CN114204570A - Analysis method and control method of double-shaft excitation phase modulator and double-shaft excitation phase modulator - Google Patents

Analysis method and control method of double-shaft excitation phase modulator and double-shaft excitation phase modulator Download PDF

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CN114204570A
CN114204570A CN202111521441.2A CN202111521441A CN114204570A CN 114204570 A CN114204570 A CN 114204570A CN 202111521441 A CN202111521441 A CN 202111521441A CN 114204570 A CN114204570 A CN 114204570A
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phase modulator
excitation
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shaft
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李志强
郭强
孙华东
何凤军
霍承祥
肖洋
夏潮
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China Electric Power Research Institute Co Ltd CEPRI
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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
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
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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
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    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/381—Dispersed generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/28—The renewable source being wind energy
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    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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    • Y02E40/30—Reactive power compensation

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Abstract

The invention discloses an analysis method and a control method of a double-shaft excitation phase modulator and the double-shaft excitation phase modulator. The method comprises the following steps: determining an incremental equation of d-axis excitation and an incremental equation of q-axis excitation of the double-axis excitation phase modulator according to a six-order model of the double-axis excitation phase modulator to be analyzed; determining an incremental equation of each electric quantity of a double-shaft excitation phase modulator when the double-shaft excitation phase modulator arranged at a grid-connected point of a new energy plant normally operates; determining an electromagnetic torque increment equation of a double-shaft excitation phase modulator; determining a system model of a transfer function form of a double-shaft excitation phase modulator comprising a transfer function of a d-axis excitation regulator and a transfer function of a q-axis excitation regulator; analyzing key control parameters for keeping the rotor of the double-shaft excitation phase modifier at synchronous rotating speed when the double-shaft excitation phase modifier is in deep phase advance. The method establishes a small-disturbance analysis model of the double-shaft excitation phase modulator, and provides a reliable theoretical basis for the coordination control of d-axis excitation and q-axis excitation during deep phase advance.

Description

Analysis method and control method of double-shaft excitation phase modulator and double-shaft excitation phase modulator
Technical Field
The invention relates to the technical field of motors and electric appliances, in particular to an analysis method and a control method of a double-shaft excitation phase modulator and the double-shaft excitation phase modulator.
Background
Analysis of past large-scale fan grid disconnection faults shows that system voltage fluctuation or instability caused by insufficient dynamic reactive power regulation capacity of a wind power plant is an important reason for large-scale fan chain grid disconnection. When a wind power plant is disconnected due to direct current faults and other reasons, due to the fact that light load of a line and reactive compensation equipment cannot be cut off quickly, regional voltage rises suddenly after faults are cut off, and further large-scale fan interlocking disconnection faults are formed due to overvoltage protection actions of adjacent wind power plants.
The previous description of the offline fault of the large-scale fan is centralized on the large-scale phase modulators of the converter stations or the transformer substations, and the effect of improving the voltage stability level of the whole power grid at the transmitting end and the receiving end, particularly the area near the new energy plant station, is limited. The verification proves that the phase modulators with medium and small capacity are arranged on the spot in each new energy plant to realize flexible and distributed reactive compensation and inertia support, and the phase modulators have obvious effects on avoiding the off-line of new energy units such as wind power, photovoltaic and the like and improving the voltage and frequency stability of new energy plants or gathering areas.
Compared with a conventional small phase modulator, the distributed phase modulator used in a new energy plant station or a convergence area needs to have good transient and sub-transient characteristics and stronger phase advancing capability so as to ensure that the distributed phase modulator can effectively inhibit overvoltage level in the near area of the plant station and provide voltage support for the new energy plant station in the whole process of sub-transient, steady state and the like.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an analysis method and a control method of a double-shaft excitation phase modulator and the double-shaft excitation phase modulator, aiming at solving the problem that the dynamic characteristic analysis of the double-shaft excitation phase modulator can not be carried out by utilizing a system model of the traditional phase modulator.
In a first aspect, the present invention provides an analysis method for a biaxial excitation phase modulator, including:
determining an incremental equation of d-axis excitation and an incremental equation of q-axis excitation of the double-axis excitation phase modulator according to a six-order model of the double-axis excitation phase modulator to be analyzed;
determining an incremental equation of each electrical quantity of the double-shaft excitation phase modulator when the double-shaft excitation phase modulator arranged at a grid-connected point of a new energy plant station normally operates according to the incremental equation of d-shaft excitation and the incremental equation of q-shaft excitation of the double-shaft excitation phase modulator;
determining an electromagnetic torque increment equation of the double-shaft excitation phase modulator according to an increment equation of d-shaft excitation and an increment equation of q-shaft excitation of the double-shaft excitation phase modulator and the increment equations of all electrical quantities;
determining a system model of a transfer function form of the double-shaft excitation phase modulator, which comprises a transfer function of a d-shaft excitation regulator and a transfer function of a q-shaft excitation regulator, according to the increment equation of the d-shaft excitation, the increment equation of the q-shaft excitation and the electromagnetic torque increment equation of the double-shaft excitation phase modulator;
and analyzing key control parameters for keeping the rotor of the double-shaft excitation phase modulator at a synchronous rotating speed when the double-shaft excitation phase modulator is in a deep phase advance by using the system model.
Further, the six-order model of the two-axis excitation phase modulator to be analyzed is determined according to basic assumptions in the power system analysis program and generator convention.
Further, the transfer function of the d-axis excitation regulator includes g(s) based on a proportional integral derivative control strategy;
the d-axis excitation powerPressure EfdThe increment of (d) is as follows: delta Efd＝-G(s)△ut，
Wherein, Δ utFor terminal voltage u of said biaxial excitation phase modulatortThe increment of (c).
Further, the transfer function of the q-axis field regulator comprises g(s) based on a proportional integral derivative control strategy;
the q-axis excitation voltage EfqThe increment of (d) is as follows: delta Efq＝-g(s)△ω，
Wherein Δ ω is an increment of a rotation speed ω of a rotor of the biaxial excitation phase modulator.
Further, each electrical quantity of the two-axis excitation phase modulator includes: the generator terminal voltage of the double-shaft excitation phase modulator, the stator current and the stator voltage of the double-shaft excitation phase modulator;
the incremental equation of each electrical quantity of the double-shaft excitation phase modulator is determined according to an equivalent network formed by an equivalent synchronous generator and a single-machine infinite model when the double-shaft excitation phase modulator normally operates; the double-shaft excitation phase modulator is connected to a power grid through a boost transformer.
Further, according to an electromagnetic torque increment equation of the double-shaft excitation phase modulator, determining synchronous torque and damping torque which respectively act on the double-shaft excitation phase modulator, wherein the synchronous torque responds to increment delta of a power angle delta of the double-shaft excitation phase modulator and a synchronous torque coefficient KδThe product of (a); the damping torque is responsive to the increment delta omega of the rotating speed omega of the rotor of the double-shaft excitation phase modulator and the damping torque coefficient KqThe product of (a).
Further, the analyzing, by using the system model, a key control parameter for keeping a rotor of the dual-axis excitation phase modulator at a synchronous rotation speed when the dual-axis excitation phase modulator is in a deep phase advance includes:
determining a frequency-dependent variation characteristic of a damping component corresponding to a first electromagnetic torque coefficient associated with the q-axis field regulator; or
Determining the synchronous torque coefficient K of the dual-axis excitation phase modulatorδA frequency dependent variation characteristic; or
Determining the damping torque coefficient K of the dual-axis excitation phase modulatorqA frequency dependent variation characteristic; or
Determining the variation characteristics of damping components corresponding to a second electromagnetic torque coefficient and a third electromagnetic torque coefficient respectively related to d-axis armature reaction and q-axis armature reaction along with frequency;
determining the first electromagnetic torque coefficient, the second electromagnetic torque coefficient, the third electromagnetic torque coefficient and the synchronous torque coefficient KδOr the damping torque coefficient KqTo maintain the rotors of the dual-axis excitation camera at key control parameters of synchronous rotational speed.
Further, when the power angle of the dual-axis excitation phase modulator is zero, the third electromagnetic torque coefficient related to the q-axis armature reaction and/or the first electromagnetic torque coefficient related to the q-axis excitation controller are key control parameters for keeping the rotor of the dual-axis excitation phase modulator at a synchronous rotating speed.
The invention provides a double-shaft excitation phase modulator, which is used for being arranged at a grid-connected point of a new energy plant station, and comprises the following components:
an operation control device, configured to, when it is detected that the dual-axis excitation phase modulator is in a deep phase advance, generate and send a control instruction indicated by a key control parameter of the dual-axis excitation phase modulator according to the system model of the dual-axis excitation phase modulator described in the first aspect;
the excitation control system comprises a d-axis excitation regulator and a q-axis excitation regulator;
the excitation system comprises a d-axis excitation winding and a q-axis excitation winding which are perpendicular to each other;
when the double-shaft excitation phase modulator is in a deep phase advance state, the d-axis excitation regulator and the q-axis excitation regulator respectively and independently respond to the received control commands respectively to regulate the electromagnetic torque of the double-shaft excitation phase modulator so as to enable the rotor of the double-shaft excitation phase modulator to be kept at a synchronous rotating speed.
The third aspect of the present invention provides an electromagnetic torque control method for a biaxial excitation phase modulator, where the biaxial excitation phase modulator is used in a grid-connected point provided in a new energy plant, and the biaxial excitation phase modulator includes:
the excitation control system comprises a d-axis excitation regulator and a q-axis excitation regulator;
the excitation system comprises a d-axis excitation winding and a q-axis excitation winding which are perpendicular to each other;
the method comprises the following steps:
when detecting that the dual-axis excitation phase modulator is in a deep phase advance, generating a control instruction indicated by key control parameters of the dual-axis excitation phase modulator according to the system model of the dual-axis excitation phase modulator explained in the first aspect, and sending the control instruction;
so that the d-axis excitation regulator and the q-axis excitation regulator respectively and independently respond to the received control commands respectively to regulate the electromagnetic torque of the double-shaft excitation phase modulator, so that the rotor of the double-shaft excitation phase modulator is kept at a synchronous rotating speed.
The analysis method of the biaxial excitation phase modulator provided by the invention establishes a small disturbance analysis model of the biaxial excitation phase modulator, and provides a reliable theoretical basis for the coordination control of d-axis excitation and q-axis excitation when the phase modulator is in a deep phase advance. Specific transfer functions are provided for the excitation control system, so that the influence of a plurality of parameters of the excitation control system on the dynamic characteristics of the generator can be quantitatively analyzed, and strict theoretical support is provided for the design of the excitation system.
The double-shaft excitation phase modulator provided by the invention can flexibly operate under the working conditions of single-shaft excitation, double-shaft excitation and positive-negative alternating excitation, can break through the limitation that the minimum excitation current is zero, and can also enable the phase modulator to obtain short-time phase advancing capacity equivalent to delayed phase overload capacity through reverse excitation, so that a large amount of reactive power can be absorbed from a power grid in a short time, and the overvoltage suppression effect is greatly improved.
The control method of the double-shaft excitation phase modulator provided by the invention can improve the stability in the transient transition process and absorb a large amount of reactive power of a power grid by adopting a specific excitation control strategy, thereby further improving the transient stability of a power system.
Drawings
A more complete understanding of exemplary embodiments of the present invention may be had by reference to the following drawings in which:
FIG. 1 is a schematic flow diagram of a method of analyzing a two-axis excitation phase modulator in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the composition of a two-axis excitation phase modulator of a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of an equivalent network of a two-axis excitation phase modulator according to a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of the electrical phasors for a dual-shaft excitation phase modulator in normal operation in accordance with a preferred embodiment of the present invention;
FIG. 5 is a block diagram of a transfer function for small perturbation analysis of a two-axis excitation phase modulator in accordance with a preferred embodiment of the present invention;
FIG. 6 is a schematic representation of the electromagnetic torque damping coefficient of the dual-axis excitation phase modulator of FIG. 5 as a function of system frequency;
FIG. 7 is a graphical illustration of the electromagnetic torque damping coefficient associated with the q-axis excitation regulator of the dual-axis excitation phase modulator of FIG. 5 as a function of system frequency;
FIG. 8 is a schematic representation of the d-axis armature reactive electromagnetic torque damping coefficient of the dual-axis excitation phase modulator of FIG. 5 as a function of system frequency;
fig. 9 is a schematic diagram of the q-axis armature reactive electromagnetic torque damping coefficient of the dual-axis excitation phase modulator of fig. 5 as a function of system frequency.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for full and complete disclosure of the invention and to fully convey the scope of the invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In addition, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
With the wide commissioning of new energy sources, the role of phase modulators in improving the dc transmission power and new energy consumption of new energy stations has been generally accepted. The distributed phase modulators configured in the new energy plant station or the convergence area also enter the engineering implementation stage, and are used as main dynamic reactive compensation equipment of the new energy plant station for large-scale engineering application in the future. If the new energy installation machine rapidly develops at a speed of 1-1.2 hundred million kilowatts per year, the demand of the distributed phase modulation machine will increase at a high speed according to the capacity proportion of 20-25%.
When an excitation system (comprising an excitation winding and an excitation regulator) of the generator is in an overexcitation state, active power and reactive power are transmitted to the system, the power factor is positive, and the operation state is called slow-phase operation. In-phase operation, as opposed to late-phase operation, refers to the delivery of reactive power only to the system, with a negative power factor. The operating state of the generator does not include in-phase operation. The phase modulator is a reactive power generator used for sending or absorbing reactive power, and the reactive voltage of a power grid is adjusted mainly in a phase-advancing operation mode so as to ensure the power quality of the power grid and the stability of a system.
The phase advance capability of the traditional synchronous phase modulator is limited by zero minimum exciting current, the maximum short-time phase advance capability of the traditional synchronous phase modulator completely depends on reactance parameters of equipment, and is far less than the delayed phase overload capability of the traditional synchronous phase modulator, so that the traditional synchronous phase modulator is very unfavorable for inhibiting overvoltage level. The reason is that only one set of excitation winding of the traditional synchronous phase modulator is arranged on the d axis of the rotor, and the characteristic determines that the power regulation and the operation stability of the traditional synchronous phase modulator are related to the included angle between the longitudinal axis magnetic potential of the phase modulator and the grid voltage, namely related to the power angle of the phase modulator, so that the range of the operation stability is limited; meanwhile, the traditional synchronous phase modulator has poor phase advancing capability, is easy to generate an unstable condition during phase advancing operation, and needs to limit the reactive power which can be absorbed by the phase modulator in order to avoid the unstable condition.
In order to ensure that the overvoltage level in the near area of a plant station can be effectively inhibited, the phase advancing capability of a distributed phase modulator arranged in a new energy plant station or a convergence area needs to be improved. However, the phase advance capability of the synchronous phase modulator is improved by optimizing parameters (such as reactance parameters) of the synchronous phase modulator, so that the manufacturing cost is greatly increased, and the improvement effect is limited.
As shown in fig. 1, the analysis method of the biaxial excitation phase modulator according to the embodiment of the present invention includes:
s10: determining an incremental equation of d-axis excitation and an incremental equation of q-axis excitation of the biaxial excitation phase modulator according to a six-order model (shown as a formula (1)) of the biaxial excitation phase modulator to be analyzed, wherein the equations are shown as formulas (7) to (12);
s20: determining incremental equations of all electrical quantities of the double-shaft excitation phase modulator when the double-shaft excitation phase modulator arranged at a grid-connected point of a new energy plant station normally operates according to the incremental equations of d-shaft excitation and q-shaft excitation of the double-shaft excitation phase modulator, wherein the incremental equations are shown in formulas (2) to (6);
s30: determining an electromagnetic torque increment equation of the double-shaft excitation phase modulator according to an increment equation of d-shaft excitation, an increment equation of q-shaft excitation and increment equations of all electrical quantities, wherein the increment equations are shown in formulas (13) to (14);
s40: determining a system model of a transfer function form of the dual-axis excitation phase modulator, which comprises a transfer function of a d-axis excitation regulator and a transfer function of a q-axis excitation regulator, according to the increment equation of the d-axis excitation, the increment equation of the q-axis excitation and the electromagnetic torque increment equation of the dual-axis excitation phase modulator, as shown in fig. 5 and equations (15) to (29);
s50: and analyzing key control parameters for keeping the rotor of the double-shaft excitation phase modulator at a synchronous rotating speed when the double-shaft excitation phase modulator is in a deep phase advance by using the system model.
Further, the six-order model of the two-axis excitation phase modulator to be analyzed is determined according to basic assumptions in the power system analysis program and generator convention.
Further, the transfer function of the d-axis excitation regulator includes g(s) based on a proportional integral derivative control strategy;
the d-axis excitation voltage EfdThe increment of (d) is as follows: delta Efd＝-G(s)△ut，
Wherein, Δ utFor terminal voltage u of said biaxial excitation phase modulatortThe increment of (c).
Further, the transfer function of the q-axis field regulator comprises g(s) based on a proportional integral derivative control strategy;
the q-axis excitation voltage EfqThe increment of (d) is as follows: delta Efq＝-g(s)△ω，
Wherein Δ ω is an increment of a rotation speed ω of a rotor of the biaxial excitation phase modulator.
Further, each electrical quantity of the two-axis excitation phase modulator includes: the generator terminal voltage of the double-shaft excitation phase modulator, the stator current and the stator voltage of the double-shaft excitation phase modulator;
the incremental equation of each electrical quantity of the double-shaft excitation phase modulator is determined according to an equivalent network formed by an equivalent synchronous generator and a single-machine infinite model when the double-shaft excitation phase modulator normally operates; the double-shaft excitation phase modulator is connected to a power grid through a boost transformer.
Further, according to an electromagnetic torque increment equation of the double-shaft excitation phase modulator, determining synchronous torque and damping torque which respectively act on the double-shaft excitation phase modulator, wherein the synchronous torque responds to increment delta of a power angle delta of the double-shaft excitation phase modulator and a synchronous torque coefficient KδThe product of (a); the damping torque is responsive to the increment delta omega of the rotating speed omega of the rotor of the double-shaft excitation phase modulator and the damping torque coefficient KqProduct of (2)As shown in formulas (30) to (33).
Further, the analyzing, by using the system model, a key control parameter for keeping a rotor of the dual-axis excitation phase modulator at a synchronous rotation speed when the dual-axis excitation phase modulator is in a deep phase advance includes:
determining a frequency-dependent variation characteristic of a damping component corresponding to a first electromagnetic torque coefficient associated with the q-axis field regulator; or
Determining the synchronous torque coefficient K of the dual-axis excitation phase modulatorδA frequency dependent variation characteristic; or
Determining the damping torque coefficient K of the dual-axis excitation phase modulatorqA frequency dependent variation characteristic; or
Determining the variation characteristics of damping components corresponding to a second electromagnetic torque coefficient and a third electromagnetic torque coefficient respectively related to d-axis armature reaction and q-axis armature reaction along with frequency;
determining the first electromagnetic torque coefficient, the second electromagnetic torque coefficient, the third electromagnetic torque coefficient and the synchronous torque coefficient KδOr the damping torque coefficient KqTo maintain the rotors of the dual-axis excitation camera at key control parameters of synchronous rotational speed.
Therefore, the rotor of the double-shaft excitation phase modulator is kept at the key control parameter of synchronous rotating speed, and the main effect of increasing the damping torque of the double-shaft excitation phase modulator is achieved.
Further, when the power angle of the dual-axis excitation phase modulator is zero, the third electromagnetic torque coefficient related to the q-axis armature reaction and/or the first electromagnetic torque coefficient related to the q-axis excitation controller are key control parameters for keeping the rotor of the dual-axis excitation phase modulator at a synchronous rotating speed.
As shown in fig. 2, a dual-axis excitation phase modulator 100 according to an embodiment of the present invention is used in a grid-connected point disposed in a new energy plant, and includes:
the operation control device 110 is configured to, when it is detected that the dual-axis excitation phase modulator is in a deep phase advance, generate and send a control instruction indicated by a key control parameter of the dual-axis excitation phase modulator according to the system model of the dual-axis excitation phase modulator described above;
an excitation control system 120 comprising a d-axis excitation regulator, a q-axis excitation regulator;
an excitation system 130 including a d-axis excitation winding and a q-axis excitation winding perpendicular to each other;
when the double-shaft excitation phase modulator is in a deep phase advance state, the d-axis excitation regulator and the q-axis excitation regulator respectively and independently respond to the received control commands respectively to regulate the electromagnetic torque of the double-shaft excitation phase modulator so as to enable the rotor of the double-shaft excitation phase modulator to be kept at a synchronous rotating speed.
The two-shaft excitation phase modulator comprises a rotor and a stator. The rotor comprises a d-axis excitation winding and a q-axis excitation winding, wherein the d-axis excitation winding and the q-axis excitation winding are perpendicular to each other and are respectively and independently subjected to excitation adjustment. That is, the excitation control system of the two-axis excitation phase modulator includes a q-axis excitation regulator and a d-axis excitation regulator. In general, a pid controller is used for a q-axis excitation regulator, the transfer function of which is recorded as g(s), and q-axis excitation voltage EfqIncrement of (a) Efq-g(s) Δ ω; the d-axis excitation regulator adopts a pid controller, the transfer function of the pid controller is marked as G(s), and d-axis excitation voltage E is availablefdIncrement of (a) Efd＝-G(s)△ut。
As shown in FIG. 5, the d-axis excitation regulator responds to the amount or increment Δ u of system voltagetGenerating a d-axis excitation adjusting instruction; and adjusting the magnitude and direction of the excitation Voltage and/or the excitation current of the d-axis excitation winding in response to the d-axis excitation adjustment instruction using an Automatic Voltage Regulator (AVR).
The q-axis excitation regulator responds to the change or increment delta omega of the rotating speed or the angular speed of the rotor of the phase modulator and generates a q-axis excitation regulation instruction; and adjusting the magnitude and direction of the excitation voltage and/or the excitation current of the q-axis excitation winding in response to the q-axis excitation adjusting instruction. During transient operation of the power system, the d-axis is adjustedThe magnitude and direction of the exciting current and the q-axis exciting current enable the double-shaft excitation phase modulator to keep transient electromagnetic torque in a preset range in the transition process. When the electric power system is in small disturbance, the included angle between the excitation magnetomotive force and the d axis is increased, namely the power angle, and when the electric power system is in large disturbance, the q-axis excitation current is strongly excited, so that the power angle is stabilized to a normal range, and the electromagnetic torque is increased. During control, the generator terminal voltage u is comparedtAnd a predetermined reference voltage VrefComparing to obtain a comparison result; and (4) considering the power angle delta of the phase modulator, adjusting the operation parameter value of the double-shaft excitation phase modulator according to the comparison result, and controlling the double-shaft excitation phase modulator to complete the control of the transient state of the power system.
It should be understood that in the event of sudden changes in the bus voltage, the reactive response of the phase modulator is largely divided into two parts: one is the spontaneous reactive response based on the physical characteristics of the phase modulator. Naturally occurring at the moment of the voltage change of the power grid and attenuating along with time; and secondly, reactive response based on phase modulator excitation control, terminal voltage change caused by an excitation control system, but certain response time is required.
As shown in fig. 4, the directions of the synthetic excitation of the excitation windings provided in the rotors of the biaxial excitation phase modulator so as to be perpendicular to each other and to be individually subjected to the excitation control are movable on the dq plane, and thus the excitation voltage E can be adjustedfdAnd EfqTo vary the power angle delta between its resultant potential and the system voltage u to control the electromagnetic power (i.e., the work performed by the electromagnetic torque), such as the damping torque, output by the phase modulator.
Preferably, by carrying out reverse forced excitation control on the double-shaft excitation phase modulator, short-time phase advancing capacity equivalent to delayed phase overload capacity can be obtained, so that a large amount of reactive power can be absorbed from a power grid in a short time.
However, when the d-axis excitation current is negative and enters a deep phase-advancing state, the action of the electromagnetic torque is changed from the driving torque to the braking torque. Without active control of the electromagnetic torque, the rotor will continue to decelerate and enter asynchronous operation, resulting in uncontrollable violent oscillations of the active and reactive power.
In order to actively control a biaxial excitation phase modulator during deep phase advance, an optimized excitation control system is designed, and a more optimal control strategy needs to be designed by combining a more accurate phase modulator system model and an optimized strategy needs to be configured in an optimized parameter mode.
At present, a Phillips-Haohrmcapacity model based on which a traditional generator or phase modulator excitation system is designed cannot reflect the influence of a q-axis excitation winding set in a double-axis excitation phase modulator on the dynamic characteristics of the double-axis excitation phase modulator, so that a complete dynamic small disturbance analysis method for the double-axis excitation phase modulator considering the d-axis excitation winding and the q-axis excitation winding needs to be established, so that theoretical support is provided for the coordination control of the q-axis excitation winding and the d-axis excitation current during deep phase advance.
The small disturbance here means that a nonlinear equation describing the system response in the following analysis can be linearized and further converted into a transfer function, so that the obtained system model can be used in the large power grid simulation of the power system.
Under the basic assumption and generator convention in the power system analysis program PSD-BPA, a six-order model of a two-axis excitation phase modulator is shown as a formula (1).
Figure BDA0003407619300000111
In the formula (1), E ″, is containedd，E′d，E″q，E′qδ, ω six state variables. Wherein, E ″)d，E′d，E″q， E′qRespectively d-axis and q-axis transient induced electromotive forces. As shown in FIG. 4, δ represents the terminal voltage and the q-axis steady-state induced electromotive force EqThe angle between them, i.e. the power angle described below, is the angular velocity of the rotor of the phase modulator, i.e. the synchronous motor in empty vehicle.
XdIs a direct-axis (i.e., d-axis) synchronous reactance; x'dIs a direct axis transient reactance; x ″)dA direct axis sub-transient reactance. XqIs a cross shaft (namely a q shaft)A synchronous reactance; x'qIs quadrature axis transient reactance; x ″)qIs quadrature axis sub-transient reactance. XkThe voltage boosting and short circuit impedance of the phase modulator is shown in figures 3 and 4. u. ofd、uqD-axis and q-axis components of the system voltage u, respectively; i.e. idOr the following Id、iqOr the following IqThe d-axis current and the q-axis current of the stator of the phase modulator are respectively.
T′d0、T′q0、T″d0、T″q0D-axis transient and q-axis transient and sub-transient open-circuit time constants, respectively. RaIs the armature resistance, and is usually small and can be ignored.
EfdIs d-axis excitation voltage, EfqIs the q-axis excitation voltage. T ismThe mechanical torque from the prime mover is not supplied to the phase modulator from the outside, and therefore only the mechanical loss during the rotation of the rotor of the two-shaft excitation phase modulator is included. T isJThe moment of inertia of the biaxial excitation phase modulator.
In the above, the model of the generator is described by adopting the parameters determined by the physical meaning after the conversion or the idealization, so that the method is more convenient and efficient. And, in order to determine the values of the above system parameters, a system identification method may be adopted for determination, which is not described in detail.
According to a six-order model of the two-axis excitation phase modulator, namely equation (1), the incremental equation of the d-axis excitation can be obtained as shown in (7):
Figure BDA0003407619300000121
in order to simplify the form of the formula (7), note
Figure BDA0003407619300000122
Substituting (8) into (7) and eliminating intermediate variable Delta E'qThe following can be obtained:
Figure BDA0003407619300000123
in the formula (9), Delta Efd＝-G(s)△utG(s) is a transfer function of the d-axis field regulator.
Similarly, according to a six-order model of the two-axis excitation phase modulator, namely equation (1), an incremental equation of q-axis excitation can be obtained as shown in equation (10).
Figure BDA0003407619300000124
In order to simplify the form of the formula (10), note
Figure BDA0003407619300000125
Substituting (11) into (10) and eliminating intermediate variable Delta E'dThe following can be obtained:
Figure BDA0003407619300000126
in formula (12), Δ EfqThe q-axis excitation regulator transfer function is given by-g(s) Δ ω, g(s).
When the double-shaft excitation phase modulator is in normal operation, the double-shaft excitation phase modulator is equivalent to a synchronous motor in no-load operation. In the dynamic characteristic research, a synchronous generator and a single-machine infinite model are adopted, and the structural diagram of the equivalent network of the double-shaft excitation phase modulator is shown in fig. 3. In fig. 3, the impedance of the line connecting the phase modulator to the system is approximately zero, connecting to an infinite system.
In fig. 3, the terminal voltage of the biaxial excitation phase modulator installed at the grid-connected point of the new energy plant is denoted as utThe short-circuit reactance of the step-up transformer is recorded as XkThe high side bus voltage is denoted as u.
Since the electrical characteristics of the equivalent system shown in fig. 3 are related to the grid structure, system capacity, and fault type, it is difficult to accurately describe the effect of the two-axis excitation phase modulator on the system voltage recovery. Therefore, in the generalized research, the high-side bus voltage u is regarded as an uncontrollable known variable.
The electrical phasor diagram for the phase modulator in normal operation is shown in figure 4. Defining a power angle delta as a high-voltage side bus voltage u and a q-axis steady-state induced electromotive force Eq(q-axis positive direction), the high-side bus voltage u is positive when lagging the q-axis positive direction, and the high-side bus voltage u is negative when leading the q-axis positive direction.
Referring to fig. 4, according to the principle of electromechanics, the relationship between the electrical quantities when the phase modulator is in normal operation is as follows, wherein idOr the following Id、iqOr the following IqD-axis current and q-axis current, U, of the stator of a phase modulatord(i.e., u as described above or below)d)、Uq(i.e., u as described above or below)q) D-axis voltage and q-axis voltage of stator of phase modulator, respectively:
Figure BDA0003407619300000131
Figure BDA0003407619300000132
Figure BDA0003407619300000133
Figure BDA0003407619300000134
Figure BDA0003407619300000141
u in formulae (5) and (6)td，utqRepresents the terminal voltage utThe components on the d and q axes.
As above, variables and differences or deltas of the variables are determined, and transfer functions may then be conveniently employed to describe the analysis object or to model the system.
Substituting the equations (2), (3) and (4) into the electromagnetic torque equation of the phase modulator can obtain:
Figure BDA0003407619300000142
the equation (13) is differentiated to obtain an electromagnetic torque increment equation of the phase modulator, namely, the equation (14):
Figure BDA0003407619300000143
the formula (14) includes the variables described by the aforementioned formula (9) or formula (12).
By combining the above, a model block diagram of a two-axis excitation phase modulator including an excitation control system can be obtained as shown in fig. 5. Wherein the content of the first and second substances,
Figure BDA0003407619300000144
Figure BDA0003407619300000145
Figure BDA0003407619300000146
K4＝kd2usinδ (18)
K5＝kd1T′d0usinδ (19)
K6＝kq2ucosδ (20)
K7＝kq1T′q0ucosδ (21)
Figure BDA0003407619300000151
Figure BDA0003407619300000152
Figure BDA0003407619300000153
Figure BDA0003407619300000154
K12＝kd1T′d0cosδs+kd2cosδ (26)
K13＝kq1T′q0sinδs+kq2sinδ (27)
Figure BDA0003407619300000155
Figure BDA0003407619300000156
as described above, the equation of the variables is replaced by the expression composed of the state quantity and the combination of the variables, so that the content to be displayed in the whole block diagram is simplified, and the readability of the block diagram is enhanced.
As described above, the analysis method of the embodiment of the invention establishes the small disturbance analysis model of the double-shaft excitation phase modulator, and provides a reliable theoretical basis for the coordination control of d-axis excitation and q-axis excitation when the phase modulator is in a deep phase advance.
In the above two-axis excitation phase modulator small disturbance analysis model, a clear transfer function is provided for the excitation control system, so that the influence of a plurality of parameters of the excitation control system on the dynamic characteristics of the generator can be quantitatively analyzed, and a strict theoretical support is provided for the design of the excitation system.
The following description will further describe the embodiments of the present invention by taking the damping torque analysis of a phase modulator under a small disturbance as an example. The electromagnetic torque of the phase modulator is referred to the aforementioned equation (13), and the electromagnetic torque increment equation of the phase modulator is referred to the aforementioned equation (14).
The notation G(s) and g(s) are transfer functions of a d-axis excitation regulator and a q-axis excitation regulator (namely, an excitation controller) respectively, and have a delta Efd＝-G(s)△ut，△Efq＝-g(s)△ω。
In view of
Figure BDA0003407619300000161
Or
Figure BDA0003407619300000162
Wherein ω isBFor the reference speed, i.e. 2 pi f 314rad/s, the partial derivative of the electromagnetic torque with respect to the speed increment is given as (30):
Figure BDA0003407619300000163
wherein the content of the first and second substances,
Figure BDA0003407619300000164
Figure BDA0003407619300000165
further, the electromagnetic torque increment (refer to the aforementioned equation (14)) is decomposed into a synchronous torque and a damping torque, and then
△Te＝Kδ△δ+Kq△ω (33)
Wherein, KδFor synchronizing the torque coefficients, KqTo damp the torque coefficient, both vary with the system frequency, respectively. At this time, the synchronous torque responds to the increment of the power angle of the system so as to keep the rotor synchronously running; the damping torque is responsive to the increase in rotational speed to maintain the rotor speed at the synchronous speed.
Such as toneWhen the camera normally operates, the power angle is basically 0, and the damping torque coefficient K is at the momentqThe characteristic of the change with frequency is shown in FIG. 6, that is, the lower the frequency, the lower the damping torque coefficient KqThe larger, i.e. non-linearly decreasing, the frequency increases.
Electromagnetic torque coefficient g(s) K associated with q-axis field regulator3/TqsThe variation of the corresponding damping component with frequency is shown in fig. 7.
Electromagnetic torque coefficients associated with d-axis and q-axis armature reactions (which occur when current is present in the armature winding, i.e., the field winding)
Figure BDA0003407619300000171
The variation characteristics of the respective damping components with frequency are shown in fig. 8 and 9, respectively.
From the above variation characteristic of the damping torque with frequency, when the phase modulation power angle is zero, the q-axis armature reaction and the q-axis excitation controller (the related electromagnetic torque coefficient) play a dominant role in the damping torque of the phase modulation machine.
Thus, according to the above analysis result, the parameter values of the above control factors having the dominant effects are configured with emphasis on the control requirements of the depth advance relative electromagnetic torque, and further the damping torque is actively controlled, for example, according to the system model of the dual-axis excitation phase modulator described above, the control instruction indicated by the key control parameters of the dual-axis excitation phase modulator is generated, and details are not repeated.
Thus, in the method for controlling electromagnetic torque of a biaxial excitation phase modulator according to the embodiment of the present invention, the biaxial excitation phase modulator is used for a grid-connected point provided in a new energy plant, and the biaxial excitation phase modulator includes: the excitation control system comprises a d-axis excitation regulator and a q-axis excitation regulator; the excitation system comprises a d-axis excitation winding and a q-axis excitation winding which are perpendicular to each other; the method comprises the following steps: when the double-shaft excitation phase modifier is detected to be in a deep phase advance state, generating a control instruction indicated by key control parameters of the double-shaft excitation phase modifier according to the explained system model of the double-shaft excitation phase modifier and sending the control instruction; so that the d-axis excitation regulator and the q-axis excitation regulator respectively and independently respond to the received control commands respectively to regulate the electromagnetic torque of the double-shaft excitation phase modulator, so that the rotor of the double-shaft excitation phase modulator is kept at a synchronous rotating speed.
Therefore, the double-shaft excitation phase modulator and the excitation control principle thereof can flexibly operate under the working conditions of single-shaft excitation, double-shaft excitation and positive-negative alternating excitation, can break through the limitation that the minimum excitation current is zero, and can also enable the phase modulator to obtain short-time phase advancing capacity equivalent to delayed phase overload capacity through reverse excitation, so that a large amount of reactive power can be absorbed from a power grid in a short time, and the overvoltage suppression effect is greatly improved.
In addition to good transient and sub-transient characteristics, the double-shaft excitation phase modulator also has stronger phase-advancing operation capability, and can effectively inhibit system overvoltage. Particularly, by adopting a specific excitation control strategy, the stability of the transient state transition process can be improved, and a large amount of reactive power of a power grid can be absorbed, so that the transient state stability of the power system is further improved.
The invention has been described above by reference to a few embodiments. However, other embodiments of the invention than the one disclosed above are equally possible within the scope of the invention, as would be apparent to a person skilled in the art from the appended patent claims.
Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a// the [ device, component, etc ]" are to be interpreted openly as at least one instance of a device, component, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated.

Claims (10)

1. An analysis method of a biaxial excitation phase modulator is characterized by comprising the following steps:
determining an incremental equation of d-axis excitation and an incremental equation of q-axis excitation of the double-axis excitation phase modulator according to a six-order model of the double-axis excitation phase modulator to be analyzed;
determining an incremental equation of each electrical quantity of the double-shaft excitation phase modulator when the double-shaft excitation phase modulator arranged at a grid-connected point of a new energy plant station normally operates according to the incremental equation of d-shaft excitation and the incremental equation of q-shaft excitation of the double-shaft excitation phase modulator;
determining an electromagnetic torque increment equation of the double-shaft excitation phase modulator according to an increment equation of d-shaft excitation and an increment equation of q-shaft excitation of the double-shaft excitation phase modulator and the increment equations of all electrical quantities;
determining a system model of a transfer function form of the double-shaft excitation phase modulator, which comprises a transfer function of a d-shaft excitation regulator and a transfer function of a q-shaft excitation regulator, according to the increment equation of the d-shaft excitation, the increment equation of the q-shaft excitation and the electromagnetic torque increment equation of the double-shaft excitation phase modulator;
and analyzing key control parameters of keeping the rotor of the double-shaft excitation phase modulator at a synchronous rotating speed when the double-shaft excitation phase modulator is in a deep phase advance by using the system model.
2. The method of claim 1,
the sixth order model of the two-axis excitation phase modulator to be analyzed is determined based on basic assumptions in the power system analysis program and generator conventions.
3. The method of claim 1,
the transfer function of the d-axis excitation regulator comprises G(s) based on a proportional integral derivative control strategy;
the d-axis excitation voltage EfdThe increment of (d) is as follows: delta Efd＝-G(s)△ut，
Wherein, Δ utFor terminal voltage u of said biaxial excitation phase modulatortThe increment of (c).
4. The method of claim 1,
the transfer function of the q-axis excitation regulator comprises g(s) based on a proportional integral derivative control strategy;
the q-axis excitation voltage EfqThe increment of (d) is as follows: delta Efq＝-g(s)△ω，
Wherein Δ ω is an increment of a rotation speed ω of a rotor of the biaxial excitation phase modulator.
5. The method of claim 1,
each electric quantity of the double-shaft excitation phase modulator comprises: the generator terminal voltage of the double-shaft excitation phase modulator, the stator current and the stator voltage of the double-shaft excitation phase modulator;
the incremental equation of each electrical quantity of the double-shaft excitation phase modulator is determined according to an equivalent network formed by an equivalent synchronous generator and a single-machine infinite model when the double-shaft excitation phase modulator normally operates; the double-shaft excitation phase modulator is connected to a power grid through a boost transformer.
6. The method of claim 1,
according to an electromagnetic torque increment equation of the double-shaft excitation phase modulator, determining synchronous torque and damping torque which respectively act on the double-shaft excitation phase modulator, wherein the synchronous torque responds to increment delta of a power angle delta of the double-shaft excitation phase modulator and a synchronous torque coefficient KδThe product of (a); the damping torque is responsive to the increment delta omega of the rotating speed omega of the rotor of the double-shaft excitation phase modulator and the damping torque coefficient KqThe product of (a).
7. The method of claim 6,
the analyzing of the key control parameters of the rotor of the double-shaft excitation phase modulator keeping synchronous rotating speed when the double-shaft excitation phase modulator is in deep phase advance by using the system model comprises the following steps:
determining a variation characteristic with frequency of a damping component corresponding to a first electromagnetic torque coefficient associated with the q-axis excitation regulator; or
Determining the synchronous torque coefficient K of the dual-axis excitation phase modulatorδA frequency dependent variation characteristic; or
Determining the damping torque coefficient K of the dual-axis excitation phase modulatorqA frequency dependent variation characteristic; or
Determining the variation characteristics of damping components corresponding to a second electromagnetic torque coefficient and a third electromagnetic torque coefficient respectively related to d-axis armature reaction and q-axis armature reaction along with frequency;
determining the first electromagnetic torque coefficient, the second electromagnetic torque coefficient, the third electromagnetic torque coefficient and the synchronous torque coefficient KδOr the damping torque coefficient KqTo maintain the rotor of the two-shaft excitation phase modulator at a key control parameter of synchronous speed.
8. The method of claim 7,
when the power angle of the double-shaft excitation phase modulator is zero, the third electromagnetic torque coefficient related to the q-axis armature reaction and/or the first electromagnetic torque coefficient related to the q-axis excitation controller are key control parameters for keeping the rotor of the double-shaft excitation phase modulator at a synchronous rotating speed.
9. A biax excitation phase modifier for set up the grid-connected point at new energy factory station, includes:
an operation control device, configured to generate and issue a control instruction indicated by a key control parameter of the dual-axis excitation phase modulator according to the system model of the dual-axis excitation phase modulator of any one of claims 1 to 8 when it is detected that the dual-axis excitation phase modulator is in a deep phase advance;
the excitation control system comprises a d-axis excitation regulator and a q-axis excitation regulator;
the excitation system comprises a d-axis excitation winding and a q-axis excitation winding which are perpendicular to each other;
when the double-shaft excitation phase modulator is in a deep phase advance state, the d-axis excitation regulator and the q-axis excitation regulator respectively and independently respond to the received control commands respectively to regulate the electromagnetic torque of the double-shaft excitation phase modulator so as to enable the rotor of the double-shaft excitation phase modulator to be kept at a synchronous rotating speed.
10. The electromagnetic torque control method of the double-shaft excitation phase modulator is characterized in that the double-shaft excitation phase modulator is used for a grid-connected point arranged in a new energy plant station,
the double-shaft excitation phase modulator comprises:
the excitation control system comprises a d-axis excitation regulator and a q-axis excitation regulator;
the excitation system comprises a d-axis excitation winding and a q-axis excitation winding which are perpendicular to each other;
the method comprises the following steps:
upon detecting that the dual-axis excitation phase modulator is in a deep phase advance, generating and issuing a control instruction indicated by a key control parameter of the dual-axis excitation phase modulator according to the system model of the dual-axis excitation phase modulator of any one of claims 1 to 8;
so that the d-axis excitation regulator and the q-axis excitation regulator respectively and independently respond to the received control commands respectively to regulate the electromagnetic torque of the double-shaft excitation phase modulator, so that the rotor of the double-shaft excitation phase modulator is kept at a synchronous rotating speed.
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106712055A (en) * 2015-11-12 2017-05-24 中国电力科学研究院 Power system stabilizer (PSS) configuration method in coordination with low-excitation limiting function
CN110994642A (en) * 2019-11-22 2020-04-10 中国电力科学研究院有限公司 Method and device for quantifying influence of excitation gain on synchronous torque of salient-pole generator

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106712055A (en) * 2015-11-12 2017-05-24 中国电力科学研究院 Power system stabilizer (PSS) configuration method in coordination with low-excitation limiting function
CN110994642A (en) * 2019-11-22 2020-04-10 中国电力科学研究院有限公司 Method and device for quantifying influence of excitation gain on synchronous torque of salient-pole generator

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