successive events and solves the technical problem that a power grid safety and stability control system cannot cope with successive faults. According to the method, the control strategy table capable of being matched with successive fault evolution processes is arranged, and emergency control measures are taken quickly and accurately in the fault evolution process in the dynamic process after the AC/DC interconnected power grid fails; through the accurate acquisition to the actual response time of control object, and then carry out strict time sequence cooperation to the control object of wide area distribution different grade type, realized dealing with the wide area coordinated control of the control object of dynamic process incident in succession, effectively promote electric wire netting safety and stability control system's reliability, be favorable to ensureing the security and the stability of electric power system operation.
Drawings
FIG. 1 is a flow diagram of a method for emergency control wide area coordination of dynamic process succession events in accordance with an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for configuring a control policy table for handling at most 4 consecutive failure combinations and a flow chart of searching a corresponding control policy table according to a failure combination manner of consecutive occurrence time intervals of failures in the embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further explained with reference to the embodiments according to the drawings.
The emergency control wide area coordination method for coping with the dynamic process successive events is implemented by a power grid safety and stability control system. The power grid safety and stability control system is formed by communicating safety and stability control devices of a plurality of plant stations through communication equipment and is divided into a control main station, a control substation and an execution station. When the power grid safety and stability control system acts, the control substation executes the control command issued by the control main station safety and stability control device and issues the control command to the execution station safety and stability control device, and the execution station executes the control command issued by the control substation safety and stability control device.
Example 1
The method for coordinating the wide area of emergency control in response to successive events of a dynamic process, as shown in fig. 1, specifically includes the following steps:
1) the control master station safety and stability control device judges the operation mode and the operation state of the power grid based on the operation information of the key elements stored in advance;
2) searching a preset control strategy table based on the power grid operation mode to obtain a corresponding control object combination and the total amount to be controlled of each type of control object in the current operation state;
3) and on the basis of the prestored running information of the control objects, distributing the total amount to be controlled of each type of control object in the control objects in the subordinate ranges of different control substations in proportion to obtain a control command, thereby realizing the wide-area coordination control of the control objects with the control time sequence matching characteristic.
Example 2
On the basis of example 1, in example 2
1) The control master station safety and stability control device judges the operation mode and the operation state of the power grid based on the operation information of the key elements stored in advance;
the specific method for pre-storing the operation information of the key elements comprises the steps that the control substation safety and stability control device monitors the operation information of the locally pre-selected key elements in real time and sends the operation information of the pre-selected key elements to the control main station safety and stability control device; the control main station safety and stability control device monitors locally preselected key element operation information and receives the key element operation information sent by the control substation safety and stability control device; storing the operation information of the preselected key element and refreshing the operation information at regular intervals;
the operation information of the key element pre-stored in step 1) is the operation information of the key element within a preset time before the first element fault occurs when the power system first generates the successive faults covered by the safety and stability control system control strategy table in a dynamic process successive event.
The key elements refer to related elements which may influence the safety and stability of the system or the implementation of a control strategy, and are screened based on offline stability calculation analysis aiming at a specific power grid; monitoring key elements by a control main station or a control substation; when a critical element fails, the failure is identified by the control master station or the control substation.
The operation information of the key element comprises the name of the element, whether the element is in an operation state, and the state information of electric quantity such as active power, frequency, voltage, current and the like of the operation of the element.
2) Searching a preset control strategy table based on the power grid operation mode to obtain a corresponding control object combination and the total amount to be controlled of each type of control object in the current operation state;
as a preferred embodiment, the specific method for presetting the control policy table includes:
21) aiming at a safety and stability control system for protecting the stability of a power grid under multiple operation modes, under each operation mode, for preselected key elements, all the key elements which are possible to have faults are arranged and combined based on occurrence time sequence to obtain all successive fault combinations, wherein the number of the successive fault combinations in each operation mode is as follows:
wherein N is the total number of the elements needing to identify faults, namely the total number of the preselected key elements;
in specific implementation, an N × N memory space is partitioned from the memory space. Wherein N represents the total number of elements of the safety and stability control system which need to identify faults; each memory space is called BLOCK 1; the description in fig. 2 is a 4 × 4 memory space, that is, the total number of elements required to identify a failure is 4;
22) under each operation mode, setting a control strategy table for each successive fault combination, specifically: combining the maximum time interval T between two successive faults in successive fault groups ZspanDividing into X parts, i.e. obtaining X time intervals, where X is Tspan/Tdiv，TdivRepresenting the minimum time interval between two successive faults, the maximum time interval T between two successive faultsspanAnd a minimum time interval T between two consecutive faultsdivAll are preset values, for successive fault combinations Z containing m faults, the successive fault combinations Z are further divided based on the time interval between two successive faults to obtain X corresponding to the successive fault combinations Zm-1Successive fault combinations in which the faults occur successively at different time intervals, the control strategy table being set for each successive fault combination, i.e. X exists for successive fault combinations Zm-1A control policy table corresponding to faults occurring successively at different time intervals; and the control strategy table stores corresponding control object combinations of faults which occur successively in each running state and the total amount to be controlled of each type of control object combination.
In specific implementation, each memory space BLOCK1 is divided into
Each smaller memory space is referred to as BLOCK2, where,
the number of the non-rearrangement combinations of all 2-N elements with faults starting from the element with the fault firstly in the transverse direction and ending from the element with the fault finally in the longitudinal direction in the single table with the serial numbers of the fault elements crossed transversely and longitudinally. P is the standard writing method in permutation and combination formula. The upper limit of i is N-2, and the control of a generator tripping, load shedding and the like is allowed only when two or more elements fail according to the technical guide rule of safety and stability control of the power systemAnd (5) taking measures. In the context of figure 2 of the drawings,
is 5, in the left diagram of fig. 2, the single table formed by the transverse direction "1" and the longitudinal direction "2" is divided into (1, 2); (1,3,2), (1,4, 2); (1,3,4,2), (1,4,3,2) 5 tables, i.e. 5 different combinations of consecutive faults, representing combinations of consecutive faults of two elements, respectively — element 1 failed first and element 2 failed last; sequential failure combinations of three elements — element 1 failed first, element 3 failed again, element 2 failed last and element 1 failed first, element 4 failed again, element 2 failed last; the sequential failure combination of the four elements — element 1 failed first, element 3,4 failed in turn, element 2 failed last, and element 1 failed first, element 4,3 failed in turn, and element 2 failed last.
X(i+1)Representing the number of successive fault combinations in which faults occur successively in different time intervals, wherein X represents the maximum time interval T in which two events (faults) in chronological order occur successivelyspanCan be subdivided into a minimum time interval TdivI.e. X ═ Tspan/Tdiv. Wherein, TspanGenerally equal to 5s, and if greater than 5s, considered an independent event; t isdivAccording to engineering demand setting, preferably, the TdivThe whole is set to be 50ms or even smaller, the smaller the value is, the more the number of the corresponding control strategy tables is, and the more precise the control on the dynamic evolution process of the system is; if the division result is a non-integer, then X is rounded downwards; in FIG. 2, taking the consecutive failure combinations (1,3,2) as an example, the number of the corresponding control policy tables is X2And X is 100, i.e., the storage length is 10000. Assuming that the failure occurrence time of the element 1 is 0, and the failure of the element 3 occurs between (50ms,100ms) and the failure of the element 2 occurs between (4.95s,5.00s), the storage location of the corresponding control policy table is 0199. The method can reduce the storage and query of the strategy table of a plurality of successive faults with the time sequence characteristics into two dimensions, and is easy to realize in engineering.
Each BLOCK2 stores a control policy table Con _ Tab corresponding to each successive fault combination according to the timing and time interval of the occurrence of the fault, and the structure of the table is shown in table 1:
TABLE 1
The table is a control strategy table corresponding to successive fault combination modes in which faults occur successively at different time intervals in a certain successive fault combination in a certain power grid operation mode, and J control strategy tables are needed if the power grid to be protected by the safety and stability control system has J operation modes; xjRepresenting the running state of the power grid before the fault, representing the running state as the algebraic sum of active power of the key section, and dividing into multiple gears according to the key section; vkThe fault type and equipment determined by the safety and stability control device of the control main station or the control substation; u shapejkThe control object combinations and the total amount to be controlled of each control object combination are obtained; the control object combination is the combination of all control objects which can be used for emergency control in the power grid to be protected by the safety and stability control system; the critical section is predetermined based on the off-line stable computational analysis results. It should be noted that, the discrimination of the operation state and the operation mode of the power grid is the prior art. The power grid operation mode is generally characterized by integrating the electric quantities of current, power and the like of each key element and identifying the input quantities of operation mode pressing plates and the like, the power grid operation state is generally represented by the algebraic sum of active power of key sections, and the power grid operation state and the operation mode are judged based on the operation information of the key elements in a period of time before the first element fault is locked.
The control object combinations and the total amount to be controlled of each control object combination are established according to the offline stable calculation analysis conclusion, namely, are predetermined and are correspondingly stored in the control strategy table.
The number of strategy tables for completing emergency control for coping with successive events of the dynamic process is as follows:
obviously, because the results of the horizontal and vertical crossing of the fault elements with the same labels are the same element, the power grid safety and stability control system generally adopts emergency control aiming at the faults of two or more elements, and accurately speaking, the quantity of the strategy tables for finishing emergency control for coping with successive events in the dynamic process is as follows:
the control strategy table is matched with the fault permutation and combination of all the successive events, so that the control measures can be started and implemented in the process of development of the successive events, and the control measures are added when each expected fault occurs according to the process of development of the successive events.
As a preferred embodiment, the specific steps of obtaining the corresponding control object combination and the total amount to be controlled of each type of control object in the step 2) in the current operation state are as follows:
2-1) when a preselected key element fails, controlling a master station safety and stability control device to record the time when the element fails, and if the failed element is positioned in the monitoring range of a control substation safety and stability control device, marking a time mark on the spot on a control substation and then sending the time mark to the control master station for recording;
2-2) controlling the safety and stability control device of the main station to arrange all faults into a fault sequence according to the sequence of occurrence:
{(F_name_1,F_time_1)；(F_name_2,F_time_2)；…(F_name_n,F_time_n)}
wherein, F _ name _1, F _ name _2, F _ name _ n respectively represent the first failed component name, the second failed component name and the nth failed component name, and F _ time _1, F _ time _2 and F _ time _ n respectively represent the failure occurrence time of the first failed component, the failure occurrence time of the second failed component and the failure occurrence time of the nth failed component;
and 2-3) correspondingly inquiring a control strategy table preset in the safety and stability control device of the control master station according to the fault sequence to obtain the corresponding control object combination and the total amount to be controlled of various control objects.
3) And on the basis of the prestored running information of the control objects, distributing the total amount to be controlled of each type of control object in the control objects in the subordinate ranges of different control substations in proportion to obtain a control command, thereby realizing the wide-area coordination control of the control objects with the control time sequence matching characteristic.
As a preferred embodiment, the method for saving the operation information of the control object in advance specifically includes:
31) the execution station safety and stability control device monitors the running information of the local control object in real time and sends the running information of all the local control objects to the control substation safety and stability control device;
32) the control substation safety and stability control device receives operation information of all control objects monitored by all subordinate execution station safety and stability control devices, and sends the information to the control main station safety and stability control device;
33) the control main station safety and stability control device receives and stores the control object running information of each execution station sent by the control substation safety and stability control device, and regularly refreshes the control object running information according to a fixed time period;
the control object operation information pre-stored in the step 3) is the control object operation information within a preset time before the first element fault occurs when the power system first generates the successive faults covered by the safety and stability control system control strategy table in a dynamic process successive event. The control object can be classified into power system elements such as a main transformer, a line, a unit, a load, a direct current transmission system and the like according to categories.
Common control object operation information includes active power { P } of the control object1,P2…PMState { Con) in which control object has control condition1,Con2…ConMAnd when local emergency control action of control object is carried out, { T }EOT_1,TEOT_2…,TEOT_MM is the number of control objects monitored by the executive station。
State Con of controlled object having control conditioniThe assignment method is as follows:
the control object allows the controlled pressure plate to be thrown (1)
Ii≥Iope (2)
Pi≥Pope (3)
Satisfies the condition (1) and satisfies the formula (2) or (3), and determines that the controlled object is in a state in which it can be controlled, ConiA value of 1; otherwise, determining that the controlled object is in a state of not being controlled, ConiThe value is 0. Wherein, IiRepresenting the mean value, P, of the effective values of the three-phase active currentsiRepresenting active power, IopeAnd PopeCan be artificially adjusted, preferably, the IopeIs set to be 80A, P larger than the average value of the effective values of the three-phase active currents of the control object measured by the safety and stability control device of the execution station in the shutdown stateopeThe capacity of the control object is set to 20MW or less.
In this embodiment, the control object operation information includes a control action time, the control action time includes a control object local emergency control action time, and the control object local emergency control action time includes a traditional control means emergency control action time and a novel control means emergency control action time;
in order to solve the stability problems of various forms in the dynamic process of a disturbed system, the emergency control measures may be a combination of traditional control measures such as a generator tripping and load shedding and novel control measures such as direct current modulation and Static Var Compensator (SVC) control.
When the traditional control means is used for local emergency control action, such as load shedding line, in a transformer substation which is not based on IEC61850 standard, the time for the emergency control action is the time from receiving a control command to opening and closing a circuit breaker; in a transformer substation based on the IEC61850 standard, the emergency control action time is measured by communication between a safety and stability control device and an intelligent terminal; the emergency control action of the novel control means, such as direct current modulation, is a time constant from the reception of a control command to the arrival of the direct current power at a control target value, and generally needs to be measured through a field actual test.
As a preferred embodiment, the control action time further includes a communication delay from the transmission of the control command under the current communication path to the local, that is, the control action time of the controlled object is the sum of the local emergency control action time and the communication delay from the transmission of the control command under the current communication path to the local, and the communication delay from the transmission of the control command under the current communication path to the local includes an actual communication delay T from the transmission of the command of the current communication path between the execution station safety and stability control device and the control substation safety and stability control devicecom_subtoexe_abAnd actual communication delay T for command transmission of current communication path between the control substation safety and stability control device and the control main station safety and stability control devicecom_maintosub_aThe communication delay is determined by the location where the control object is located, and specifically,
if the control object is located at the b-th execution station under the a-th control substation, the communication delay is Tcom_subtoexe_abAnd Tcom_maintosub_aSumming; if a control object is located at the a-th control substation, the communication delay is Tcom_maintosub_a。
As a preferred embodiment, the actual communication delay T of the command transmission of the current communication path between the execution station safety and stability control device and the control substation safety and stability control devicecom_subtoexe_abThe measuring method specifically comprises the following steps:
71) the safety and stability control device of the a-th control substation and the safety and stability control device of the subordinate b-th execution station carry out clock synchronization;
72) the safety and stability control device of the a-th control substation sends information t containing a test bit and a current time scale to the safety and stability control device of the b-th execution stationabThe control command of (2);
73) after receiving the control command in step 72), the safety and stability control device of the b-th execution station immediately returns the time scale information t when receiving the control command to the safety and stability control device of the a-th control substationba；
74) Calculating the actual communication delay T of the subb execution station safety and stability control device of the a-th control substation for receiving the control command of the a-th control substationcom_subtoexe_ab＝tba-tab；
And step 74) is executed in the power grid safety and stability control system, and an actual communication delay matrix of the subordinate execution station for receiving the control command of the control substation safety and stability control device is obtained:
the power grid safety and stability control system comprises K control substations; q denotes the number of executing stations subordinate to the first control substation, Q(2)Representing the number of subordinate execution stations, Q, of the second control substation(K)Indicating the number of execution stations set under the kth control substation.
When the power grid is not in fault and the power grid safety and stability control system is not in action, the measurement process is always operated in the safety and stability control devices of the control substations and the execution stations. In the actual operation process of the power grid safety and stability control system, in order to increase reliability, a communication channel used by the power grid safety and stability control system adopts a redundancy design, and the communication physical channel length and the communication equipment passing through are different due to modes such as roundabout and the like, so that the time for transmitting commands or information by the communication channel connecting the same two sets of power grid safety and stability control devices may be different. Such as: the station A to the station B may have at least 2 or more communication channels, if one channel is abnormal, the other channel can be automatically switched to, so that when the transmission of the actually used communication channel needs to be mastered, the accuracy of the actual communication delay calculation of the command received by the execution station safety and stability control device is ensured to the maximum extent.
Similarly, the actual communication delay T of the control substation safety and stability control device for receiving the control main station command under the current communication path is obtained by the same method and stepscom_maintosub_aFurther obtain the control substation in the whole safety and stability control systemReceiving communication delay of a control command of a safety and stability control device of a control main station:
{Tcom_maintosub_1,Tcom_maintosub_2,…,Tcom_maintosub_K}
in this embodiment, step 33) is to control the master station safety and stability control device to receive and store the control object operation information of each execution station sent by the control slave station safety and stability control device, specifically, the control master station safety and stability control device receives the operation information of each control object in each execution station sent by the control slave station safety and stability control device to form a power grid control object information matrix, and the control master station safety and stability control device controls the master station safety and stability control device to perform control for a fixed time period TrefreshAnd refreshing the control object information matrix. Wherein, TrefreshAccording to engineering demand setting, preferably, the TrefreshThe whole is 0.833ms or a multiple of 0.833ms, but generally does not exceed 5 ms.
In the above matrix, EleijkIs a one-dimensional matrix, representing { Con }abk,Pabk,Tabk}. a represents the serial number of the control sub-station, b represents the serial number of a certain executive station under the ith control sub-station, and k represents the serial number of a control object monitored by the b-th executive station arranged under the a-th control sub-station; the power grid safety and stability control system is provided with 1 control master station and K control substations; q denotes the number of executing stations subordinate to the first control substation, Q(2)Representing the number of subordinate execution stations, Q, of the second control substation(K)The number of execution stations set under the Kth control substation is represented; m represents the number of control objects monitored by a first execution station provided under a first control substation, M(2)Representing the number of control objects monitored by a second execution station arranged under the first control substation, and so on, M(Q +Q(2)+…+Q(K))Denotes the Q-th set under the Kth control substation(K)The number of control objects monitored by each execution station. T isabkEmergency control action time and control command transmission for local control objectAnd the sum of the communication delay to the local, namely when the control action is carried out, the communication delay is determined according to the condition that the control object is positioned in the control substation or the execution station. Such as: the b-th execution station of a control object under the a-th control substation is TabkIs Tcom_maintosub_a、Tcom_subtoexe_abThe sum of the local control object and the emergency control action time; if a control object is in the control substation a, TabkIs Tcom_maintosub_aAnd the sum of the local control object and the time for emergency control action.
Generally, the number of the control objects of each execution station is not equal, and the matrix column width is set to be
Execution stations whose number of control objects does not reach this value are filled with {0,0, … 0 }.
When the power system has the first time of successive faults covered by the control strategy table of the safety and stability control system, the safety and stability control device of the control master station locks a period of time T before the first element fault occurspreThe information in the control object information matrix is used as the basic information for the follow-up control measures. Wherein, TpreCan be determined artificially, typically, the TpreDetermined to be 200 ms. The first time refers to the first successive fault in a dynamic process succession event, the power system is stationary without disturbance occurring, and it is relatively accurate to obtain grid information, including control object information, before the first component fault occurs. When dealing with successive events occurring successively in a short time, the control master needs to perform rapid and continuous control based on the grasped information of the control target under steady-state conditions, and therefore, the latest information before the occurrence of the successive events is locked.
When a local or remote fault occurs in the power system, a control strategy table arranged in a safety and stability control device of a control master station is searched, a control object is obtained, and coordination is performed according to response characteristics and response time constants of a plurality of control objects (various power grid devices) widely distributed in a regional power grid.
As a preferred embodiment, the step 3) of implementing the wide area coordination control on the control object with the control timing coordination feature specifically includes:
3-1) the control master station performs wide area time sequence coordination on the control objects based on the operation information of various control objects, distributes the total amount to be controlled of various control objects in the subordinate ranges of different control substations in proportion, and determines the action time sequence of the control objects (such as: the control objects of the same type which are widely distributed are controlled to act simultaneously, the control objects of non-same type act simultaneously or in time sequence, and the like. The distribution principle and the action time sequence are determined by the offline stable calculation result), namely, a specific object to be controlled and the control delay thereof are determined to be sent to the control substation as a control command;
and 3-2) executing the control command, controlling the local action exit of the main station safety and stability control device, and/or issuing the control command to the control substation safety and stability control device, executing and distributing the control command to the execution station by the control substation, and executing after receiving the control command by the execution station. The execution of the control command is to a specific object to be controlled ObjiAccording to control delay TObjiCounting down, and actuating the outlet after reaching the time.
For example: the control time sequence screened by the control strategy is that the control object 1 acts first, and the control object 2 acts additionally after 100 ms; when the time for the control operation of the control object 1 is 50ms and the time for the control operation of the control object 2 is 80ms, the format of the control master station transmission command is: (control object 1,0), (control object 2, 70 ms).
Wide area timing coordination is a requirement for stable control of the power grid and is the prior art.
The above description is only a preferred embodiment of the present invention, which is used to illustrate the technical solution of the present invention, but not to limit the same; it should be noted that: modifications to the technical solutions described in the foregoing embodiments, or equivalents of some of the technical features thereof, are possible without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A method for emergency control wide area coordination of dynamic process succession events, comprising the steps of:
1) the control master station safety and stability control device judges the operation mode and the operation state of the power grid based on the operation information of the key elements stored in advance;
2) searching a preset control strategy table based on a power grid operation mode to obtain a corresponding control object combination and the total amount to be controlled of each type of control object in the current operation state, wherein the specific method for presetting the control strategy table comprises the following steps:
21) aiming at a safety and stability control system for protecting the stability of a power grid under multiple operation modes, under each operation mode, for preselected key elements, all the key elements which are possible to have faults are arranged and combined based on occurrence time sequence to obtain all successive fault combinations, wherein the number of the successive fault combinations in each operation mode is as follows:
wherein N is the total number of elements needing to identify faults, namely the total number of preselected key elements, P is a standard writing method in a permutation and combination formula, and the upper limit of i is N-2;
22) under each operation mode, setting a control strategy table for each successive fault combination, specifically: combining the maximum time interval T between two successive faults in successive fault groups ZspanDividing into X parts, i.e. obtaining X time intervals, where X is Tspan/Tdiv，TdivRepresenting the minimum time interval between two successive faults, the maximum time interval T between two successive faultsspanAnd a minimum time interval T between two consecutive faultsdivAll are preset values, for successive fault combinations Z containing m faults, the successive fault combinations Z are further divided based on the time interval between two successive faults to obtain X corresponding to the successive fault combinations Zm-1Successive fault combinations in which the faults occur successively at different time intervals, each successive fault combination being defined by a fault patternSetting control strategy table, namely existence X of successive fault combinations Zm-1A control policy table corresponding to faults occurring successively at different time intervals; the control strategy table stores corresponding control object combinations of faults which occur successively in each running state and the total amount to be controlled of each type of control object combination;
3) and on the basis of the prestored running information of the control objects, distributing the total amount to be controlled of each type of control object in the control objects in the subordinate ranges of different control substations in proportion to obtain a control command, thereby realizing the wide-area coordination control of the control objects with the control time sequence matching characteristic.
2. The method of claim 1, wherein the specific method for pre-storing the operation information of the key components is that the control substation safety and stability control device monitors the operation information of the locally pre-selected key components in real time and sends the operation information of the pre-selected key components to the control master station safety and stability control device; the control main station safety and stability control device monitors locally preselected key element operation information and receives the key element operation information sent by the control substation safety and stability control device; storing the operation information of the preselected key element and refreshing the operation information at regular intervals;
the operation information of the key element pre-stored in step 1) is the operation information of the key element within a preset time before the first element fault occurs when the power system first generates the successive faults covered by the safety and stability control system control strategy table in a dynamic process successive event.
3. An emergency control wide-area coordination method for handling dynamic process succession events according to claim 1, characterized in that the method of pre-saving the control object operation information is specifically:
31) the execution station safety and stability control device monitors the running information of the local control object in real time and sends the running information of all the local control objects to the control substation safety and stability control device;
32) the control substation safety and stability control device receives operation information of all control objects monitored by all subordinate execution station safety and stability control devices, and sends the information to the control main station safety and stability control device;
33) the control main station safety and stability control device receives and stores the control object running information of each execution station sent by the control substation safety and stability control device, and regularly refreshes the control object running information according to a fixed time period;
the control object operation information pre-stored in the step 3) is the control object operation information within a preset time before the first element fault occurs when the power system first generates the successive faults covered by the safety and stability control system control strategy table in a dynamic process successive event.
4. An emergency control wide area coordination method to handle dynamic process succession events, according to claims 1 or 3, wherein said control object operational information comprises control action time, said control action time comprises control object local emergency control action time, said control object local emergency control action time comprises first control means emergency control action time and second control means emergency control action time; the time of the local emergency control action of the first control means is the time from the receiving of a control command to the opening of the circuit breaker; the time of the emergency control action of the second control means is a time constant from the receiving of the control command to the reaching of the control target value;
the first control means comprises a cutter and a cutting load; the second control means comprises direct current modulation and Static Var Compensator (SVC) control.
5. An emergency control wide-area coordination method according to claim 4, wherein said control action time further comprises communication delay of transmission of control command to local under current communication path, that is, said control action time of said control object is local emergency control action time and current communication path control commandThe sum of communication delay transmitted to the local is made, the communication delay of the control command transmitted to the local under the current communication path comprises the actual communication delay T of the command transmission of the current communication path between the execution station safety and stability control device and the control substation safety and stability control devicecom_subtoexe_abAnd actual communication delay T for command transmission of current communication path between the control substation safety and stability control device and the control main station safety and stability control devicecom_maintosub_aThe communication delay is determined by the location where the control object is located, and specifically,
if the control object is located at the b-th execution station under the a-th control substation, the communication delay is Tcom_subtoexe_abAnd Tcom_maintosub_aSumming; if a control object is located at the a-th control substation, the communication delay is Tcom_maintosub_a。
6. An emergency control wide area coordination method for handling dynamic process succession events, according to claim 5, characterized by, performing the actual communication delay T of the current communication path command transmission between the station safety and stability control device and the control substation safety and stability control devicecom_subtoexe_abThe measuring method specifically comprises the following steps:
71) the safety and stability control device of the a-th control substation and the safety and stability control device of the subordinate b-th execution station carry out clock synchronization;
72) the safety and stability control device of the a-th control substation sends information t containing a test bit and a current time scale to the safety and stability control device of the b-th execution stationabThe control command of (2);
73) after receiving the control command in step 72), the safety and stability control device of the b-th execution station immediately returns the time scale information t when receiving the control command to the safety and stability control device of the a-th control substationba；
74) Calculating the actual communication delay T of the subb execution station safety and stability control device of the a-th control substation for receiving the control command of the a-th control substationcom_subtoexe_ab＝tba-tab。
7. An emergency control wide-area coordination method for handling dynamic process succession events according to claim 1, characterized in that, in said step 2), the specific steps of obtaining the corresponding control object combination and the total amount to be controlled of each type of control object in the current operation state are as follows:
2-1) when a preselected key element fails, controlling a master station safety and stability control device to record the time when the element fails, and if the failed element is positioned in the monitoring range of a control substation safety and stability control device, marking a time mark on the spot on a control substation and then sending the time mark to the control master station for recording;
2-2) controlling the safety and stability control device of the main station to arrange all faults into a fault sequence according to the sequence of occurrence:
{(F_name_1,F_time_1)；(F_name_2,F_time_2)；…(F_name_n,F_time_n)}
wherein, F _ name _1, F _ name _2, F _ name _ n respectively represent the first failed component name, the second failed component name and the nth failed component name, and F _ time _1, F _ time _2 and F _ time _ n respectively represent the failure occurrence time of the first failed component, the failure occurrence time of the second failed component and the failure occurrence time of the nth failed component;
and 2-3) correspondingly inquiring a control strategy table preset in the safety and stability control device of the control master station according to the fault sequence to obtain the corresponding control object combination and the total amount to be controlled of various control objects.
8. An emergency control wide area coordination method for handling dynamic process succession events according to claim 1, characterized in that said step 3) of implementing wide area coordination control of the control object with control timing coordination features comprises the specific steps of:
3-1) the control master station performs wide-area time sequence coordination on the control objects based on the operation information of various control objects, distributes the total amount to be controlled of various control objects in the subordinate ranges of different control substations in proportion, and determines the action time sequence of the control objects, namely determines the specific objects to be controlled and the control delay thereof as control commands to be sent to the control substations;
3-2) executing the control command, specifically, the control substation executes the control command after receiving the control command; if the object to be controlled belongs to the range of the execution station, the execution station receives the control command sent by the control substation and then executes the control command; the control command is executed by counting down the specific object to be controlled according to the control delay and then actuating the outlet after the time is reached.
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