CN110247407B - Channel decoupling generator subsynchronous damping controller parameter setting method - Google Patents

Channel decoupling generator subsynchronous damping controller parameter setting method Download PDF

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CN110247407B
CN110247407B CN201910519210.4A CN201910519210A CN110247407B CN 110247407 B CN110247407 B CN 110247407B CN 201910519210 A CN201910519210 A CN 201910519210A CN 110247407 B CN110247407 B CN 110247407B
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channel
subsynchronous
damping
frequency characteristic
torque coefficient
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CN110247407A (en
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张建承
熊鸿韬
吴跨宇
楼伯良
华文
杨滢
孙维真
石博隆
卢嘉华
胡明康
王子龙
汪宗恒
何吉祥
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State Grid Zhejiang Electric Power Co Ltd
Electric Power Research Institute of State Grid Zhejiang Electric Power Co Ltd
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State Grid Zhejiang Electric Power Co Ltd
Electric Power Research Institute of State Grid Zhejiang Electric Power Co Ltd
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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/10—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load
    • H02P9/105—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load for increasing the stability

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Abstract

The invention discloses a method for setting parameters of a channel-decoupled subsynchronous damping controller of a generator. The technical scheme adopted by the invention is as follows: acquiring damping characteristic data based on numerical simulation analysis of a subsynchronous risk unit system or through field actual measurement; calculating and obtaining subsynchronous complex torque coefficient frequency characteristics of a system natural channel, a rotor excitation channel and a stator machine end channel based on a channel decoupling theory, and further obtaining phase frequency characteristics and damping torque coefficient frequency characteristics of each channel; and finally, decoupling and setting control parameters of a phase shift link and a gain link of each additional pass synchronous damping controller by adopting a setting method of independent setting of channel phases and linear superposition of damping results and taking optimization of a comprehensive damping torque coefficient of the system as a target. The parameter setting method of the subsynchronous damping controller designed by the invention can realize the decoupling and setting of the subsynchronous damping controller parameters and is beneficial to the design optimization of the parameters of the multi-pass synchronous damping controller.

Description

Channel decoupling generator subsynchronous damping controller parameter setting method
Technical Field
The invention belongs to the technical field of power system stability control, and particularly relates to a method for setting parameters of a generator subsynchronous damping controller with a decoupled channel.
Background
Subsynchronous oscillation occurs in a system of a turbonator output through a long-distance series compensation circuit for the first time, and the serious consequence of damage of a generator shafting can be caused. In recent years, subsynchronous oscillation occurs in a direct-current transmission terminal unit and a system in which new energy is accessed to a weak power grid in a large scale, and the stable operation of a power system is seriously influenced.
Currently, two main types of effective measures for suppressing subsynchronous oscillation from the generator side are: an additional excitation damping controller SEDC based on conventional excitation and an additional subsynchronous damping controller SSDC based on new equipment of generator-end power electronics. The setting method of the existing subsynchronous damping controller can be divided into three categories: the method comprises the steps of a parameter setting method based on a simplified analytic equation (analytic method for short), a global optimization parameter setting method based on a numerical simulation model (global optimization method for short) and a parameter setting method based on field test (field test method for short).
The analytic method is used for designing parameters of a control global optimization method by establishing an electrical damping model so as to meet the requirement of subsynchronous damping, but the current analytic method usually assumes constant flux linkage so as to obtain a simplified calculation formula of quadrature-direct axis decoupling, and although the analytic method is favorable for quickly setting the parameters, the damping characteristics of a generator system cannot be comprehensively reflected, and optimal parameter setting is difficult to ensure. The global optimization method can be developed based on an accurate numerical simulation model by using an intelligent optimization algorithm, theoretically, the control parameter setting of global optimization can be realized, but the optimization setting result is relatively dependent on the accuracy of the model, and the field data is difficult to check. The field test method is based on the actual response of the system, and then the control parameters are set by a formula setting method or an engineering experience method, but because the damping characteristic generated by the action of the channel damping controller is mutually coupled with the system damping, the existing formula method and the engineering experience method can not carry out refined decoupling parameter setting on the sub-synchronous damping controller.
Disclosure of Invention
Aiming at the problems and the defects in the prior art, the invention provides a method for setting the parameters of the generator subsynchronous damping controller with decoupled channels, so as to improve the parameter setting accuracy of the generator subsynchronous damping controller.
In order to achieve the above object, according to an aspect of the present invention, there is provided a method for tuning a parameter of a channel-decoupled subsynchronous damping controller of a generator, based on numerical simulation analysis or field actual measurement data, the method comprising:
step one, acquiring a subsynchronous complex torque coefficient frequency characteristic K of a system natural channel in a target setting frequency band based on numerical simulation analysis of a subsynchronous risk unit system or through field actual measurement0(jλ)；
Step two, an additional pass synchronous damping controller is put into use, only the gain parameter of the controller is set, and the subsynchronous complex torque coefficient frequency characteristic K of the system at the moment is obtaineds(jλ)；
Thirdly, based on the channel decoupling theory, the subsynchronous complex torque coefficient frequency characteristic K of the subsynchronous damping controller channelc(j λ) by Ks(j λ) and K0(j lambda) subtracting and calculating to obtain the phase-frequency characteristic and the damping torque coefficient frequency characteristic of the controller channel;
step four, if two additional channel subsynchronous damping controllers are adopted at the same time, the subsynchronous damping controller put into the step two is withdrawn, another additional channel subsynchronous damping controller is put into, and the phase-frequency characteristic and the damping torque coefficient frequency characteristic of another subsynchronous damping controller channel are obtained according to the step two and the step three;
and fifthly, decoupling and setting the phase shift link and the gain link control parameters of each additional pass synchronous damping controller based on a channel decoupling theory, on the basis of the phase frequency characteristic and the damping torque coefficient frequency characteristic of the sub-synchronous damping controller channel, by adopting a setting method of channel independent setting and result linear superposition and taking system comprehensive damping torque coefficient optimization in a target setting frequency band as a target.
Further, the subsynchronous complex torque coefficient frequency characteristic in the first step, the second step and the third step is expressed by the following complex equation:
K(jλ)＝Ke(λ)+jλDe(λ)，
wherein λ is the per unit value of frequency, Ke(λ) is a synchronous torque coefficient frequency characteristic, De(λ) is a damping torque coefficient frequency characteristic.
Namely K mentioned above0(jλ)＝Ke_0(λ)+jλDe_0(λ)，Ks(jλ)＝Ke_s(λ)+jλDe_s(λ)，Kc(jλ)＝Ke_c(λ)+jλDe_c(λ)。
Further, the additional channel subsynchronous damping controller in the second step comprises: an additional excitation damping controller based on an excitation system or an additional subsynchronous damping controller based on a generator-end power electronic device; the additional channel subsynchronous damping controller in the fourth step comprises: the auxiliary excitation damping controller based on the excitation system is called a rotor excitation channel for short, and the auxiliary subsynchronous damping controller based on the power electronic equipment at the machine end is called a stator machine end channel for short.
Further, the channel decoupling theory in the third step means that when the subsynchronous damping controller adopts the rotating speed deviation and equivalent signals thereof as controller input and system parameters and excitation automatic voltage regulator controller parameters or generator set parameters are fixed, a system natural channel and a rotor excitation channel or a stator machine end channel are decoupled with each other, and subsynchronous complex torque coefficient frequency characteristics of all channels are linearly superposed.
Further, the channel decoupling theory in the fifth step means that when the subsynchronous damping controller adopts the rotating speed deviation and equivalent signals thereof as controller input and the generator set parameter, the system parameter and the excitation automatic voltage regulator controller parameter are fixed, the system natural channel, the rotor excitation channel and the stator machine end channel are decoupled with each other, and subsynchronous complex torque coefficient frequency characteristics of all the channels are linearly superposed.
Further, the phase-frequency characteristic formula in the third step and the fourth step is as follows:
Figure BDA0002095609770000031
wherein, Ke(λ) is a synchronous torque coefficient frequency characteristic, De(λ) is damping torque coefficient frequency characteristic
According to another aspect of the invention, a method for tuning parameters of a generator subsynchronous damping controller with decoupled channels is provided based on a subsynchronous analytic model of a subsynchronous first standard model, and comprises the following steps:
establishing a subsynchronous analysis model based on a subsynchronous first standard model, wherein the model comprises two additional channel subsynchronous damping controllers which are respectively an additional excitation damping controller based on an excitation system, namely a rotor excitation channel, and an additional subsynchronous damping controller based on a machine-end power electronic device, namely a stator machine-end channel; the subsynchronous analytic model is as follows:
Ks(p)＝ΔTe/Δ，
where p is the Laplace operator,. DELTA.TeIs the electromagnetic torque deviation, and delta is the power angle deviation;
the electromagnetic torque deviation model is as follows:
Figure BDA0002095609770000032
wherein psid0、ψq0Initial components of stator flux linkage, i, of direct axis and quadrature axis respectivelyd0、iq0For the initial components of the stator direct and quadrature currents, ut0As an initial component of the stator voltage, ud0、uq0As initial components of stator direct and quadrature voltages, xd(p)、xq(p) reactance calculated for direct and quadrature axes, respectively, Δ idAnd Δ iqFor direct and quadrature current deviations, Δ udAnd Δ uqFor the direct and quadrature voltage deviations, G (p) being the transfer function of the excitation voltage to the direct excitation, gpid(p) is the PID control transfer function of the excitation AVR;
the dq axis component deviation model of the terminal voltage is as follows:
Figure BDA0002095609770000033
Figure BDA0002095609770000034
Figure BDA0002095609770000035
wherein M isgFor the excitation-related scaling matrix, MdFor generator-dependent scaling matrices, raIs stator winding resistance, xd' and xq' is the direct and quadrature axis transient reactance, gse(p) adding an excitation damping controller transfer function to the rotor excitation channel;
the current deviation model comprises three independent parts as follows: respectively, a system natural channel current deviation model delta id_0And Δ iq_0Rotor excitation channel current deviation model delta id_seAnd Δ iq_seStator machine end channel current deviation model delta id_ssAnd Δ iq_ss；
Figure BDA0002095609770000041
Figure BDA0002095609770000042
Figure BDA0002095609770000043
Figure BDA0002095609770000044
Figure BDA0002095609770000045
Wherein M iseFor the system line correlation scaling matrix, reIs the equivalent resistance of the system line, xeIs an equivalent inductive reactance, x, of the system lineceSeries compensation of equivalent capacitive reactance, g, for the system liness(p) adding a subsynchronous damping controller transfer function to a stator machine end channel;
secondly, calculating and obtaining a subsynchronous complex torque coefficient frequency characteristic K of a system natural channel in a target setting frequency band based on a subsynchronous analytic model0(j lambda), uncompensated subsynchronous complex torque coefficient frequency characteristic K of rotor excitation channelse(j lambda) frequency characteristic K of uncompensated subsynchronous complex torque coefficient of stator machine end channelss(j λ), and further obtaining phase-frequency characteristics and damping torque coefficient frequency characteristics of each channel;
and thirdly, based on a channel decoupling theory, based on the phase frequency characteristic and the damping torque coefficient frequency characteristic of the channel of the sub-synchronous damping controller, adopting a channel independent setting and result linear superposition setting method, and performing decoupling setting of the phase shift link and the gain link control parameter of each additional pass sub-synchronous damping controller by taking system comprehensive damping torque coefficient optimization in a target setting frequency band as a target.
Further, the frequency characteristic of the subsynchronous complex torque coefficient in the first step and the second step is expressed by the following complex equation:
K(jλ)＝Ke(λ)+jλDe(λ)，
wherein λ is the per unit value of frequency, Ke(λ) is a synchronous torque coefficient frequency characteristic, De(λ) is a damping torque coefficient frequency characteristic. Namely: k0(jλ)＝Ke_0(λ)+jλDe_0(λ)，Kse(jλ)＝Ke_se(λ)+jλDe_se(λ)，Kss(jλ)＝Ke_ss(λ)+jλDe_ss(λ)。
Further, the specific calculation method of the frequency characteristic of the subsynchronous complex torque coefficient of each channel in the second step is as follows:
g is prepared fromse(p) and gss(p) is set to be 0, and the frequency characteristic K of the subsynchronous complex torque coefficient of the natural channel of the system in the target setting frequency band is calculated and obtained0(jλ)；
G is prepared fromse(p) is set to 1, gss(p) is set to be 0, and the uncompensated subsynchronous complex torque coefficient frequency characteristic K of the rotor excitation channel in the target setting frequency band is calculated and obtained without considering the current deviation of the natural channel of the systemse(jλ)；
G is prepared fromse(p) is set to 0, gss(p) is set to be 1, and the frequency characteristic K of the uncompensated subsynchronous complex torque coefficient of the terminal channel of the stator in the target setting frequency band is calculated and obtained without considering the current deviation of the natural channel of the systemss(jλ)。
Further, the phase-frequency characteristic formula in the second step and the third step is as follows:
Figure BDA0002095609770000051
wherein, Ke(λ) is a synchronous torque coefficient frequency characteristic, De(λ) is a damping torque coefficient frequency characteristic.
The invention has the beneficial effects that: based on the characteristic that a natural channel, a rotor excitation channel and a stator machine end channel of a system are decoupled from each other, and based on a method of independent setting of channel phases and linear superposition of comprehensive damping, the decoupling and setting of parameters of a subsynchronous damping controller of each channel are realized, and the parameter design problem that the subsynchronous damping controller, especially a multi-pass synchronous damping controller, cannot realize accurate decoupling and setting due to mutual coupling of system damping and phases is solved.
Drawings
FIG. 1 is a block diagram of a generator system incorporating an additional field damping controller (SEDC) in accordance with an embodiment of the present invention;
FIG. 2 is a block diagram of a generator system incorporating an additional subsynchronous damping controller (SSDC) in accordance with an embodiment of the present invention;
FIG. 3 is a diagram of a first standard sub-synchronous model including a multi-pass synchronous damping controller according to an embodiment of the present invention;
FIG. 4 is a frequency characteristic diagram of a system damping torque coefficient obtained by numerical simulation in an embodiment of the present invention;
FIG. 5 is a diagram of the frequency characteristic and the phase frequency characteristic of the damping torque coefficient of the rotor excitation channel obtained by numerical simulation in the embodiment of the present invention;
FIG. 6 is a diagram of frequency characteristics and phase frequency characteristics of damping torque coefficients of machine-end channels of the stator obtained by numerical simulation in the embodiment of the present invention;
FIG. 7 is a diagram of a damping torque coefficient frequency characteristic and a phase frequency characteristic of a rotor excitation channel calculated by an analytic model according to an embodiment of the present invention;
FIG. 8 is a diagram of frequency characteristics and phase frequency characteristics of damping torque coefficients of machine-end channels of the stator obtained by calculation of an analytic model according to an embodiment of the present invention;
fig. 9 is a frequency characteristic diagram of a system damping torque coefficient obtained by an analytical model calculation according to an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the following examples and the accompanying drawings, but the scope of the invention is not limited to the following examples. Any modification and variation made within the spirit of the present invention and the scope of the claims fall within the scope of the present invention.
Additional excitation damping controller (SEDC) based excitation system as shown in FIG. 1 provides subsynchronous damping to the generator system through the rotor excitation channels.
An additional subsynchronous damping controller (SSDC) based on terminal power electronics equipment is shown in fig. 2, which provides subsynchronous damping to the generator system through the stator terminal channel.
A subsynchronous first standard model for numerical simulation, which contains both the SEDC and SSDC subsynchronous damping controllers, is shown in fig. 3.
The frequency characteristic of the damping torque coefficient of the natural channel of the system obtained by numerical simulation calculation and the frequency characteristic of the damping torque coefficient of the system after the parameter setting of the subsynchronous damping controller are shown in fig. 4.
The rotor excitation channel (SEDC) damping torque coefficient frequency characteristics and the phase frequency characteristics obtained by numerical simulation calculation include the characteristics of an uncompensated channel and the characteristics of a compensated channel after parameter setting, as shown in fig. 5.
The frequency characteristics and the phase frequency characteristics of the damping torque coefficient of the stator machine end channel (SSDC) obtained by numerical simulation calculation comprise the characteristics of an uncompensated channel and the characteristics of a compensated channel after parameter setting, and are shown in FIG. 6.
The rotor excitation channel (SEDC) damping torque coefficient frequency characteristics and the phase frequency characteristics obtained by the calculation of the analytical model include the characteristics of an uncompensated channel and the characteristics of a compensated channel after parameter setting, as shown in fig. 7.
The frequency characteristics and the phase frequency characteristics of the damping torque coefficient of the stator machine end channel (SSDC) obtained by the calculation of the analytic model comprise the characteristics of an uncompensated channel and the characteristics of a compensated channel after parameter setting, and are shown in FIG. 8.
The frequency characteristic of the damping torque coefficient of the natural channel of the system obtained by calculation of the analytical model and the frequency characteristic of the damping torque coefficient of the system after parameter setting of the subsynchronous damping controller are shown in fig. 9.
Example one
The method for setting the parameters of the generator subsynchronous damping controller with the decoupled channel is used for setting the parameters of the SEDC and the SSDC in the subsynchronous first standard model system based on numerical simulation analysis, and comprises the following specific setting steps:
step one, establishing a subsynchronous first standard model shown in figure 3 based on numerical simulation software, wherein the simulation model comprises two subsynchronous damping controllers of SEDC and SSDC, and obtaining a subsynchronous complex torque coefficient frequency of a system natural channel in a subsynchronous frequency band through simulation calculation under the state that both the SEDC and the SSDC are not put intoRate characteristic K0(j lambda), according to the complex expression of the subsynchronous complex torque, the damping torque coefficient frequency characteristic D of the natural channel of the system can be calculated and obtainede_0(λ), as shown in FIG. 4;
K0(jλ)＝Ke_0(λ)+jλDe_0(λ)，
where λ is the per unit value of frequency, Ke_0(λ) is the synchronous torque coefficient frequency characteristic of the natural channel of the system, De_0And (lambda) is the damping torque coefficient frequency characteristic of the natural channel of the system.
Step two, an SEDC damping controller is put into, only the gain parameter of the controller is set, and the subsynchronous complex torque coefficient frequency characteristic K of the system at the moment is obtaineds_se(jλ)。
Thirdly, based on the channel decoupling theory, the subsynchronous complex torque coefficient frequency characteristic K of the subsynchronous damping controller channelc_se(j λ) can pass Ks_se(j λ) and K0The (j lambda) is obtained by subtraction calculation, and the damping torque coefficient frequency characteristic D of the SEDC control channel is obtainedc_se(lambda) and obtaining the phase-frequency characteristic phi of the SEDC control channel by the following phase-frequency characteristic calculation formulac_se(λ), as shown in FIG. 5;
Figure BDA0002095609770000071
step four, quitting the SEDC damping controller, putting the SSDC damping controller into the SEDC damping controller, and obtaining the phase-frequency characteristic phi of the SSDC control channel according to the step two and the step threec_ss(lambda) and damping torque coefficient frequency characteristic Dc_ss(λ) as shown in FIG. 6.
And step five, based on a channel decoupling theory, based on the phase frequency characteristic and the damping torque coefficient frequency characteristic of a channel of the subsynchronous damping controller, adopting a setting method of channel phase independent setting and damping result linear superposition, aiming at optimizing the damping torque coefficient of the system in a frequency band of 5 Hz-45 Hz as positive and the gain of the damping controller as small as possible, and performing decoupling setting on each additional pass synchronous damping controller parameter, wherein both the SEDC and the SSDC adopt a controller consisting of a first-order lead-lag phase shift link and a gain link, and the transfer function is as follows:
Figure BDA0002095609770000072
in the formula, T1Is a lead time constant, T2Is a lag time constant, KpIs a gain factor.
The damping characteristics and phase-frequency characteristics of each channel after setting are shown in figures 5-6, and the comprehensive damping lifting effect of the system is shown in figure 4.
Example two
The method for setting the parameters of the generator subsynchronous damping controller with the decoupled channel is used for setting the parameters of the SEDC and the SSDC in the subsynchronous first standard model system based on an analytic model considering flux linkage change, and comprises the following specific setting steps:
step one, establishing an analytic model based on a subsynchronous first standard model, wherein the model comprises two additional channel subsynchronous damping controllers which are respectively an additional excitation damping controller (SEDC, rotor excitation channel) based on an excitation system and an additional subsynchronous damping controller (SSDC, stator machine end channel) based on machine end power electronic equipment, and the subsynchronous complex torque coefficient model is as follows, wherein p is a Laplace operator, and delta T is a Laplace operatoreFor electromagnetic torque deviation, Δ is power angle deviation:
Ks(p)＝ΔTe/Δ (1)
the torque deviation model is as follows, whered0、ψq0Initial components of stator flux linkage, i, of direct axis and quadrature axis respectivelyd0、iq0For the initial components of the stator direct and quadrature currents, ut0As an initial component of the stator voltage, ud0、uq0As initial components of stator direct and quadrature voltages, xd(p)、xq(p) reactance calculated for direct and quadrature axes, respectively, Δ idAnd Δ iqFor direct and quadrature current deviations, Δ udAnd Δ uqFor the direct and quadrature voltage deviations, G (p) being the transfer function of the excitation voltage to the direct excitation, gpid(p) is excited AVRThe PID controls the transfer function of the transfer medium,
Figure BDA0002095609770000081
the dq-axis component deviation model of the terminal voltage is as follows, where MgFor the excitation-related scaling matrix, MdFor generator-dependent scaling matrices, raIs stator winding resistance, xd' and xq' is the direct and quadrature axis transient reactance, gse(p) adding an excitation damping controller transfer function to the rotor excitation channel:
Figure BDA0002095609770000082
Figure BDA0002095609770000083
Figure BDA0002095609770000084
the current deviation model comprises three independent parts as follows: respectively, a system natural channel current deviation model delta id_0And Δ iq_0Rotor excitation channel current deviation model Δ id_seAnd Δ iq_seStator machine end channel current deviation model delta id_ssAnd Δ iq_ss. Wherein M iseFor the system line correlation scaling matrix, reIs the equivalent resistance of the system line, xeIs an equivalent inductive reactance, x, of the system lineceSeries compensation of equivalent capacitive reactance, g, for the system liness(p) adding a subsynchronous damping controller transfer function to a stator machine end channel:
Figure BDA0002095609770000085
Figure BDA0002095609770000086
Figure BDA0002095609770000087
Figure BDA0002095609770000088
Figure BDA0002095609770000089
step two, calculating and obtaining a subsynchronous complex torque coefficient frequency characteristic K of a system natural channel in a subsynchronous frequency band based on a subsynchronous analytic model0(j lambda), uncompensated subsynchronous complex torque coefficient frequency characteristic K of rotor excitation channelse(j lambda) frequency characteristic K of uncompensated subsynchronous complex torque coefficient of stator machine end channelss(j λ), the specific method comprises: g is prepared fromse(p) and gss(p) set to 0, calculating and obtaining the frequency characteristic K of the subsynchronous complex torque coefficient of the natural channel of the system in the target setting frequency band0(j λ); g is prepared fromse(p) is set to 1, gss(p) is set to be 0, and the uncompensated subsynchronous complex torque coefficient frequency characteristic K of the rotor excitation channel in the target setting frequency band can be calculated and obtained without considering the current deviation of the natural channel of the system (namely the model of the formula 7)se(j λ); g is prepared fromse(p) is set to 0, gss(p) is set to 1, and the frequency characteristic K of the uncompensated subsynchronous complex torque coefficient of the terminal channel of the terminal in the target setting frequency band can be calculated and obtained without considering the current deviation of the natural channel of the system (namely, a formula 7 model)ss(jλ)；
Further, the phase-frequency characteristic phi of each channel is calculated according to the following subsynchronous complex torque formula and phase-frequency characteristic calculation formulac(lambda) and damping torque coefficient frequency characteristic Dc(λ) as shown in FIGS. 7 to 8;
K(jλ)＝Ke(λ)+jλDe(λ)，
Figure BDA0002095609770000091
wherein λ is the per unit value of frequency, Ke(λ) is a synchronous torque coefficient frequency characteristic, De(λ) is a damping torque coefficient frequency characteristic.
And thirdly, decoupling and setting the phase shift link and the gain link control parameters of each additional pass synchronous damping controller by taking the phase frequency characteristic and the damping torque coefficient frequency characteristic of the pass of the sub-synchronous damping controller as the basis, adopting a setting method of independent setting of the phase of the pass and linear superposition of damping results and taking optimization of the comprehensive damping torque coefficient of the system as a target.
The damping characteristics and phase-frequency characteristics of each channel after setting are shown in figures 7-8, and the comprehensive damping improvement effect of the system is shown in figure 9.

Claims (10)

1. A method for setting parameters of a channel decoupling generator subsynchronous damping controller is characterized in that the method for setting the control parameters based on numerical simulation analysis or field actual measurement data specifically comprises the following steps:
step one, acquiring a subsynchronous complex torque coefficient frequency characteristic K of a system natural channel in a target setting frequency band based on numerical simulation analysis of a subsynchronous risk unit system or through field actual measurement0(jλ)；
Step two, an additional pass synchronous damping controller is put into use, only the gain parameter of the controller is set, and the subsynchronous complex torque coefficient frequency characteristic K of the system at the moment is obtaineds(jλ)；
Thirdly, based on the channel decoupling theory, the subsynchronous complex torque coefficient frequency characteristic K of the subsynchronous damping controller channelc(j λ) by Ks(j λ) and K0(j lambda) subtracting and calculating to obtain the phase-frequency characteristic and the damping torque coefficient frequency characteristic of the controller channel;
step four, if two additional channel subsynchronous damping controllers are adopted at the same time, the subsynchronous damping controller put into the step two is withdrawn, another additional channel subsynchronous damping controller is put into, and the phase-frequency characteristic and the damping torque coefficient frequency characteristic of another subsynchronous damping controller channel are obtained according to the step two and the step three;
and fifthly, decoupling and setting the phase shift link and the gain link control parameters of each additional pass synchronous damping controller based on a channel decoupling theory, on the basis of the phase frequency characteristic and the damping torque coefficient frequency characteristic of the sub-synchronous damping controller channel, by adopting a setting method of channel independent setting and result linear superposition and taking system comprehensive damping torque coefficient optimization in a target setting frequency band as a target.
2. The method for tuning the parameters of the generator subsynchronous damping controller with decoupled channels as claimed in claim 1, wherein the frequency characteristics of the subsynchronous complex torque coefficients in the first, second and third steps are expressed by the following complex equations:
K(jλ)＝Ke(λ)+jλDe(λ)，
wherein λ is the per unit value of frequency, Ke(λ) is a synchronous torque coefficient frequency characteristic, De(λ) is a damping torque coefficient frequency characteristic.
3. The method for tuning the parameters of the channel-decoupled subsynchronous damping controller of the generator in claim 1, wherein the additional channel subsynchronous damping controller in the second step comprises: an additional excitation damping controller based on an excitation system or an additional subsynchronous damping controller based on a generator-end power electronic device; the additional channel subsynchronous damping controller in the fourth step comprises: the auxiliary excitation damping controller based on the excitation system is called a rotor excitation channel for short, and the auxiliary subsynchronous damping controller based on the power electronic equipment at the machine end is called a stator machine end channel for short.
4. The method for setting parameters of the channel-decoupled subsynchronous damping controller of the generator according to claim 3, wherein the channel decoupling theory in the third step means that when the subsynchronous damping controller adopts the rotating speed deviation and the equivalent signal thereof as the controller input and the system parameters and the excitation automatic voltage regulator controller parameters or the generator set parameters are fixed, the system natural channel and the rotor excitation channel or the stator generator end channel are decoupled from each other, and the subsynchronous complex torque coefficient frequency characteristics of the channels are linearly superposed.
5. The method for tuning the parameters of the channel-decoupled subsynchronous damping controller of the generator according to claim 3, wherein the channel decoupling theory in the fifth step is that when the subsynchronous damping controller adopts the rotation speed deviation and the equivalent signal thereof as the controller input and the generator set parameters, the system parameters and the excitation automatic voltage regulator controller parameters are fixed, the system natural channel, the rotor excitation channel and the stator machine end channel are decoupled from each other, and the subsynchronous complex torque coefficient frequency characteristics of the channels are linearly superposed.
6. The method for tuning the parameters of the channel-decoupled subsynchronous damping controller of the generator according to any one of claims 1 to 5, wherein the phase-frequency characteristic formula in the third step and the fourth step is as follows:
Figure FDA0002531794710000021
wherein, Ke(λ) is a synchronous torque coefficient frequency characteristic, De(λ) is a damping torque coefficient frequency characteristic.
7. A method for setting parameters of a generator subsynchronous damping controller with decoupled channels is characterized in that a subsynchronous analytical model based on a subsynchronous first standard model is used for setting the parameters, and comprises the following steps:
establishing a subsynchronous analysis model based on a subsynchronous first standard model, wherein the subsynchronous analysis model comprises two additional channel subsynchronous damping controllers which are respectively an additional excitation damping controller based on an excitation system, namely a rotor excitation channel, and an additional subsynchronous damping controller based on machine-end power electronic equipment, namely a stator machine-end channel; the subsynchronous analytic model is as follows:
Ks(p)＝ΔTe/Δ，
where p is the Laplace operator,. DELTA.TeIs the electromagnetic torque deviation, and delta is the power angle deviation;
the electromagnetic torque deviation model is as follows:
Figure FDA0002531794710000022
wherein psid0、ψq0Initial components of stator flux linkage, i, of direct axis and quadrature axis respectivelyd0、iq0For the initial components of the stator direct and quadrature currents, ut0As an initial component of the stator voltage, ud0、uq0As initial components of stator direct and quadrature voltages, xd(p)、xq(p) reactance calculated for direct and quadrature axes, respectively, Δ idAnd Δ iqFor direct and quadrature current deviations, Δ udAnd Δ uqFor the direct and quadrature voltage deviations, G (p) being the transfer function of the excitation voltage to the direct excitation, gpid(p) is the PID control transfer function of the excitation AVR;
the dq axis component deviation model of the terminal voltage is as follows:
Figure FDA0002531794710000031
Figure FDA0002531794710000032
Figure FDA0002531794710000033
wherein M isgFor the excitation-related scaling matrix, MdFor generator-dependent scaling matrices, raIs stator winding resistance, xd' and xq' is the direct and quadrature axis transient reactance, gse(p) adding an excitation damping controller transfer function to the rotor excitation channel;
the current deviation model comprises three independent parts as follows: respectively, a system natural channel current deviation model delta id_0And Δ iq_0Rotor excitation channel current deviation model delta id_seAnd Δ iq_seStator machine end channel current deviation model delta id_ssAnd Δ iq_ss；
Figure FDA0002531794710000034
Figure FDA0002531794710000035
Figure FDA0002531794710000036
Figure FDA0002531794710000037
Figure FDA0002531794710000038
Wherein M iseFor the system line correlation scaling matrix, reIs the equivalent resistance of the system line, xeIs an equivalent inductive reactance, x, of the system lineceSeries compensation of equivalent capacitive reactance, g, for the system liness(p) adding a subsynchronous damping controller transfer function to a stator machine end channel;
secondly, calculating and obtaining a subsynchronous complex torque coefficient frequency characteristic K of a system natural channel in a target setting frequency band based on a subsynchronous analytic model0(j lambda), uncompensated subsynchronous complex torque coefficient frequency characteristic K of rotor excitation channelse(j lambda) frequency characteristic K of uncompensated subsynchronous complex torque coefficient of stator machine end channelss(j λ), and further obtaining phase-frequency characteristics and damping torque coefficient frequency characteristics of each channel;
and thirdly, based on a channel decoupling theory, based on the phase frequency characteristic and the damping torque coefficient frequency characteristic of the channel of the sub-synchronous damping controller, adopting a channel independent setting and result linear superposition setting method, and performing decoupling setting of the phase shift link and the gain link control parameter of each additional pass sub-synchronous damping controller by taking system comprehensive damping torque coefficient optimization in a target setting frequency band as a target.
8. The method for tuning the parameters of the channel-decoupled subsynchronous damping controller of the generator according to claim 7, wherein the frequency characteristics of the subsynchronous complex torque coefficients in the first step and the second step are expressed by a complex equation as follows:
K(jλ)＝Ke(λ)+jλDe(λ)，
wherein λ is the per unit value of frequency, Ke(λ) is a synchronous torque coefficient frequency characteristic, De(λ) is a damping torque coefficient frequency characteristic.
9. The method for tuning the parameters of the generator subsynchronous damping controller with the decoupled channel according to claim 7, wherein the specific calculation method of the frequency characteristics of the subsynchronous complex torque coefficients of each channel in the second step is as follows:
g is prepared fromse(p) and gss(p) is set to be 0, and the frequency characteristic K of the subsynchronous complex torque coefficient of the natural channel of the system in the target setting frequency band is calculated and obtained0(jλ)；
G is prepared fromse(p) is set to 1, gss(p) is set to be 0, and the uncompensated subsynchronous complex torque coefficient frequency characteristic K of the rotor excitation channel in the target setting frequency band is calculated and obtained without considering the current deviation of the natural channel of the systemse(jλ)；
G is prepared fromse(p) is set to 0, gss(p) is set to be 1, and the frequency characteristic K of the uncompensated subsynchronous complex torque coefficient of the terminal channel of the stator in the target setting frequency band is calculated and obtained without considering the current deviation of the natural channel of the systemss(jλ)。
10. The method for tuning the parameters of the channel-decoupled subsynchronous damping controller of the generator according to claim 7, wherein the phase-frequency characteristic formula in the second step and the third step is as follows:
Figure FDA0002531794710000041
wherein, Ke(λ) is a synchronous torque coefficient frequency characteristic, De(λ) is a damping torque coefficient frequency characteristic.
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