CN110649632B - Control method and device of high-excitation-multiple magnetically-controlled high-voltage shunt reactor - Google Patents

Control method and device of high-excitation-multiple magnetically-controlled high-voltage shunt reactor Download PDF

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CN110649632B
CN110649632B CN201910910681.8A CN201910910681A CN110649632B CN 110649632 B CN110649632 B CN 110649632B CN 201910910681 A CN201910910681 A CN 201910910681A CN 110649632 B CN110649632 B CN 110649632B
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reference value
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CN110649632A (en
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石祥建
韩兵
牟伟
钟高跃
陈松林
文继锋
韩焦
吴龙
刘为群
苏家财
吕桂勤
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NR Electric Co Ltd
NR Engineering Co Ltd
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NR Engineering 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
    • H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
    • H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators
    • H02J3/1835—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control
    • 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
    • H02P13/00—Arrangements for controlling transformers, reactors or choke coils, for the purpose of obtaining a desired output
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/30—Reactive power compensation

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  • Control Of Electrical Variables (AREA)

Abstract

Disclosure of the inventionA control method and a device for a high-excitation-multiple magnetically controlled high-voltage shunt reactor are disclosed, and the specific method comprises the following steps: (1) the voltage and reactive power regulation of the system are controlled by variable parameter PID closed loop, the deviation between the reference value and the measured value is calculated by independent PID, and then the U is output by the control mode selection modulePID(ii) a The deviation between the maximum exciting current control set value and the exciting current instantaneous value is output U through PI operationIfmax；UIfmaxAnd UPIDAdding, amplifying and limiting to generate final excitation control voltage UC(ii) a (2) The PID closed-loop control of system voltage and reactive power adopts variable parameter PID calculation, and the proportional, integral and differential parameters are dynamically adjusted according to the control target deviation value; (3) and adjusting parameters and confirming effects by adopting a reference value step test method on site. The excitation system has the advantages that the excitation system has the capability of fast response of high excitation multiple and stable adjustment of a steady state within a safe operation range, the effect of the high excitation voltage excitation multiple of the excitation system can be fully exerted, and the fast response capability of the system is improved.

Description

Control method and device of high-excitation-multiple magnetically-controlled high-voltage shunt reactor
Technical Field
The invention belongs to the technical field of electrical engineering, and particularly relates to a control method of a high-excitation-multiple magnetically-controlled high-voltage shunt reactor.
Background
The magnetic control high-voltage shunt reactor is novel Flexible Alternating Current Transmission System (FACTS) equipment, the reactance value of a main loop iron core winding is adjusted by adjusting the magnetic saturation of an iron core through adjusting the current of a reactor control winding to change the magnetic saturation of the iron core, so that the function of adjusting reactive power is achieved, the capacitive reactive power of a transmission line can be dynamically compensated, the capacitive boost effect, the power frequency overvoltage and the secondary current of an ultra/extra-high voltage transmission line are inhibited, and the stability of the system is improved.
A common topological structure of a magnetically controlled high-voltage parallel reactor system is shown in fig. 2, and a reactor body comprises a grid-side winding, a compensation winding and a control winding: the network side winding is connected in parallel with a high-voltage transmission line or a bus, the compensation winding provides an excitation system alternating current power supply and is connected with a filter bank, the voltage of the compensation winding is isolated and reduced by an excitation transformer and then is converted into direct current excitation current through a thyristor rectifier bridge ACDC to be injected into the control winding, and the magnetic saturation of the iron core is adjusted.
Common in domestic and foreign projects, an excitation control system of a magnetically controlled high-voltage shunt reactor performs PID closed-loop regulation by taking system voltage or reactive power of the reactor as a target, and maintains the voltage or reactive power of the reactor to be stabilized at a target reference value by continuously regulating and controlling winding current.
A longer inertia control link exists from an excitation control winding to a grid side winding of the magnetically controlled high-voltage shunt reactor, and specifically, the excitation control system calculates direct-current control voltage according to the requirements and working conditions of a power system, changes the output excitation voltage of rectifying equipment, further changes the excitation current of the control winding, changes the direct-current magnetic field of an iron core through electromagnetic conversion, further changes the reactance value of the grid side winding, and changes the current and reactive power of the grid side winding. Overall, the system time constant is longer. For a reactor without a quick response requirement, the overall response time of a system is generally designed to be in the order of seconds.
In order to fully exert the rapid inhibiting effect of the magnetically controlled high-voltage shunt reactor on the operation overvoltage or the power frequency overvoltage under the conditions of live line operation, disconnection, reclosing, load shedding or other load sudden changes and the like, a common method is that an excitation system on a control side improves the secondary side voltage and the capacity of an excitation transformer, and the establishment time of a direct current excitation current and a direct current magnetic field is shortened by using a high excitation voltage strong excitation multiple, so that the response time of the reactor is shortened.
The excitation voltage may vary from two to more than ten times in terms of response time requirements on the order of seconds to hundreds of milliseconds. Taking the design that the minimum trigger angle of the rectifier bridge is 15 degrees and corresponds to 15 times of excitation voltage for forced excitation as an example, the trigger angle corresponding to the rated excitation voltage is about 86 degrees and is close to the inversion angle of 90 degrees, and the primary power part has larger gain. If the PID parameters of the control part also adopt larger gains, the whole excitation system can have the capability of quickly establishing the direct-current excitation voltage and current when the voltage or the reactive power changes.
The method has the problems that when the excitation system operates in a steady state within the rated capacity, the overall gain of the excitation system is overlarge, and the trigger angle of the excitation system is controlled to change within a very small range of 86-90 degrees, so that the voltage or the reactive power is difficult to control stably, and small continuous fluctuation possibly exists to influence the adjustment quality. On the other hand, if the high excitation voltage excitation multiple is improperly controlled, control overshoot is easy to occur, so that excitation current and grid side current are increased. In fact, the exciting current and the grid-connected current do not have strong excitation requirements and capacities, and the reactor design does not leave a large overcurrent capacity for the winding based on cost consideration at first, so that if the exciting voltage cannot be adjusted back quickly when the exciting current meets requirements, the reactor body and a matched excitation system can be damaged in severe cases.
The common processing method is to give consideration to both quick response and steady-state control, and a set of appropriate PID control parameters is selected in a compromise manner, so that part of quick response capability of the system is actually sacrificed, and the improvement of steady-state control performance is relatively limited. The domestic scholars also propose that an excitation transformer adopts two groups of secondary windings, one group of secondary windings are low in voltage and used for steady-state control, and the other group of secondary windings are high in voltage and used for forced excitation output, but the method increases equipment investment, and the two groups of windings need long action time through circuit breaker switching, so that the quick response capability of the system is seriously weakened.
Aiming at the problem, a high-excitation-factor magnetically-controlled high-voltage shunt reactor optimization control method needs to be researched, so that the target quantity of voltage or reactive power can be stably adjusted in a steady state, the function of the high-excitation factor can be furthest exerted in transient and dynamic processes under the condition of ensuring the safety of a system, and the quick response capability of the system is improved.
Disclosure of Invention
The invention aims to provide a control method of a high-strong-excitation-factor magnetically-controlled high-voltage shunt reactor, which can enable target quantity to be stably adjusted in a steady state, can play a role of the high-strong-excitation factor in transient and dynamic processes under the condition of ensuring the safety of a system, and improves the quick response capability of the system.
In order to achieve the above purpose, the solution of the invention is:
on the one hand, the invention provides a control method of a high-excitation-multiple magnetically controlled high-voltage shunt reactor, which is characterized by comprising the following steps: selecting a current control mode based on a system voltage PID closed-loop control model and a reactive power PID closed-loop control model; superposing the output value of the current control mode with the calculated value of the maximum exciting current PI control model to determine exciting control voltage to realize reactor control; and PID parameters of the system voltage PID closed-loop control model and the reactive power PID closed-loop control model are generated according to input deviation values.
Further, the control of the system voltage PID closed-loop control model includes:
reference value of system voltage UrefDeviation E from measured value UUInput to PID calculation module PIDUThe PID calculating module PIDUThe PID calculation module calculates and outputs a system voltage control calculation value UPID_U。
Further, the control of the reactive power PID closed-loop control model comprises:
reference value of reactive power QrefDeviation E from measured value QQInput to a reactive power PID calculation module PIDQThe PID parameters of the reactive power PID calculation module are generated according to the input deviation value regulation, and the reactive power PID calculation module calculates and outputs a reactive power control calculation value UPID_Q。
Further, the method for regulating and generating the PID parameters of the system voltage PID closed-loop control model and the reactive power PID closed-loop control model according to the input deviation value comprises the following steps:
if the input deviation is larger than or equal to the highest threshold value, setting the proportional parameter Kp as a first proportional parameter reference value, setting the integral parameter Ki as a third integral parameter reference value, and setting the differential parameter Kd as a first differential parameter reference value;
if the input deviation is greater than the lowest threshold and less than the highest threshold, the proportional parameter Kp is set as a second proportional parameter reference value, the integral parameter Ki is set as a second integral parameter reference value, and the derivative parameter Kd is set as a second derivative parameter reference value;
if the input deviation is smaller than the lowest threshold value, the proportional parameter Kp is set as a third proportional parameter reference value, the integral parameter Ki is set as a first integral parameter reference value, and the differential parameter Kd is set as a third differential parameter reference value;
wherein the first scale parameter reference value is greater than the third scale parameter reference value, and the second scale parameter reference value is between the first scale parameter reference value and the third scale parameter reference value; the first integral parameter reference value is greater than the third integral parameter reference value, the second integral parameter reference value is between the first integral parameter reference value and the third integral parameter reference value, the first derivative parameter reference value is greater than the third derivative parameter reference value, and the second derivative parameter reference value is between the first derivative parameter reference value and the third derivative parameter reference value.
Further, the output value U of the current control mode is usedPIDSuperposed maximum exciting current PI control model calculation value UIfmaxDeriving excitation control voltages, including: maximum exciting current control set value IfmaxWith instantaneous value of exciting current IfDeviation E ofIfOutputting a maximum exciting current control calculation value U through PI control model operationIfmax；UIfmaxOutput value U of current control modePIDAdding, generating final excitation control voltage U via amplifier and limiterC(ii) a According to excitation control voltage UCAnd the direct-current excitation voltage output by the thyristor rectifier bridge is changed, so that the direct-current excitation current is changed, and the value of the reactor is adjusted.
On the other hand, the invention provides a control device of a high-excitation-multiple magnetically controlled high-voltage shunt reactor, which is characterized by comprising the following components: the device comprises a first comparator, a second comparator, a first parameter selection module, a first PID calculation module, a second parameter selection module, a second PID calculation module, a third comparator, a control mode selection module, a selection output module, a PI closed-loop control module, an amplifier, an amplitude limiter and an adder, wherein the first comparator is connected with the second comparator;
the first comparator is respectively connected with a first parameter selection module and a first PID calculation module, and the first parameter selection module is connected with the first PID calculation module; the second comparator is respectively connected with a second parameter selection module and a second PID calculation module, and the second parameter selection module is connected with the second PID calculation module; the third comparator is connected with the PI closed-loop control module;
the first PID calculation module and the second PID calculation module are both connected to the selection output module, and the control mode selection module is connected to the selection output module;
and the selection output module and the PI closed-loop control module output excitation control voltage through an adder and then through an amplifier and an amplitude limiter which are connected in sequence.
Further, the first parameter selection module and the second parameter selection module are used for adjusting and generating PID parameters according to the input deviation value.
Further, the first parameter selection module and the second parameter selection module adjust and generate PID parameters according to the input deviation value, and specifically include:
if the input deviation is larger than or equal to the highest threshold value, setting the proportional parameter Kp as a first proportional parameter reference value, setting the integral parameter Ki as a third integral parameter reference value, and setting the differential parameter Kd as a first differential parameter reference value;
if the input deviation is greater than the lowest threshold and less than the highest threshold, the proportional parameter Kp is set as a second proportional parameter reference value, the integral parameter Ki is set as a second integral parameter reference value, and the derivative parameter Kd is set as a second derivative parameter reference value;
if the input deviation is smaller than the lowest threshold value, the proportional parameter Kp is set as a third proportional parameter reference value, the integral parameter Ki is set as a first integral parameter reference value, and the differential parameter Kd is set as a third differential parameter reference value;
wherein the first scale parameter reference value is greater than the third scale parameter reference value, and the second scale parameter reference value is between the first scale parameter reference value and the third scale parameter reference value; the first integral parameter reference value is greater than the third integral parameter reference value, the second integral parameter reference value is between the first integral parameter reference value and the third integral parameter reference value, the first derivative parameter reference value is greater than the third derivative parameter reference value, and the second derivative parameter reference value is between the first derivative parameter reference value and the third derivative parameter reference value.
The invention has the following beneficial technical effects:
the invention discloses a control method and a device for a high-excitation-multiple magnetically controlled high-voltage shunt reactor, which adopt variable-parameter PID control and adopt smaller system steady-state gain in steady-state operation so that controlled quantity operation is more stable;
when the system voltage or the reactive power is greatly changed suddenly, the large transient state and dynamic control gain are adopted, the maximum exciting current control function is adopted to ensure that the instantaneous value of the exciting current is not out of limit, the safety of primary equipment is ensured, the effect of the high exciting voltage strong excitation multiple of the exciting system can be fully exerted, and the quick response capability of the system is improved.
Drawings
Fig. 1 is a schematic diagram of a control method for a high-excitation-multiple magnetically controlled high-voltage shunt reactor according to a specific embodiment of the present invention;
FIG. 2 is a typical primary electrical topology of a magnetically controlled high voltage shunt reactor system;
fig. 3 is a schematic diagram of a control device of a high-excitation-multiple magnetically controlled high-voltage shunt reactor according to an embodiment of the present invention;
the labels in the figure are: 1-a first comparator; 2-a second comparator; 3-a first parameter selection module; 4-a first PID calculation module; 5-a second parameter selection module; 6-a second PID calculation module; 7-a third comparator; 8-control mode selection module; 9-selecting an output module; 10-PI closed loop control module; 11-an amplifier; 12-a limiter; 13-adder.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
The first implementation mode comprises the following steps: as shown in fig. 1, the control model adopts system voltage and reactive power control as main control, and maximum exciting current control as auxiliary control.
The system voltage control adopts variable parameter PID closed-loop control (namely, parameters of a PID closed-loop controller are generated according to input deviation value regulation), and the system voltage is maintained to be stable at a set value: reference value of system voltage UrefDeviation E from measured value UUPID (proportion integration differentiation) of module is calculated through adjustable parameter PIDUCalculating the voltage control calculation value U of the output systemPID_U；
The reactive power control adopts variable parameter PID closed-loop control, and the reactive power of the reactor is maintained to be stable at a set value: reference value of reactive power QrefDeviation E from measured value QQPID (proportion integration differentiation) of module is calculated through adjustable parameter PIDQCalculating output reactive power control calculation value UPID_Q；
And in normal operation, one of the system voltage control and the reactive power control is selected as a current operation control mode, and the other one is selected as a tracking operation mode. U shapePID_UAnd UPID_QThe calculated value of the current operation control Mode is output U by the control Mode selection module Mode _ selectPID；
The maximum exciting current control adopts PI closed loop control, and when the exciting current exceeds the set limit valueAnd then, the excitation control voltage is instantly adjusted back, the excitation current is guaranteed not to exceed the limit, and the excitation current is limited within a safety range at the first time: the calculation module exceeds the maximum exciting current set value I when the exciting current measured value exceeds the maximum exciting current set valuefmaxCalculating the maximum exciting current set value IfmaxWith measured value of field current (i.e. instantaneous value of field current) IfDeviation E ofIfOutputting U through amplitude limit of less than or equal to 0 by PI calculationIfmax. Wherein, the maximum exciting current setting value IfmaxThe maximum long-term operation current value allowed by the reactor is set, and is generally 1.1 times of rated exciting current.
UIfmaxAnd UPIDAdding, amplifying and amplitude limiting to generate final excitation control voltage UC(ii) a Control device according to UCAnd the direct-current excitation voltage output by the thyristor rectifier bridge is changed, so that the direct-current excitation current is changed, and the value of the reactor is adjusted.
System voltage control closed loop calculation module PIDUIs given by a parameter selection module PIDUA select is generated according to the deviation E of the reference value and the measured value of the system voltageUSelecting corresponding PID parameters, wherein the parameters are selected according to the following method:
if the input deviation is larger than or equal to the highest threshold value, setting the proportional parameter Kp as a first proportional parameter reference value, setting the integral parameter Ki as a third integral parameter reference value, and setting the differential parameter Kd as a first differential parameter reference value;
if the input deviation is greater than the lowest threshold and less than the highest threshold, the proportional parameter Kp is set as a second proportional parameter reference value, the integral parameter Ki is set as a second integral parameter reference value, and the derivative parameter Kd is set as a second derivative parameter reference value;
if the input deviation is smaller than the lowest threshold value, the proportional parameter Kp is set as a third proportional parameter reference value, the integral parameter Ki is set as a first integral parameter reference value, and the differential parameter Kd is set as a third differential parameter reference value;
wherein the first scale parameter reference value is greater than the third scale parameter reference value, and the second scale parameter reference value is between the first scale parameter reference value and the third scale parameter reference value; the first integral parameter reference value is greater than the third integral parameter reference value, the second integral parameter reference value is between the first integral parameter reference value and the third integral parameter reference value, the first derivative parameter reference value is greater than the third derivative parameter reference value, and the second derivative parameter reference value is between the first derivative parameter reference value and the third derivative parameter reference value.
In a second embodiment, as shown in fig. 3, a control device for a high-excitation-factor magnetically controlled high-voltage shunt reactor includes:
the device comprises a first comparator 1, a second comparator 2, a first parameter selection module 3, a first PID calculation module 4, a second parameter selection module 5, a second PID calculation module 6, a third comparator 7, a control mode selection module 8, a selection output module 9, a PI closed-loop control module 10, an amplifier 11, an amplitude limiter 12 and an adder 13;
the first comparator 1 is respectively connected with a first parameter selection module 3 and a first PID calculation module 4, and the first parameter selection module 3 is connected with the first PID calculation module 4; the second comparator 2 is respectively connected with a second parameter selection module 5 and a second PID calculation module 6, and the second parameter selection module 5 is connected with the second PID calculation module 6; the third comparator 7 is connected with the PI closed-loop control module 10;
the first PID calculation module 4 and the second PID calculation module 6 are both connected to a selection output module 9, and the control mode selection module 8 is connected to the selection output module 9;
the selection output module 9 and the PI closed-loop control module 10 output excitation control voltage through an adder 13 and then through an amplifier 11 and an amplitude limiter 12 which are connected in sequence.
On the basis of the above embodiment, the first parameter selection module 3 and the second parameter selection module 5 are used for generating PID parameters according to the input deviation value adjustment.
Specifically, the first comparator 1 is included for obtaining a system voltage reference value UrefDeviation E from measured value UUAnd will deviate from EUThe output is sent to a first PID calculation module 4 and a first parameter selection module 3, and the first parameter selection module 3 is used for rootAccording to the deviation E of the first comparator outputUAdjusting the PID parameter of the first PID calculation module 4 and outputting the PID parameter to the first PID calculation module 4, wherein the first PID calculation module 4 is used for calculating the deviation EUAnd PID parameter calculation output system voltage control calculation value UPID_U；
The second comparator 2 is used for obtaining a reactive power reference value QrefDeviation E from measured value QQAnd will deviate from EQThe output is sent to a second PID calculation module 6 and a second parameter selection module 5, the second parameter selection module 5 is used for selecting the deviation E according to the output of the second comparatorQAdjusting the PID parameter of the second PID calculation module 6 and outputting the PID parameter to the second PID calculation module 6, wherein the second PID calculation module 6 is used for calculating the deviation EQAnd PID parameter calculation output reactive power control calculation value UPID_Q；
The control mode selection module 8 is used for controlling the calculation value U based on the system voltagePID_UAnd reactive power control calculation value UPID_QSelecting a current control mode UPID；
The third comparator 7 is used for calculating a maximum exciting current set value IfmaxWith measured value of exciting current IfDeviation E ofIfAnd outputs it to the PI closed-loop control module 10;
the PI closed-loop control module 10 is configured to base the deviation E onIfPerforming PI calculation, limiting amplitude, and outputting UIfmax；
The adder 13 is used for adding the output value U of the current control modePIDSuperposed maximum exciting current PI control model calculation value UIfmaxThe final excitation control voltage U is generated through the links of the amplifier 11 and the amplitude limiter 12C。
On the basis of the above embodiments, the first parameter selection module 3 and the second parameter selection module 5 generate PID parameters according to input offset value adjustment, and specifically include:
if the input deviation is larger than or equal to the highest threshold value, setting the proportional parameter Kp as a first proportional parameter reference value, setting the integral parameter Ki as a third integral parameter reference value, and setting the differential parameter Kd as a first differential parameter reference value;
if the input deviation is greater than the lowest threshold and less than the highest threshold, the proportional parameter Kp is set as a second proportional parameter reference value, the integral parameter Ki is set as a second integral parameter reference value, and the derivative parameter Kd is set as a second derivative parameter reference value;
if the input deviation is smaller than the lowest threshold value, the proportional parameter Kp is set as a third proportional parameter reference value, the integral parameter Ki is set as a first integral parameter reference value, and the differential parameter Kd is set as a third differential parameter reference value;
wherein the first scale parameter reference value is greater than the third scale parameter reference value, and the second scale parameter reference value is between the first scale parameter reference value and the third scale parameter reference value; the first integral parameter reference value is greater than the third integral parameter reference value, the second integral parameter reference value is between the first integral parameter reference value and the third integral parameter reference value, the first derivative parameter reference value is greater than the third derivative parameter reference value, and the second derivative parameter reference value is between the first derivative parameter reference value and the third derivative parameter reference value.
In a specific embodiment, the PID parameter generation through the input deviation value regulation comprises setting a proportional parameter Kp, an integral parameter Ki and a derivative parameter Kd;
the proportional parameter Kp is taken as a larger value to improve the response speed at the initial adjustment stage with larger deviation; in the middle stage of regulation, a moderate value is taken to reduce overshoot and ensure a certain response speed; and in the later regulation stage, a smaller value is taken to improve the control precision and stability.
The integral parameter Ki is used for preventing integral saturation when a small value or zero is taken at the initial adjustment stage with large deviation; in the middle stage of regulation, an appropriate median is selected, and final overshoot is reduced; and in the later period of regulation, taking a larger value to reduce the regulation static difference.
The differential parameter Kd is taken as a larger value at the initial stage of adjustment with larger deviation so as to reduce or avoid overshoot; in the middle stage of regulation, a moderate value is taken to ensure a certain response speed; in the later stage of regulation, a smaller value is taken to reduce the braking action of regulation, and the regulation process caused by differentiation in the initial stage of compensation regulation becomes slower.
According to this principle, the project site first obtains a set of initial parameters using an easily implemented reference value step test. Taking reactive power closed-loop control as an example, the reference value of the on-site reactive power is subjected to 0-100% full-range reactive capacity step change, the PID parameter is fixed and unchanged in the step change test process, and the PID parameter is fixed and unchangedQSelect does not perform parameter adjustment. Repeating the reactive power reference value step test, manually adjusting and amplifying PID parameters step by step, and finally enabling the maximum exciting current to control in the dynamic process of the step test, wherein the instantaneous value of the exciting current reaches the maximum exciting current set value IfmaxAnd dynamic adjustment technical indexes such as response time and overshoot of the system meet the requirement of engineering rapidity, and Kp at the moment is recorded0、Ki0And Kd0。
Setting the absolute value of the deviation of the reactive power into three intervals, which are respectively: 0 to 5%, 5% to 20%, 20% to 100%; the corresponding PID parameters are respectively: kp0/5、5*Ki0、Kd0/5，Kp0/3、3*Ki0、Kd0/3，Kp0、Ki0、Kd0。
During the regulation, PIDQSelect real-time detection of reactive power deviation EQAbsolute value of (a): e.g., 20% < | EQIf | < 100%, the PID parameter is output as Kp0、Ki0、Kd0(ii) a E.g., 5% < | EQIf | < 20%, the PID parameter is output as Kp0/3、3*Ki0、Kd0A/3; e.g. 0 ≦ EQIf | < 5%, the PID parameter is output as Kp0/5、5*Ki0、Kd0/5。
With the above settings, a large deviation of the reference value from the measured value, as seen from the overall regulation system, gives a transient gain Kp0*Ki0*Kd0Dynamic gain Kp0*Ki0Steady state gain Kp0(ii) a Transient gain of intermediate deviation Kp0/3*3*Ki0*Kd0/3＝Kp0*Ki0*Kd0(iii) dynamic gain Kp0/3*3*Ki0＝Kp0*Ki0Steady state gain Kp0A/3; temporary with small deviationGain of state Kp0/5*5*Ki0*Kd0/5＝Kp0*Ki0*Kd0(iii) dynamic gain Kp0/5*5*Ki0＝Kp0*Ki0Steady state gain Kp0/5。
The transient gain is 5 times of the small deviation when the deviation is large, the dynamic gain is equivalent, and the steady-state gain is 5 times of the small deviation. For the large and rapid change of the reference value or the measured value, the deviation is large at the initial stage of the adjusting process, the transient gain is the maximum value, and the excitation system can be quickly adjusted; in the later stage of adjustment, the deviation is reduced, the steady-state gain is the minimum value, and the control precision and the stability can be improved; in the whole adjusting process, the dynamic gain is equivalent, and the whole system response time can ensure and select Kp0、Ki0And Kd0The parameters are comparable.
After the parameters are initially set, the on-site reactive power reference value is subjected to 0-100% full-scale reactive capacity step change again, and the PID parameters are subjected to PID in the step change test processQAdjusting select, and calculating reactive power PID module PIDQAnd carrying out real-time calculation according to the input parameters.
Repeating the reactive power reference value step test and gradually manually fine-tuning the PID parameter Kp0、Ki0、Kd0And the medium and small deviation is correspondingly adjusted corresponding to the PID, so that the dynamic and static adjustment technical indexes of the system, such as response time, overshoot, steady-state adjustment precision and the like, all meet the engineering requirements.
The invention adopts smaller system steady-state gain in steady-state operation, so that the controlled variable operates more stably; when the system voltage or the reactive power is greatly changed suddenly, the large transient state and dynamic control gain are adopted, the maximum exciting current control function is adopted to ensure that the instantaneous value of the exciting current is not out of limit, the safety of primary equipment is ensured, the effect of the high exciting voltage strong excitation multiple of the exciting system can be fully exerted, and the quick response capability of the system is improved.
The excitation system has the advantages that the excitation system has the capability of fast response of high excitation multiple and stable adjustment of a steady state within a safe operation range, the effect of the high excitation voltage excitation multiple of the excitation system can be fully exerted, and the fast response capability of the system is improved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (5)

1. A control method of a high-excitation-multiple magnetically controlled high-voltage shunt reactor is characterized by comprising the following steps: selecting a current control mode based on a system voltage PID closed-loop control model and a reactive power PID closed-loop control model; superposing the output value of the current control mode with the calculated value of the maximum exciting current PI control model to determine exciting control voltage to realize reactor control; the PID parameters of the system voltage PID closed-loop control model and the reactive power PID closed-loop control model are generated according to input deviation value regulation, and the method for generating the PID parameters of the system voltage PID closed-loop control model and the reactive power PID closed-loop control model according to the input deviation value regulation comprises the following steps:
if the input deviation is larger than or equal to the highest threshold value, setting the proportional parameter Kp as a first proportional parameter reference value, setting the integral parameter Ki as a third integral parameter reference value, and setting the differential parameter Kd as a first differential parameter reference value;
if the input deviation is greater than the lowest threshold and less than the highest threshold, the proportional parameter Kp is set as a second proportional parameter reference value, the integral parameter Ki is set as a second integral parameter reference value, and the derivative parameter Kd is set as a second derivative parameter reference value;
if the input deviation is smaller than the lowest threshold value, the proportional parameter Kp is set as a third proportional parameter reference value, the integral parameter Ki is set as a first integral parameter reference value, and the differential parameter Kd is set as a third differential parameter reference value;
wherein the first scale parameter reference value is greater than the third scale parameter reference value, and the second scale parameter reference value is between the first scale parameter reference value and the third scale parameter reference value; the first integral parameter reference value is greater than the third integral parameter reference value, the second integral parameter reference value is between the first integral parameter reference value and the third integral parameter reference value, the first derivative parameter reference value is greater than the third derivative parameter reference value, and the second derivative parameter reference value is between the first derivative parameter reference value and the third derivative parameter reference value.
2. The method for controlling the high-excitation-factor magnetically controlled high-voltage shunt reactor according to claim 1, characterized in that: the control of the system voltage PID closed-loop control model comprises the following steps:
reference value of system voltage UrefDeviation E from measured value UUInput to PID calculation module PIDUThe PID calculating module PIDUThe PID calculation module calculates and outputs a system voltage control calculation value UPID_U。
3. The method for controlling the high-excitation-factor magnetically controlled high-voltage shunt reactor according to claim 1, characterized in that: the control of the reactive power PID closed-loop control model comprises the following steps:
reference value of reactive power QrefDeviation E from measured value QQInput to a reactive power PID calculation module PIDQThe PID parameters of the reactive power PID calculation module are generated according to the input deviation value regulation, and the reactive power PID calculation module calculates and outputs a reactive power control calculation value UPID_Q。
4. The control method of the high-excitation-factor magnetically-controlled high-voltage shunt reactor according to claim 1, characterized by comprising the following steps: the output value U of the current control mode is calculatedPIDSuperposed maximum exciting current PI control model calculation value UIfmaxObtaining an excitation control voltage, comprising: maximum exciting current control set value IfmaxWith instantaneous value of exciting current IfDeviation E ofIfObtaining a maximum exciting current control calculation value U through PI control model operationIfmax；UIfmaxOutput value U of current control modePIDAdding, generating final excitation control voltage U via amplifier and limiterC(ii) a According to excitation control voltage UCAnd the direct-current excitation voltage output by the thyristor rectifier bridge is changed, so that the direct-current excitation current is changed, and the value of the reactor is adjusted.
5. A control device of a high-excitation-multiple magnetically controlled high-voltage shunt reactor is characterized by comprising: the device comprises a first comparator, a second comparator, a first parameter selection module, a first PID calculation module, a second parameter selection module, a second PID calculation module, a third comparator, a control mode selection module, a selection output module, a PI closed-loop control module, an amplifier, an amplitude limiter and an adder, wherein the first comparator is connected with the second comparator;
the first comparator is respectively connected with a first parameter selection module and a first PID calculation module, and the first parameter selection module is connected with the first PID calculation module; the second comparator is respectively connected with a second parameter selection module and a second PID calculation module, and the second parameter selection module is connected with the second PID calculation module; the third comparator is connected with the PI closed-loop control module;
the first PID calculation module and the second PID calculation module are both connected to the selection output module, and the control mode selection module is connected to the selection output module;
the selective output module and the PI closed-loop control module output excitation control voltage through an adder and then through an amplifier and an amplitude limiter which are connected in sequence;
the first comparator is used for obtaining a system voltage reference value UrefDeviation E from measured value UUAnd will deviate from EUThe output is sent to a first PID calculation module and a first parameter selection module which is used for selecting the deviation E according to the output of the first comparatorUAdjusting PID parameters of a first PID calculation module and outputting the PID parameters to the first PID calculation module, wherein the first PID calculation module is used for calculating the deviation EUAnd PID parameter calculation output system voltage control calculation value UPID_U；
For the second comparatorTo obtain a reactive power reference value QrefDeviation E from measured value QQAnd will deviate from EQThe output is sent to a second PID calculation module and a second parameter selection module which is used for selecting the deviation E according to the output of the second comparatorQAdjusting PID parameters of a second PID calculation module and outputting the PID parameters to the second PID calculation module, wherein the second PID calculation module is used for calculating the deviation EQAnd PID parameter calculation output reactive power control calculation value UPID_Q；
The control mode selection module is used for controlling a calculated value U based on system voltagePID_UAnd reactive power control calculation value UPID_QSelecting a current control mode UPID；
The third comparator (7) is used for calculating a maximum exciting current set value IfmaxWith measured value of exciting current IfDeviation E ofIfAnd outputs it to a PI closed loop control module (10);
the PI closed-loop control module (10) is used for controlling the PI closed-loop control module based on the deviation EIfPerforming PI calculation, limiting amplitude, and outputting UIfmax；
The adder (13) is used for outputting the output value U of the current control modePIDSuperposed maximum exciting current PI control model calculation value UIfmaxThe final excitation control voltage U is generated through the links of an amplifier (11) and an amplitude limiter (12)C；
The method for generating the PID parameters by the first parameter selection module and the second parameter selection module according to the input deviation value regulation comprises the following steps:
if the input deviation is larger than or equal to the highest threshold value, setting the proportional parameter Kp as a first proportional parameter reference value, setting the integral parameter Ki as a third integral parameter reference value, and setting the differential parameter Kd as a first differential parameter reference value;
if the input deviation is greater than the lowest threshold and less than the highest threshold, the proportional parameter Kp is set as a second proportional parameter reference value, the integral parameter Ki is set as a second integral parameter reference value, and the derivative parameter Kd is set as a second derivative parameter reference value;
if the input deviation is smaller than the lowest threshold value, the proportional parameter Kp is set as a third proportional parameter reference value, the integral parameter Ki is set as a first integral parameter reference value, and the differential parameter Kd is set as a third differential parameter reference value;
wherein the first scale parameter reference value is greater than the third scale parameter reference value, and the second scale parameter reference value is between the first scale parameter reference value and the third scale parameter reference value; the first integral parameter reference value is greater than the third integral parameter reference value, the second integral parameter reference value is between the first integral parameter reference value and the third integral parameter reference value, the first derivative parameter reference value is greater than the third derivative parameter reference value, and the second derivative parameter reference value is between the first derivative parameter reference value and the third derivative parameter reference value.
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