CN114123891B - Design method of auxiliary excitation controller of power system - Google Patents
Design method of auxiliary excitation controller of power system Download PDFInfo
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Abstract
The invention relates to the technical field of power system automation, in particular to a design method of an auxiliary excitation controller of a power system, which comprises the steps of modeling a power grid synchronous generator based on a third-order multi-agent; setting of an auxiliary excitation controller; and solving the characteristic value of the system based on the shrinkage admittance matrix to realize the setting of the controller parameters. The invention can effectively realize the stable operation of the power system and has important theoretical and application values.
Description
Technical Field
The invention relates to the technical field of power system automation, in particular to a design method of an auxiliary excitation controller of a power system.
Background
The power system is a complex nonlinear system, and a high-dimensional power system network is formed by the interaction of various devices and power transmission and distribution lines. In order to improve the running stability, reliability and economy of the power system, firstly, a power grid is reasonably and effectively planned and built, and in addition, a strong and effective control strategy is adopted most importantly. The excitation control system is an important control component in the power system and plays a vital role in the normal operation of the power system. The excitation control system of the synchronous generator can maintain the stability of the end voltage of the synchronous generator and distribute reactive power output of the unit to improve the stability of the power system, improve the dynamic quality and the static quality of the power system and ensure the safe operation of the power system. Therefore, the quality of the excitation control performance directly affects the synchronous generator set, and even the safe and stable operation of the whole power system. In view of the previous research situation of the excitation control system, although achievements brilliant are achieved in the aspects of an excitation control system model, a control method and parameter setting in recent years, the research of combining a novel intelligent method and a control theory is just started, and a huge development space still exists. Multi-agent systems are an important area of research in current system science. Essentially, the main objective of multi-agent research is to achieve more complex and laborious task goals through distributed collaborative coordinated control of agents with relatively simple functional structures. The auxiliary excitation controller is designed based on the consistency of multiple intelligent agents, the transient stability of the system can be improved, better power angle stability is obtained on the basis of not reducing voltage stability, the control effect of the power system is improved, and the safe and stable operation of the power system is ensured.
Disclosure of Invention
The invention aims to solve the technical problem of providing a design method of an auxiliary excitation controller of an electric power system, which can effectively realize stable operation of the electric power system and has important theoretical and application values.
In order to solve the technical problems, the invention adopts the following technical scheme:
a design method of an auxiliary excitation controller of an electric power system comprises the following steps:
Step 1, modeling of power grid synchronous generator based on third-order multi-agent
Considering field winding equation, rotor motion equation, of each synchronous generator in electric power system, there are
Wherein: delta i represents the relative power angle of the rotor of the synchronous generator; Δω i represents the rotor relative rotational speed of the synchronous generator; p ei represents the output electromagnetic power of the synchronous generator; t j denotes the inertia time constant of the synchronous generator; omega N represents the rated rotational speed of the synchronous generator; e' qi represents the transient potential of the synchronous generator; e qei represents the forced no-load potential of the synchronous generator; e qi represents the no-load potential of the synchronous generator; t d0 denotes the time constant of the field winding itself.
The generator excitation auxiliary control model is combined with the general description of a third-order multi-agent system, and the following variables of the generator suitable for the multi-agent consistency algorithm are obtained:
Wherein x i(t)、vi (t) and z i (t) represent the work angle, rotational speed and electromagnetic power of the respective generators. The synchronous generator model based on the third-order multi-agent consistency protocol can be obtained by combining the following steps:
when the system is consistent means that all agents' work angle, rotational speed and electromagnetic power converge to the same value. Namely, the following conditions are satisfied:
Step 2, setting the auxiliary excitation controller
For a power system stability controller setting, a typical consistency algorithm is adopted as follows:
Wherein a ij represents the weight of the edge between the generators i and j, and is also the (i, j) th term corresponding to the adjacency matrix; k 1,k2,k3 denotes an adjustable parameter.
Defining the relevant parameters of each generator in the power system in the form of a matrix comprising
Thus, a system with control input u i (t) can be written as:
Wherein, L 1 is a laplace matrix,
Obtaining a model of the synchronous generator based on the third-order multi-agent, and applying the model to a consistency algorithm of the multi-agent to obtain the following controller:
excitation cooperative stability auxiliary controller for simplifying available power system:
wherein; k 1,k2,k3 is the parameter to be solved for, the remainder being variables known to the synchronous generator.
The controller can be understood as the sum of multiple PID controllers with the inter-machine speed difference being the error. The value of k 1、k2、k3 is given mainly by the corresponding algorithm at the controller parameter set-up, and the three parameters are consistent for each generator, but inconsistent for each generator's controller. Because each machine controller is also related to the weight of the inter-machine connection, namely, the connection relation and the tightness of the connection between the machines are considered at the same time. The controller considers both network topology, inter-machine network parameters, inter-machine cooperation and causal relationships (differential angular acceleration of speed, angular speed, integral work angle of speed) between three state variables.
Step 3, setting parameters of the controller based on characteristic values of the shrinkage admittance matrix solving system
The multi-agent system meets the requirement of consistency, and k 1,k2,k3 meets the following condition
k2k3μi>k1
Wherein: mu i is the non-zero eigenvalue of the Laplace matrix
The degree of tightness of the connection between synchronous generators in the communication topology is represented by the element a ij in the adjacency matrix a: if the information transferred between the two synchronous generators has a large influence on the two synchronous generators, the value of a ij is set relatively large; the value set for a ij is relatively small if the information transferred between the two synchronous generators has a small effect on both. In a power system, determining an adjacency matrix A, wherein corresponding elements of two non-connected nodes are 0 based on a communication topological graph model; for the connected nodes, the tightness degree of the electric coupling between the two nodes is reflected in the power system, and the physical meaning is expressed as the admittance value of the branch.
Obtaining a shrinkage admittance matrix A after only retaining the generator nodes by eliminating intermediate nodes among the generator nodes, and obtaining a Laplacian matrix L of the system
L＝D-A
det(μI-L)＝0
Wherein: d is a degree matrix.
And (3) calculating the characteristic mu i through a formula, and substituting the characteristic mu i into a formula k 2k3μi>k1 to calculate a parameter k 1,k2,k3 meeting constraint conditions, so that the setting of the parameters of the controller is realized, and the system is stable.
Drawings
FIG. 1 is a diagram of a three-machine nine-node system of the present invention;
FIG. 2 is a graph showing the effect of the control of the output voltage of the generator G2 using the post-controller of the present invention;
Fig. 3 shows the power angle control effect of the generators G1 and G2 by using the rear controller of the present invention.
Detailed Description
The invention will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the invention.
As shown in fig. 1,2 and 3, the invention provides a three-machine nine-node power system to illustrate the design process and control effect of the auxiliary excitation controller of the invention.
Three-machine nine-node auxiliary excitation controller design
Simplifying the admittance matrix according to the matrix partitioning method, eliminating intermediate nodes, and only leaving generator nodes to obtain a contracted admittance matrix, wherein the contracted admittance matrix is as follows:
the Laplace matrix of the system is:
Solving the characteristic value of the Laplace matrix can obtain:
Substituting formula k 2k3μi>k1, a set of k 1,k2,k3 that satisfies the condition can be found, and the three parameters are as follows:
The power generation auxiliary excitation controller can be obtained as follows:
all technical features in the embodiment can be freely combined according to actual needs.
The foregoing embodiments are preferred embodiments of the present invention, and other embodiments are included, without departing from the spirit of the present invention.
Claims (1)
1. The design method of the auxiliary excitation controller of the electric power system is characterized by comprising the following three steps: 1) Modeling a power grid synchronous generator based on three-order multi-agent; 2) Setting of an auxiliary excitation controller; 3) Based on the characteristic value of the shrinkage admittance matrix solving system, setting of the controller parameters is realized;
The third-order multi-agent-based power grid synchronous generator modeling comprises the following steps of
The generator excitation auxiliary control model is combined with the general description of the third-order multi-agent system, and the main variables of the third-order multi-agent system and the main variables of the generator excitation auxiliary control are corresponding to the following steps:
x i(t)、vi (t) and z i (t) represent displacement, speed and acceleration respectively in the original three-stage multi-agent control, where x i(t)、vi (t) and z i (t) represent the power angle, rotation speed and electromagnetic power of the generator respectively, and the synchronous generator model based on the three-stage multi-agent consistency protocol can be obtained by combining as follows:
Wherein: delta i represents the relative power angle of the rotor of the synchronous generator; Δω i represents the rotor relative rotational speed of the synchronous generator; p ei represents the output electromagnetic power of the synchronous generator; t j denotes the inertia time constant of the synchronous generator; omega N represents the rated rotational speed of the synchronous generator; e q'i represents the transient potential of the synchronous generator; e qei represents the forced no-load potential of the synchronous generator; e qi represents the no-load potential of the synchronous generator; t d0 denotes the time constant of the excitation winding itself;
The setting of the auxiliary excitation controller comprises setting a stable controller of the power system, and a typical consistency algorithm adopted is as follows:
wherein a ij represents the weight of the edge between the generators i and j, and is also the (i, j) th term corresponding to the adjacency matrix; k 1,k2,k3 denotes the variable parameter of the system,
The multi-agent model of the synchronous generator is applied to a consistency algorithm, so that the excitation cooperative stability auxiliary controller of the power system can be obtained:
The setting of the controller parameters based on the characteristic values of the shrinkage admittance matrix solving system comprises the following conditions k1, k2 and k3 that the multi-agent system achieves consistency:
k2k3μi>k1
Wherein: in a communication topological graph of the electric power system, the non-zero characteristic value of the Laplace matrix is mu i, the adjacent matrix A represents the tightness degree of electric coupling between two nodes, the physical meaning represents the admittance value of a branch, and as not all nodes in the system are generator nodes, a certain number of intermediate load nodes exist, and the tightness degree of information connection between synchronous generators cannot be judged, therefore, the shrinkage admittance matrix of the system is obtained by eliminating the intermediate nodes among the generator nodes after only the generator nodes are reserved, the Laplace matrix of the system is obtained on the basis, the characteristic value of the Laplace matrix is obtained, the characteristic value is brought into the charge condition that multiple intelligent agents achieve consistency, and a group of values of three parameters k1, k2 and k3 meeting the condition can be obtained, so that the parameter setting of the excitation auxiliary controller of the electric power system is realized.
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| CN103312249A (en) * | 2013-07-09 | 2013-09-18 | 南昌航空大学 | Self-adaptation excitation control method for synchronous generator |
| WO2016034777A2 (en) * | 2015-09-11 | 2016-03-10 | Wärtsilä Finland Oy | An electrical power system and a method for controlling generator voltage |
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| CN112818588A (en) * | 2021-01-08 | 2021-05-18 | 南方电网科学研究院有限责任公司 | Optimal power flow calculation method and device for power system and storage medium |
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| CN103312249A (en) * | 2013-07-09 | 2013-09-18 | 南昌航空大学 | Self-adaptation excitation control method for synchronous generator |
| WO2016034777A2 (en) * | 2015-09-11 | 2016-03-10 | Wärtsilä Finland Oy | An electrical power system and a method for controlling generator voltage |
| CN111969597A (en) * | 2020-08-03 | 2020-11-20 | 东北电力大学 | Dynamic surface integral sliding mode controller with SVC (static Var compensator) for multi-machine infinite power system |
| CN112818588A (en) * | 2021-01-08 | 2021-05-18 | 南方电网科学研究院有限责任公司 | Optimal power flow calculation method and device for power system and storage medium |
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