CN110707727A - Reactive damping controller based on flexible excitation system and parameter setting method - Google Patents

Reactive damping controller based on flexible excitation system and parameter setting method Download PDF

Info

Publication number
CN110707727A
CN110707727A CN201910494523.9A CN201910494523A CN110707727A CN 110707727 A CN110707727 A CN 110707727A CN 201910494523 A CN201910494523 A CN 201910494523A CN 110707727 A CN110707727 A CN 110707727A
Authority
CN
China
Prior art keywords
damping
signal
reactive
power signal
link
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910494523.9A
Other languages
Chinese (zh)
Other versions
CN110707727B (en
Inventor
张建承
吴跨宇
毛承雄
张甜甜
俞鸿飞
段文华
熊鸿韬
楼伯良
汪宗恒
沈轶君
房乐
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huazhong University of Science and Technology
Electric Power Research Institute of State Grid Zhejiang Electric Power Co Ltd
Jinshuitan Hydropower Plant of State Grid Zhejiang Electric Power Co Ltd
Original Assignee
Huazhong University of Science and Technology
Electric Power Research Institute of State Grid Zhejiang Electric Power Co Ltd
Jinshuitan Hydropower Plant of State Grid Zhejiang Electric Power Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huazhong University of Science and Technology, Electric Power Research Institute of State Grid Zhejiang Electric Power Co Ltd, Jinshuitan Hydropower Plant of State Grid Zhejiang Electric Power Co Ltd filed Critical Huazhong University of Science and Technology
Priority to CN201910494523.9A priority Critical patent/CN110707727B/en
Publication of CN110707727A publication Critical patent/CN110707727A/en
Application granted granted Critical
Publication of CN110707727B publication Critical patent/CN110707727B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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

Abstract

The invention discloses a reactive damping controller based on a flexible excitation system and a parameter setting method. The controller of the invention is composed of a double-path signal input end, an accelerated power signal synthesis link, a phase-shifting gain and output amplitude limiting link and a control signal output end; the parameter setting method comprises the following steps: setting parameters of an accelerating power signal synthesis link, establishing a theoretical uncompensated characteristic mathematical model of a reactive damping channel of a flexible excitation system, establishing a compensation characteristic mathematical model of a reactive damping controller, solving an optimal solution of control parameters of a phase shifting link of the reactive damping controller by using an intelligent optimization algorithm, solving critical gain by using a root track method, and finally setting the gain of the reactive damping controller according to a damping calculation formula. The controller provided by the invention can provide damping for the full frequency band of low-frequency oscillation instead of a power system stabilizer, and can also independently design a damping strengthening strategy for a specific frequency band by utilizing the advantage of independent channels, so that the full-effect inhibition effect of excitation control on the multi-mode low-frequency oscillation of the power system is improved.

Description

Reactive damping controller based on flexible excitation system and parameter setting method
Technical Field
The invention belongs to the field related to additional control of generator excitation, and particularly relates to a reactive damping controller based on a flexible excitation system and a parameter setting method.
Background
A Power System Stabilizer (PSS) based on a conventional excitation system is an effective and economic method for inhibiting low-frequency oscillation of a power system, but with the development of a modern power system, the low-frequency oscillation risk of the power system has the characteristic of diversified modes, and excitation control is required to meet the requirement of stable control for inhibiting low-frequency oscillation of different modes at the same time.
The traditional single-channel power system stabilizer, such as the currently widely used PSS2B, is difficult to provide strong damping of multiple modes at low-frequency band, middle-frequency band and high-frequency band simultaneously due to the limitation of parameter setting. Although the PSS4B can solve the problem of simultaneous suppression of low-frequency oscillation in multiple frequency bands, three channels of the PSS4B have coupling effect and mutual influence, and the setting design of the controller parameters is complex and is not easy to apply on site.
Disclosure of Invention
In view of the above-mentioned deficiencies in the prior art, the present invention aims to provide a reactive damping controller based on a flexible excitation system and a parameter setting method, so as to improve the full-effect suppression effect of excitation control on the multimode low-frequency oscillation of the power system.
In order to achieve the purpose, one technical scheme adopted by the reactive damping controller is as follows: a reactive damping controller based on a flexible excitation system, comprising:
the double-path signal input end is respectively used for receiving a rotating speed signal and an electric power signal which represent the running state of the unit;
the accelerating power signal synthesizing link is used for synthesizing and processing the rotating speed signal and the electric power signal into an accelerating power signal capable of representing unit power oscillation;
the band-pass filtering link is used for filtering out non-predetermined frequency signals in the acceleration power signals to obtain acceleration power filtering signals in a predetermined frequency range;
a phase shift gain and output amplitude limiting link, which is used for providing phase difference and gain proportion between the accelerated power filtering signal and the oscillation damping control signal and carrying out amplitude limiting processing on the output oscillation damping control signal;
a control signal output for providing an oscillation damping control signal in response to the acceleration power filtered signal.
With the development of power electronic technology, a flexible excitation system based on a full-control device has commercial operation conditions, adopts a structure that a voltage source type converter is matched with a direct-current chopper, can realize the functions of the existing excitation system through a chopper circuit, and can adjust reactive power exchanged with an alternating-current side at a three-phase machine terminal through the voltage source type converter to provide an additional damping control channel. The low-frequency oscillation reactive damping controller designed by the damping channel can provide damping for full-band low-frequency oscillation instead of a power system stabilizer, can also utilize the advantage of mutual independence of the low-frequency oscillation reactive damping controller and a PSS channel, and is designed independently for a damping lifting strategy of a specific frequency band, so that the full-effect inhibition effect of excitation control on the multi-mode low-frequency oscillation of the power system is improved.
Further, the signal processing step of the band-pass filtering link includes: the accelerating power signals are respectively subtracted after passing through 2 lead-lag links, and are subjected to 1 proportion link to obtain accelerating power filtering signals.
Further, the signal processing step of the accelerated power signal synthesis unit includes:
the rotating speed signal forms a rotating speed signal to be synthesized through 2 stopping links;
the electric power signal forms an electric power signal to be synthesized through a stopping link and a first-order lag link;
adding the rotating speed signal to be synthesized and the electric power signal to be synthesized to obtain a calculated mechanical power signal;
and subtracting the electric power signal to be synthesized and the calculated mechanical power signal filtered by the notch filter to obtain an acceleration power signal.
The reactive damping controller adopts another technical scheme that: a reactive damping controller based on a flexible excitation system, comprising:
the double-path signal input end is respectively used for receiving a rotating speed signal and an electric power signal which represent the running state of the unit;
the accelerating power signal synthesizing link is used for synthesizing and processing the rotating speed signal and the electric power signal into an accelerating power signal capable of representing unit power oscillation;
a phase shift gain and output amplitude limiting link, which is used for providing phase difference and gain proportion between the acceleration power signal and the oscillation damping control signal and carrying out amplitude limiting processing on the output oscillation damping control signal;
a control signal output for providing an oscillation damping control signal in response to the acceleration power signal.
Further, the signal processing step of the accelerated power signal synthesis unit includes:
the rotating speed signal forms a rotating speed signal to be synthesized through 2 stopping links;
the electric power signal forms an electric power signal to be synthesized through a stopping link and a first-order lag link;
adding the rotating speed signal to be synthesized and the electric power signal to be synthesized to obtain a calculated mechanical power signal;
and subtracting the electric power signal to be synthesized and the calculated mechanical power signal filtered by the notch filter to obtain an acceleration power signal.
The invention is provided with a band-pass filtering link, which aims at the specific frequency band of low frequency, such as 0.1-0.5 Hz; the 'band-pass filtering link' is not set, and the method aims at the full frequency band of low frequency, such as 0.1-2.5 Hz.
The parameter setting method of the reactive damping controller adopts a technical scheme that: the parameter setting method of the reactive damping controller comprises the following steps:
1) setting parameters of an accelerating power signal synthesis link according to unit parameters and a typical configuration method;
2) designing parameters of a band-pass filtering link according to the range of the frequency band of the reactive damping controller;
3) establishing a theoretical uncompensated phase-frequency characteristic mathematical model of a reactive damping channel of a flexible excitation system, and recording GQ(s)；
4) Taking the phase shift link control parameter of the reactive damping controller as an unknown quantity, establishing a compensation characteristic mathematical model of the reactive damping controller, and recording GQω(s)；
5) Aiming at maximizing the damping torque in a setting frequency band range and not providing negative damping in other frequency bands, establishing a target function of a post-compensation phase-frequency characteristic mathematical model, and solving an optimal solution of a phase-shifting link control parameter of the reactive damping controller by using an intelligent algorithm;
6) establishing a state space equation of a generator system comprising a reactive damping controller of a flexible excitation system, and solving a critical gain by using a root locus method;
7) and determining the gain of the reactive damping controller according to an expected damping ratio in a target frequency band and a theoretical damping ratio calculation formula of the flexible excitation system in a critical gain range.
The parameter setting method of the reactive damping controller adopts another technical scheme as follows: the parameter setting method of the reactive damping controller comprises the following steps:
1) setting parameters of an accelerating power signal synthesis link according to unit parameters and a typical configuration method;
2) establishing a theoretical uncompensated phase-frequency characteristic mathematical model of a reactive damping channel of a flexible excitation system, and recording GQ(s)；
3) Taking the phase shift link control parameter of the reactive damping controller as an unknown quantity, establishing a compensation characteristic mathematical model of the reactive damping controller, and recording GQω(s)；
4) Aiming at maximizing the damping torque in a setting frequency band range and not providing negative damping in other frequency bands, establishing a target function of a post-compensation phase-frequency characteristic mathematical model, and solving an optimal solution of a phase-shifting link control parameter of the reactive damping controller by using an intelligent algorithm;
5) establishing a state space equation of a generator system comprising a reactive damping controller of a flexible excitation system, and solving a critical gain by using a root locus method;
6) and determining the gain of the reactive damping controller according to an expected damping ratio in a target frequency band and a theoretical damping ratio calculation formula of the flexible excitation system in a critical gain range.
As a further supplement to the parameter setting method, the theoretical uncompensated phase-frequency characteristic mathematical model of the reactive damping channel of the flexible excitation system is as follows:
wherein the content of the first and second substances,
Figure BDA0002087342440000042
Figure BDA0002087342440000043
Figure BDA0002087342440000044
Figure BDA0002087342440000045
Figure BDA0002087342440000046
Figure BDA0002087342440000047
in the formula, xqΣ＝xq+xS,xdΣ＝xd+xS,x'd∑＝x'd+xS，xS＝xT+xlineIs the sum of the system transformer reactance and the line reactance, xdFor d-axis synchronous reactance of the generator, xqIs generator q-axis synchronous reactance, x'dIs d-axis transient reactance of generator, Vt0Initial voltage at generator terminal, Vtd0D-axis component of generator-end initial voltage, Vtq0Is the d-axis component of the generator terminal initial voltage itd0Is the d-axis component of the generator-end initial current itq0Is the generator side initial current q-axis component, E'q0Is an initial value of transient potential of q axis of the generator, T'd0To the excitation winding time constant, KAFor the proportional gain of an Automatic Voltage Regulator (AVR), s is the mathematical operator of the frequency domain transfer function.
As a further supplement to the parameter setting method, the intelligent algorithm adopts a particle swarm algorithm, and the objective function and the constraint design of the post-compensation phase-frequency characteristic mathematical model are as follows, wherein TQiTime parameters are controlled for the phase shift link:
in the formula, Tmin、TmaxAre respectively TQiMinimum and maximum values of.
As a further supplement to the parameter setting method, the theoretical damping ratio calculation formula of the flexible excitation system is as follows:
Figure BDA0002087342440000051
wherein, TJIs the rotor inertia time constant, ω0The angular velocity of the system operation;
KD、KSthe damping torque coefficient and the synchronous torque coefficient of the system are respectively obtained by a flexible excitation system small interference torque deviation equation, and the flexible excitation system small interference torque deviation equation is as follows:
Figure BDA0002087342440000052
in the formula (I), the compound is shown in the specification,
in the formula, delta0The initial value of the power angle of the generator is obtained; delta TeFor the electromagnetic torque deviation of the flexible excitation system, delta omega is the rotation speed deviation, delta is the power angle deviation, GPω(s) is the PSS transfer function, GQω(s) is a mathematical model of the compensation characteristics of the reactive damping controller, VsRepresenting infinite bus voltage.
The invention has the beneficial effects that:
(1) a new low-frequency oscillation damping control channel is provided for the generator through adjusting reactive power injection at the generator end, and the channel is independent from a power system stabilizer and cannot influence the damping effect when the channel acts independently.
(2) On one hand, the provided reactive damping controller combines the unit characteristics, adopts a synthesized acceleration power signal as input, and improves the response performance to power oscillation; on the other hand, the influence of the non-target frequency band on the parameter design of the controller is weakened by adopting the band-pass filter, so that the damping of the specific frequency band is improved.
(3) The method comprises the steps of providing a complete set of controller parameter setting methods applicable to engineering application, providing a theoretical uncompensated characteristic mathematical model and a theoretical damping ratio calculation formula suitable for parameter setting of a reactive damping channel of a flexible excitation system, introducing an intelligent algorithm into parameter design of the reactive damping controller, realizing phase full compensation in a compensation frequency band range by setting a reasonable target function and boundary conditions, and ensuring that no negative effect is generated on damping effects of other frequency bands.
Drawings
Fig. 1 is a diagram of a single infinite system structure based on a flexible excitation system according to an embodiment of the present invention;
FIG. 2 is a graph of a soft excitation system torque phasor relationship in an embodiment of the present invention;
FIG. 3 is a diagram of a low frequency oscillation reactive damping controller with a bandpass filter according to an embodiment of the present invention;
FIG. 4 is a block diagram of a low frequency oscillation reactive damping controller without a band pass filter according to an embodiment of the present invention;
FIG. 5 is a flow chart of a particle group algorithm in accordance with an embodiment of the present invention;
fig. 6 is a diagram illustrating the damping effect of the soft excitation system according to the embodiment of the present invention.
Description of the attached tables
Table 1 is a symbolic illustration in fig. 1;
table 2 is a symbolic illustration in fig. 3;
table 3 shows typical parameter configurations for accelerating power signal synthesis;
table 4 is a symbolic illustration in fig. 4.
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.
The flexible excitation system topology and the control relation are shown in fig. 1, a voltage source type converter is matched with an H-bridge direct-current chopper circuit structure, the existing excitation system functions including a Power System Stabilizer (PSS) are achieved through a chopper, and reactive power is exchanged with the alternating-current side at the end of a three-phase machine through an AC/DC rectifying device so as to provide a reactive damping control channel for low-frequency oscillation. The symbol definitions in fig. 1 are shown in table 1.
TABLE 1 symbolic description of FIG. 1
The soft excitation system torque phasor relationship is shown in FIG. 2, where Δ Te1The electromagnetic torque is provided for the AVR in the excitation system; delta TPSSAn electromagnetic torque provided for the PSS in the excitation system; delta Te2Is the electromagnetic torque of a conventional excitation system; delta TeFor electromagnetic torque of soft excitation system, by Δ Te2And Δ TQSynthesizing; delta TQAnd electromagnetic torque provided for the reactive damping controller. Obviously, when the reactive damping controller provides an electromagnetic torque Δ TQIn phase with Δ ω and at the first quadrant, the reactive damping controller is able to provide maximum positive damping to the system. The parameter design requirement of the reactive damping controller is to make Delta T as much as possibleQThe same phase as delta omega can realize the optimal compensation of the reactive damping controller.
Example 1
A reactive damping controller based on a soft excitation system for the 0.1Hz-0.5Hz frequency band as shown in fig. 3, comprising:
the double-path signal input ends 110 and 120 are respectively used for receiving a rotating speed signal 108 and an electric power signal 109 which represent the running state of the unit;
an acceleration power signal synthesizing link 140, which is used for synthesizing and processing the rotating speed signal 108 and the electric power signal 109 into an acceleration power signal 107 capable of representing the power oscillation of the unit;
a band-pass filtering unit 150, configured to filter non-predetermined frequency signals in the acceleration power signal 107 to obtain an acceleration power filtering signal 106 within a predetermined frequency range;
a phase shift gain and output amplitude limiting link 160, which is used for providing phase difference and gain proportion between the accelerated power filtering signal 106 and the oscillation damping control signal 105, and performing amplitude limiting processing on the output oscillation damping control signal 105;
a control signal output 130 for providing the oscillation damping control signal 105 in response to the acceleration power filtered signal 106.
The signal processing step of the band-pass filtering section 150 includes: the acceleration power signal 107 is subtracted after passing through 2 lead-lag links, and then passes through 1 proportion link, so as to obtain an acceleration power filtering signal 106.
The signal processing step of the accelerated power signal synthesis section 140 includes: the rotation speed signal 108 forms a rotation speed signal 143 to be synthesized through 2 blocking links 141 and 142;
the electric power signal 109 forms a to-be-synthesized electric power signal 146 through a blocking link 144 and a first-order lag link 145;
adding the rotating speed signal 143 to be synthesized and the electric power signal 146 to be synthesized to obtain a calculated mechanical power signal 147;
the electrical power signal to be synthesized 146 is subtracted from the calculated mechanical power signal 147 filtered by the notch filter 148 to obtain the acceleration power signal 107.
The parameters of the band-pass filter are designed to ensure that the control output plays a main role in a frequency range of 0.1Hz to 0.5Hz and the interference of other frequencies is filtered.
The control parameters for each link in fig. 3 are defined in table 2.
Table 2 description of control parameters in fig. 3
Symbol Means of Symbol Means of
ω Generator speed signal N Order of notch filter
Pe Generator electrical power signal T Time constant of band-pass filter
TQW1 DC blocking time constant of rotating speed channel R Coefficient of radius
TQW2 DC blocking time constant of rotating speed channel KQs1 Gain of phase-shift gain element
TQW3 Electric power channel DC blocking time constant TQ1 Phase-shift gain-element time constant
KQs2 Gain of power and rotation speed conversion link TQ2 Phase-shift gain-element time constant
TQ7 Time constant of power rotation speed conversion link TQ3 Phase-shift gain-element time constant
KQs3 Composite mechanical power signal gain TQ4 Phase-shift gain-element time constant
TQ8 Time constant of notch filter TQ5 Phase-shift gain-element time constant
TQ9 Time constant of notch filter TQ6 Phase-shift gain-element time constant
M Order of notch filter Qcon Reactive power control signal
K Proportional gain of band-pass filter
The specific parameter setting process of the reactive damping controller is as follows:
(1)TQW1-TQW4are all set as typical parameters 4, KQS2According to the time constant T of inertia of the rotor of the unit including the prime moverjIs set to the reciprocal of (a). Typical parameter configurations for the synthesis of the acceleration power signal are shown in table 3.
TABLE 3 typical parameter configuration for accelerated power signal synthesis
Symbol Numerical value Symbol Numerical value
TQw1 5s TQ9 0.1s
TQw2 5s KQs2 5/TJ
TQw3 5s KQs3 1
TQw4 0.0s M 5
TQ7 5s N 1
TQ8 0.5s
TJIs the rotor inertia time constant
(2) Aiming at the action frequency range of the reactive damping controller from 0.1Hz to 0.5Hz, the parameters of a filter (namely a filtering link) are designed according to the following formula:
in the formula, R represents a compensation coefficient, determines the band width, and is generally selected to be 1.2. The center frequency is selected to be 0.1Hz according to the determined frequency segment, and T is calculated to be 1.45, and K is calculated to be 66.
(3) A theoretical uncompensated characteristic mathematical model for establishing a reactive damping channel of a flexible excitation system is as follows, discretized at a frequency interval of 0.01Hz, and recorded as GQ(jωd)；
Figure BDA0002087342440000091
Wherein the content of the first and second substances,
Figure BDA0002087342440000093
Figure BDA0002087342440000094
Figure BDA0002087342440000095
Figure BDA0002087342440000096
Figure BDA0002087342440000097
in the formula, xqΣ＝xq+xS,xdΣ＝xd+xS,x'd∑＝x'd+xS，xS＝xT+xlineIs the sum of the system transformer reactance and the line reactance, xdFor d-axis synchronous reactance of the generator, xqIs generator q-axis synchronous reactance, x'dIs d-axis transient reactance of generator, Vt0Initial voltage at generator terminal, Vtd0D-axis component of generator-end initial voltage, Vtq0Is the d-axis component of the generator terminal initial voltage itd0Is the d-axis component of the generator-end initial current itq0Is the generator side initial current q-axis component, E'q0As an initial value of the transient potential of the generator q-axis, VsIs infinite bus voltage, delta0Is the initial value of the power angle of the generator, T'd0To the excitation winding time constant, KAIs the AVR proportional gain.
(4) With reactive dampingThe control parameters of the controller phase shift link are unknown, a mathematical model of the compensation characteristics of the reactive damping controller is established, the mathematical model comprises 1 stopping link and 1 first-order inertia link in the accelerating power signal synthesis link 140 and the phase shift link in the phase shift gain and output amplitude limiting link 160, the mathematical model is discretized at the frequency interval of 0.01Hz, and G is recordedQω(jωd)。
(5) The phase shift link parameter of the reactive damping controller is calculated by a Particle Swarm Optimization (PSO) with the aim of realizing phase full compensation of the reactive damping controller in a frequency band of 0.1Hz-0.5Hz, realizing maximum damping torque and providing no negative damping in other frequency bands, and the objective function expression is as follows:
Figure BDA0002087342440000101
wherein, Tmin、TmaxIs in the range of [0.01,5.0 ]]And n is the number of discrete points.
And solving based on a particle swarm algorithm to obtain parameters of the reactive damping controller, wherein the algorithm flow is shown in fig. 5, and when y is the minimum or reaches the minimum evolution algebra of the population, the corresponding parameters of the reactive damping controller are the optimal parameters.
(6) And establishing a state space equation of the generator system comprising the reactive damping controller of the flexible excitation system, and solving the critical gain by using a root locus method.
From the gain K of the state space equation analysis system characteristic root following reactive damping controllerQPThe gain that first causes the system to have unstable characteristic values is set as the critical gain.
(7) And selecting the final reactive damping controller gain within the critical gain range according to the expected damping ratio in the target frequency band. The damping ratio calculation formula is as follows:
Figure BDA0002087342440000102
in the formula, TJIs the rotor inertia time constant, ω0Is the angular velocity at which the system is operating.
KD、KSThe damping torque coefficient and the synchronous torque coefficient of the system are respectively obtained by a flexible excitation system small interference torque deviation equation, and the flexible excitation system torque equation is as follows:
Figure BDA0002087342440000103
wherein the content of the first and second substances,
Figure BDA0002087342440000111
Figure BDA0002087342440000112
Figure BDA0002087342440000113
after setting, the damping suppression effect of the reactive damping controller on 0.39Hz power oscillation before and after the reactive damping controller is put into operation is shown in figure 6, and the low-frequency damping level is obviously improved.
Example 2
The embodiment provides a reactive damping controller based on a flexible excitation system for a full frequency band of 0.1Hz-2.5 Hz. The band-pass filtering link of the reactive damping controller shown in fig. 3 is cancelled and set as a path, as shown in fig. 4, the band-pass filtering link includes:
the double-path signal input ends 110 and 120 are respectively used for receiving a rotating speed signal 108 and an electric power signal 109 which represent the running state of the unit;
an acceleration power signal synthesizing link 140, which is used for synthesizing and processing the rotating speed signal 108 and the electric power signal 109 into an acceleration power signal 107 capable of representing the power oscillation of the unit;
a phase shift gain and output amplitude limiting link 160, which is used for providing phase difference and gain proportion between the acceleration power signal 107 and the oscillation damping control signal 105, and performing amplitude limiting processing on the output oscillation damping control signal 105;
a control signal output 130 for providing the oscillation damping control signal 105 in response to the acceleration power signal 107.
The signal processing step of the accelerated power signal synthesis section 140 includes: the rotation speed signal 108 forms a rotation speed signal 143 to be synthesized through 2 blocking links 141 and 142;
the electric power signal 109 forms a to-be-synthesized electric power signal 146 through a blocking link 144 and a first-order lag link 145;
adding the rotating speed signal 143 to be synthesized and the electric power signal 146 to be synthesized to obtain a calculated mechanical power signal 147;
the electrical power signal to be synthesized 146 is subtracted from the calculated mechanical power signal 147 filtered by the notch filter 148 to obtain the acceleration power signal 107.
The control parameters for each link in fig. 4 are defined in table 4.
Table 4 description of control parameters in fig. 4
Figure BDA0002087342440000114
Figure BDA0002087342440000121
The parameter setting process of the reactive damping controller is as follows:
(1)TQW1-TQW4are all set as typical parameters 4, KQS2According to the time constant T of inertia of the rotor of the unit including the prime moverjIs set to the reciprocal of (a).
(2) A theoretical uncompensated characteristic mathematical model for establishing a reactive damping channel of a flexible excitation system is as follows, discretized at a frequency interval of 0.01Hz, and recorded as GQ(jωd)；
Figure BDA0002087342440000122
(3) The control parameters of the phase shift link of the reactive damping controller are used as unknown quantities to establish a mathematical model of the compensation characteristics of the reactive damping controller, which comprises 1 blocking link and 1 first-order inertia ring in the accelerated power signal synthesis link 140The phase shift element in the phase shift gain and output amplitude limiting element 160 is discretized at 0.01Hz frequency interval and recorded as GQω(jωd)。
(4) The phase shift link parameter of the reactive damping controller is calculated by a Particle Swarm Optimization (PSO) with the aim of realizing phase full compensation of the reactive damping controller in a frequency band of 0.1Hz-2.5Hz, realizing maximum damping torque and providing no negative damping in other frequency bands, and the objective function expression is as follows:
Figure BDA0002087342440000123
wherein, Tmin、TmaxIs in the range of [0.01,5.0 ]]And n is the number of discrete points.
And solving based on a particle swarm algorithm to obtain parameters of the reactive damping controller, wherein the algorithm flow is shown in fig. 5, and when y is the minimum or reaches the minimum evolution algebra of the population, the corresponding parameters of the reactive damping controller are the optimal parameters.
5) And establishing a state space equation of the generator system comprising the reactive damping controller of the flexible excitation system, and solving the critical gain by using a root locus method.
6) And selecting the final reactive damping controller gain within the critical gain range according to the expected damping ratio in the target frequency band. The damping ratio calculation formula is as follows:
Figure BDA0002087342440000131
in the formula, TJIs the rotor inertia time constant, ω0For system operation angular velocity, KD、KSRespectively damping torque coefficient and synchronous torque coefficient of the system.

Claims (10)

1. The utility model provides a reactive damping controller based on flexible excitation system which characterized in that includes:
a two-way signal input (110, 120) for receiving a rotational speed signal (108) and an electrical power signal (109) representing the operating state of the unit;
the acceleration power signal synthesis link (140) is used for synthesizing and processing the rotating speed signal (108) and the electric power signal (109) into an acceleration power signal (107) capable of representing unit power oscillation;
a band-pass filtering unit (150) for filtering out non-predetermined frequency signals in the acceleration power signal (107) to obtain an acceleration power filtering signal (106) within a predetermined frequency range;
a phase shift gain and output amplitude limiting link (160) for providing a phase difference and a gain ratio between the accelerated power filtering signal (106) and the oscillation damping control signal (105), and performing amplitude limiting processing on the output oscillation damping control signal (105);
a control signal output (130) for providing an oscillation damping control signal (105) in response to the acceleration power filtered signal (106).
2. The reactive damping controller of claim 1, wherein the signal processing step of the band-pass filtering section (150) comprises:
the acceleration power signals (107) are respectively subtracted after 2 lead-lag links, and are subjected to 1 proportion link to obtain acceleration power filtering signals (106).
3. A reactive damping controller according to claims 1 and 2, characterized in that the signal processing step of the step-up power signal synthesis block (140) comprises:
the rotating speed signal (108) forms a rotating speed signal (143) to be synthesized through 2 blocking links (141, 142);
the electric power signal (109) forms an electric power signal (146) to be synthesized through a blocking link (144) and a first-order lag link (145);
adding the rotating speed signal (143) to be synthesized and the electric power signal (146) to be synthesized to obtain a calculated mechanical power signal (147);
the electric power signal (146) to be synthesized is subtracted from the calculated mechanical power signal (147) filtered by the notch filter (148) to obtain an acceleration power signal (107).
4. The utility model provides a reactive damping controller based on flexible excitation system which characterized in that includes:
a two-way signal input (110, 120) for receiving a rotational speed signal (108) and an electrical power signal (109) representing the operating state of the unit;
the acceleration power signal synthesis link (140) is used for synthesizing and processing the rotating speed signal (108) and the electric power signal (109) into an acceleration power signal (107) capable of representing unit power oscillation;
a phase shift gain and output amplitude limiting link (160) for providing a phase difference and a gain ratio between the acceleration power signal (107) and the oscillation damping control signal (105), and performing amplitude limiting processing on the output oscillation damping control signal (105);
a control signal output (130) for providing an oscillation damping control signal (105) in response to the acceleration power signal (107).
5. The reactive damping controller of claim 4, characterized in that the signal processing step of the accelerating power signal synthesis element (140) comprises:
the rotating speed signal (108) forms a rotating speed signal (143) to be synthesized through 2 blocking links (141, 142);
the electric power signal (109) forms an electric power signal (146) to be synthesized through a blocking link (144) and a first-order lag link (145);
adding the rotating speed signal (143) to be synthesized and the electric power signal (146) to be synthesized to obtain a calculated mechanical power signal (147);
the electric power signal (146) to be synthesized is subtracted from the calculated mechanical power signal (147) filtered by the notch filter (148) to obtain an acceleration power signal (107).
6. A method for setting parameters of a reactive power damping controller according to any of claims 1-3, characterized by comprising the steps of:
1) setting parameters of an accelerating power signal synthesis link according to unit parameters and a typical configuration method;
2) designing parameters of a band-pass filtering link according to the range of the frequency band of the reactive damping controller;
3) establishing a theoretical uncompensated phase-frequency characteristic mathematical model of a reactive damping channel of a flexible excitation system, and recording GQ(s)；
4) Taking the phase shift link control parameter of the reactive damping controller as an unknown quantity, establishing a compensation characteristic mathematical model of the reactive damping controller, and recording GQω(s)；
5) Aiming at maximizing the damping torque in a setting frequency band range and not providing negative damping in other frequency bands, establishing a target function of a post-compensation phase-frequency characteristic mathematical model, and solving an optimal solution of a phase-shifting link control parameter of the reactive damping controller by using an intelligent algorithm;
6) establishing a state space equation of a generator system comprising a reactive damping controller of a flexible excitation system, and solving a critical gain by using a root locus method;
7) and determining the gain of the reactive damping controller according to an expected damping ratio in a target frequency band and a theoretical damping ratio calculation formula of the flexible excitation system in a critical gain range.
7. The method for setting the parameters of the reactive damping controller of any one of claims 4 to 5, characterized by comprising the steps of:
1) setting parameters of an accelerating power signal synthesis link according to unit parameters and a typical configuration method;
2) establishing a theoretical uncompensated phase-frequency characteristic mathematical model of a reactive damping channel of a flexible excitation system, and recording GQ(s)；
3) Taking the phase shift link control parameter of the reactive damping controller as an unknown quantity, establishing a compensation characteristic mathematical model of the reactive damping controller, and recording GQω(s)；
4) Aiming at maximizing the damping torque in a setting frequency band range and not providing negative damping in other frequency bands, establishing a target function of a post-compensation phase-frequency characteristic mathematical model, and solving an optimal solution of a phase-shifting link control parameter of the reactive damping controller by using an intelligent algorithm;
5) establishing a state space equation of a generator system comprising a reactive damping controller of a flexible excitation system, and solving a critical gain by using a root locus method;
6) and determining the gain of the reactive damping controller according to an expected damping ratio in a target frequency band and a theoretical damping ratio calculation formula of the flexible excitation system in a critical gain range.
8. The parameter setting method according to claim 6 or 7, wherein the theoretical uncompensated phase-frequency characteristic mathematical model of the reactive damping channel of the flexible excitation system is as follows:
Figure FDA0002087342430000031
wherein the content of the first and second substances,
Figure FDA0002087342430000032
Figure FDA0002087342430000033
Figure FDA0002087342430000034
Figure FDA0002087342430000035
in the formula, xqΣ＝xq+xS,xdΣ＝xd+xS,x'd∑＝x'd+xS，xS＝xT+xlineIs the sum of the system transformer reactance and the line reactance, xdFor d-axis synchronous reactance of the generator, xqIs generator q-axis synchronous reactance, x'dIs d-axis transient reactance of generator, Vt0Initial voltage at generator terminal, Vtd0D-axis component of generator-end initial voltage, Vtq0Is the d-axis component of the generator terminal initial voltage itd0Is the d-axis component of the generator-end initial current itq0Is the generator side initial current q-axis component, E'q0Is an initial value of transient potential of q axis of the generator, T'd0To the excitation winding time constant, KAFor automatic voltage regulator proportional gain, s is the mathematical operator of the frequency domain transfer function.
9. The parameter tuning method according to claim 6 or 7, wherein the intelligent algorithm adopts a particle swarm algorithm, and the objective function and constraint of the post-compensation phase-frequency characteristic mathematical model are designed as follows, wherein T isQiTime parameters are controlled for the phase shift link:
Figure FDA0002087342430000041
in the formula, Tmin、TmaxAre respectively TQiMinimum and maximum values of.
10. The parameter setting method according to claim 8, wherein the calculation formula of the theoretical damping ratio of the flexible excitation system is as follows:
wherein, TJIs the rotor inertia time constant, ω0The steady-state value of the angular speed of the system operation is obtained;
KD、KSthe damping torque coefficient and the synchronous torque coefficient of the system are respectively obtained by a flexible excitation system small interference torque deviation equation, and the flexible excitation system small interference torque deviation equation is as follows:
Figure FDA0002087342430000043
in the formula (I), the compound is shown in the specification,
Figure FDA0002087342430000051
in the formula, delta0The initial value of the power angle of the generator is obtained; delta TeFor the electromagnetic torque deviation of the flexible excitation system, delta omega is the rotation speed deviation, delta is the power angle deviation, GPω(s) is the PSS transfer function, GQω(s) is a mathematical model of the compensation characteristics of the reactive damping controller, VsRepresenting infinite bus voltage.
CN201910494523.9A 2019-06-06 2019-06-06 Reactive damping controller based on flexible excitation system and parameter setting method Active CN110707727B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910494523.9A CN110707727B (en) 2019-06-06 2019-06-06 Reactive damping controller based on flexible excitation system and parameter setting method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910494523.9A CN110707727B (en) 2019-06-06 2019-06-06 Reactive damping controller based on flexible excitation system and parameter setting method

Publications (2)

Publication Number Publication Date
CN110707727A true CN110707727A (en) 2020-01-17
CN110707727B CN110707727B (en) 2021-09-21

Family

ID=69193132

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910494523.9A Active CN110707727B (en) 2019-06-06 2019-06-06 Reactive damping controller based on flexible excitation system and parameter setting method

Country Status (1)

Country Link
CN (1) CN110707727B (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111585276A (en) * 2020-05-18 2020-08-25 国网重庆市电力公司电力科学研究院 PSS parameter online setting method and device and readable storage medium
CN113555884A (en) * 2021-09-18 2021-10-26 中国电力科学研究院有限公司 Method and system for determining optimal value of key parameter meeting dynamic stability of unit
CN113675841A (en) * 2021-07-23 2021-11-19 云南电网有限责任公司 Excitation mode analysis method and system based on minimum characteristic trajectory method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102638052A (en) * 2012-03-05 2012-08-15 贵州电网电力调度控制中心 Input signal equivalent based accelerating power type PSS (packet switching service) parameter tuning method
CN106532741A (en) * 2016-11-15 2017-03-22 国家电网公司 Optimization method of phase compensation link time constants of power system stabilizer

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102638052A (en) * 2012-03-05 2012-08-15 贵州电网电力调度控制中心 Input signal equivalent based accelerating power type PSS (packet switching service) parameter tuning method
CN106532741A (en) * 2016-11-15 2017-03-22 国家电网公司 Optimization method of phase compensation link time constants of power system stabilizer

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
AHMET METE VURAL: "Contribution of high voltage direct current transmission systems to inter-area oscillation damping: A review", 《RENEWABLE AND SUSTAINABLE ENERGY REVIEWS》 *
YUHAO ZHOU 等: "A Novel Control Srategy for Static Excitation System Based On Three-phase Current Source Converter", 《PREPRINTS OF THE 5TH INTERNATIONAL CONFERENCE ON ELECTRIC UTILITY DEREGULATION AND RESTRUCTURING AND POWER TECHNOLOGIES》 *
ZHU CHEN 等: "Design and Implementation of Voltage Source Converter Excitation System to Improve Power System Stability", 《2015 IEEE INDUSTRY APPLICATIONS SOCIETY ANNUAL MEETING》 *
卢岑岑 等: "一种具有相位自适应的新型PSS及其仿真", 《中国电力》 *
袁亚洲 等: "基于RTDS的多频段电力系统稳定器效果验证", 《电力系统自动化》 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111585276A (en) * 2020-05-18 2020-08-25 国网重庆市电力公司电力科学研究院 PSS parameter online setting method and device and readable storage medium
CN111585276B (en) * 2020-05-18 2021-08-17 国网重庆市电力公司电力科学研究院 PSS parameter online setting method and device and readable storage medium
CN113675841A (en) * 2021-07-23 2021-11-19 云南电网有限责任公司 Excitation mode analysis method and system based on minimum characteristic trajectory method
CN113675841B (en) * 2021-07-23 2023-08-29 云南电网有限责任公司 Excitation mode analysis method and system based on minimum feature trajectory method
CN113555884A (en) * 2021-09-18 2021-10-26 中国电力科学研究院有限公司 Method and system for determining optimal value of key parameter meeting dynamic stability of unit
CN113555884B (en) * 2021-09-18 2021-12-07 中国电力科学研究院有限公司 Method and system for determining optimal value of key parameter meeting dynamic stability of unit

Also Published As

Publication number Publication date
CN110707727B (en) 2021-09-21

Similar Documents

Publication Publication Date Title
CN110707727B (en) Reactive damping controller based on flexible excitation system and parameter setting method
WO2020093465A1 (en) High-power direct-drive permanent magnet electric transmission system for electric locomotive
CN110198055B (en) Micro-grid bidirectional converter control and stability analysis method based on virtual synchronous machine
Eltamaly et al. Dynamic control of a DFIG wind power generation system to mitigate unbalanced grid voltage
CN105790270B (en) Suppress the method and device of subsynchronous resonance by double-fed fan rotor side converter
CN105811825A (en) Current compensation based power decoupling method of virtual synchronous power generator
CN109067217B (en) Design method of linear active disturbance rejection controller of three-phase voltage type PWM rectifier
CN110429889A (en) A kind of adjustable Square wave injection torque capacity electric current of amplitude compares motor control method
CN107394779B (en) Dynamic performance optimization control method for micro-grid active power filter
CN107104448B (en) Power system stabilizer and method
CN111987956B (en) Torque ripple suppression method for direct-drive wind turbine generator
CN107579529A (en) A kind of subsynchronous suppressing method of synchronous machine based on the optimization of grid-connection converter phaselocked loop
JP2023505151A (en) Grid forming vector current control
CN110296065A (en) A kind of compressor torque compensation method inhibiting DC bus-bar voltage fluctuation
CN109617488B (en) Modeling method of virtual synchronous machine considering excitation circuit
CN110962666A (en) Electric vehicle charging equipment based on load virtual synchronous machine technology and control method
Li et al. Bidirectional harmonic current control of brushless doubly fed motor drive system based on a fractional unidirectional converter under a weak grid
CN109039180B (en) Fractional order control method for grid connection process of doubly-fed induction generator
CN110994617A (en) Current harmonic suppression method for virtual synchronous machine and control system of virtual synchronous machine
CN112152525B (en) Unbalanced voltage compensation device and method for brushless doubly-fed induction generator
CN113517696A (en) Harmonic elimination equipment of island mode open winding double-fed wind power generation micro-grid system
CN106452235B (en) Brushless dual-feed motor stand alone generating system excitation control method under asymmetric load
CN113162045A (en) Inverter control method and device containing nonlinear load island microgrid harmonic suppression
CN105629737B (en) A kind of diesel locomotive asynchronous machine internal model control method
CN109980701B (en) Microgrid virtual synchronous generator control method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant