CN114362181B - Uniform harmonic state estimation method suitable for alternating current-direct current hybrid power grid - Google Patents
Uniform harmonic state estimation method suitable for alternating current-direct current hybrid power grid Download PDFInfo
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Abstract
The invention discloses a unified harmonic state estimation method suitable for an alternating current-direct current hybrid power grid, which comprises the steps of obtaining an alternating current-direct current hybrid power grid topological structure, element parameters and synchronous quantity measurement; establishing an alternating current system measurement equation and an LCC direct current system measurement equation; building an AC/DC series-parallel power grid unified harmonic state estimation model; and carrying out iterative solution by adopting robust least square estimation. According to the method provided by the invention, the LCC-HVDC AC/DC hybrid power grid is unified in one linear model for harmonic problem research, so that the harmonic state of the AC/DC hybrid power grid can be comprehensively estimated, the harmonic interaction of an AC/DC system can be clearly reflected in a physical concept, the practicability is better, and the accuracy is higher.
Description
Technical Field
The invention relates to the technical field of electric power, in particular to a unified harmonic state estimation method suitable for an alternating current-direct current hybrid power grid.
Background
High-voltage direct current transmission technology (high voltage direct current, HVDC) based on grid commutated converters (line-commuted converter, LCC) is an important method for realizing power transregional distribution. In order to solve the contradiction of reverse distribution of energy supply and demand geographic positions in China, china greatly promotes LCC-HVDC engineering construction, and a power transmission network in China gradually evolves into a large-scale LCC-HVDC alternating-current-direct-current hybrid power network.
However, the harmonic generation and transmission characteristics of LCC-HVDC can cause larger harmonic to occur in an AC/DC hybrid power grid, cause excessive loss and even damage of elements, and also can cause problems of communication interference, malfunction of relay protection devices, system resonance and the like, thereby forming serious threat to safe and stable operation of the power grid. The problem of harmonic control of an alternating-current and direct-current hybrid power grid containing LCC-HVDC is attracting attention in recent years, and the basis and the premise of the problem are that the harmonic state of the power grid is correctly acquired. The harmonic state estimation is the most commonly used method at the present stage, namely, under the condition that the topological structure of the power grid and network parameter information are known, a linear measurement model is established through network analysis according to harmonic voltage and current measurement data obtained by limited measurement points, the harmonic state of the power grid is estimated, and scientific basis is provided for harmonic analysis and management. Because of the tight harmonic interaction between the AC and DC systems, the harmonic analysis of the AC and DC hybrid power grid is unified in an organic whole for research, the mechanism of the harmonic interaction can be better analyzed, and a theoretical basis is provided for the subsequent harmonic treatment.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention provides a unified harmonic state estimation method, equipment and a storage medium suitable for an alternating-direct current (AC-DC) series-parallel power grid, and is particularly suitable for an AC-DC series-parallel circuit comprising LCC-HVDC.
The invention unifies the harmonic analysis of the AC/DC series-parallel power grid into an organic whole to develop research so as to analyze the mechanism of harmonic interaction between AC/DC systems, and has stronger applicability and engineering practicability.
The invention adopts the following technical scheme:
the unified harmonic state estimation method suitable for the alternating current-direct current hybrid power grid is characterized by comprising the following steps of:
obtaining a network topology structure, element parameters and synchronous quantity measurement of an LCC-HVDC alternating-direct current hybrid power grid;
establishing a unified harmonic state estimation measurement equation, wherein the unified harmonic state estimation measurement equation can be divided into an alternating current system measurement equation and an LCC direct current system measurement equation according to the synchronous measurement type, and the alternating current system measurement equation comprises a bus voltage measurement equation, a branch current measurement equation and an injection current measurement equation;
constructing a unified harmonic state estimation model by using simultaneous measurement equations;
and carrying out iterative solution on the unified harmonic state estimation model to obtain a harmonic state estimator.
Further, the bus voltage measurement equation is calculated by adopting the following formula:
wherein:measuring the h-order harmonic voltage phasors of the i bus; η (eta) i(h) Error phasors for the quantity measurements; />And the state quantity of the h-order harmonic voltage of the i bus to be solved.
Further, the branch current measurement equation is calculated by adopting the following formula:
wherein: y is Y ii(h) ＝y ij(h) +y ii(h) ，Y ij(h) ＝-y ij(h) ，y ii(h) For the branch admittance of h times on the i side of the branch, y ij(h) ＝1/z ij(h) ，z ij(h) The impedance of the branch is h times;measuring the h-order harmonic current phasors flowing into the branch for the bus i;and the state quantity of the h subharmonic voltage of the i bus and the j bus to be solved.
Further, the injection current measurement equation is calculated using the following formula:
wherein: n is the number of network nodes;measuring the h-order harmonic current phasors injected into the bus i;
and the state quantity of the h-order harmonic voltage of the j bus to be solved.
Further, the LCC direct current system measurement equation is calculated by adopting the following formula:
wherein:
the order of the dynamic phasor is selected to be-h max ～h max ，U dc For 0 to h to be solved dc Harmonic voltage state quantity of secondary LCC direct current bus;for-h to be solved max ～h max Positive and negative sequence voltage state quantity of secondary converter transformer network side; η (eta) dc Is 0 to h dc Measuring error vector of the secondary quantity; z is Z dc Is LCC direct current system 0-h dc Secondary quantity measurement; />Is of the order of-h max ～h max Measuring the quantity of positive and negative sequence voltage phasors at the secondary converter transformer network side; z is Z T A converter transformer harmonic impedance matrix; s is S ± The voltage harmonic transmission matrix between the alternating-current side positive and negative sequence networks and the direct-current system consists of LCC switching function dynamic phasors; k (k) ± The converter transformer is positive and negative sequence conversion ratio.
Further, the unified harmonic state estimation model is calculated by the following formula:
wherein: z is Z ac M for measuring AC harmonic quantity ac Dimension of observation vector, Z dc M for DC harmonic measurement dc Maintaining an observation vector; η (eta) ac M for measuring error of AC harmonic wave ac Vector of dimension, eta dc M is the measurement error of direct current harmonic wave dc A dimension column vector; x is X ac N for the state quantity of the alternating current harmonic wave to be solved ac Vector of dimension and column, X dc N for the state quantity of direct current harmonic wave to be solved dc The vector of the dimension column generally selects the harmonic voltage of each bus; h ac For M between AC harmonic measurement and AC harmonic state quantity ac ×N ac Dimension measuring matrix, H dc,ac For M between DC harmonic measurement and AC harmonic state quantity dc ×N ac Dimension measuring matrix, H dc,dc For M between DC harmonic measurement and DC harmonic state quantity dc ×N dc And the dimension measurement matrix is used for forming an AC/DC hybrid power grid harmonic measurement matrix H.
Further, the simultaneous measurement equation is used for constructing a unified harmonic state estimation model, and the measurement equation numbering principle is as follows:
sequentially numbering the AC system measurement equations according to the bus sequence in the same AC harmonic measurement equation set, preferentially numbering the bus voltage measurement equations in the same numbering level, and then numbering the branch current measurement equations, wherein the branch current measurement equations are randomly numbered; the injection current measuring equation is numbered at last, and the injection current measuring equations are numbered at will; finally, sorting according to the number;
and numbering the direct current system measurement equations according to the sequence of the corresponding converter buses in the same direct current harmonic measurement equation set.
Further, in each iteration, the estimated value of the harmonic state estimator to be solved
In the method, in the process of the invention,is based onMeasurement value equivalent weight->Weight matrix composed of diagonal elements, measuring value equivalent weight +.>P i To measure the original weight of the value omega i Equivalent to the weight factor, the IGG III weight function is utilized for assigning;
where d=v/(σ ≡q) vv )，Q vv Is a complementary factor matrix of the residual differences.
An apparatus comprising a memory, a processor, a computer program stored on the memory and executable on the processor, the processor implementing the unified harmonic state estimation method when running the program.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the unified harmonic state estimation method.
The invention has the beneficial effects that:
(1) The current research results of the harmonic state estimation are limited to an alternating current power grid, and even if the alternating current power grid contains a direct current system feed-in, a harmonic current source is injected into the alternating current power grid in a simulation calculation example to be equivalent to a nonlinear load and a direct current system; the method provided by the invention regards the AC/DC hybrid main network as a unified whole, solves the problem of estimating the source and network harmonic states of the AC/DC hybrid power network, can not only calculate the precise AC power network harmonic distribution, but also can obtain the harmonic state of the DC system.
(2) At present, even though a research result of harmonic state estimation relates to direct current system feed-in, the direct current system is equivalent by injecting harmonic current sources into an alternating current power grid, and harmonic interaction among the alternating current system and the direct current system is not considered; the method provided by the invention utilizes a dynamic phasor method to establish a unified harmonic state estimation model of the AC/DC power grid, fully considers the harmonic interaction between AC/DC systems, and can reflect the association characteristics of the harmonic between the AC/DC systems
Drawings
FIG. 1 is a workflow diagram of a method of unified harmonic state estimation suitable for use in an AC/DC hybrid grid of the present invention;
fig. 2 is a grid structure in embodiment 1 of the present invention;
FIG. 3 (a) is a graph showing the relative error in amplitude of the estimated values of the harmonic voltages of the DC buses of each LCC in example 1 of the present invention;
FIG. 3 (b) is a schematic diagram of the phase absolute error of each LCC DC bus harmonic voltage estimate in example 1 of the present invention;
FIG. 3 (c) is a graph showing the amplitude versus error of the estimated voltages of the harmonic voltages of each AC bus in example 1 of the present invention;
fig. 3 (d) is a schematic diagram of the absolute phase error of the estimated value of the harmonic voltage of each ac bus in embodiment 1 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Example 1
As shown in fig. 1, a unified harmonic state estimation method suitable for an ac/dc hybrid power grid including LCC-HVDC includes the following steps in sequence:
s1, obtaining a network topology structure, element parameters and synchronous quantity measurement of an LCC-HVDC alternating-direct current hybrid power grid;
s2, establishing a unified harmonic state estimation measurement equation, wherein the unified harmonic state estimation measurement equation can be divided into an alternating current system measurement equation and an LCC direct current system measurement equation according to the synchronous measurement type, and the alternating current system measurement equation comprises a bus voltage measurement equation, a branch current measurement equation and an injection current measurement equation.
Further, the bus voltage measurement equation is calculated by adopting the following formula:
wherein:measuring the h-order harmonic voltage phasors of the i bus; η (eta) i(h) Error phasors for the quantity measurements; />And the state quantity of the h-order harmonic voltage of the i bus to be solved.
Further, the branch current measurement equation is calculated by adopting the following formula:
wherein: y is Y ii(h) ＝y ij(h) +y ii(h) ，Y ij(h) ＝-y ij(h) ，y ii(h) For the branch admittance of h times on the i side of the branch, y ij(h) ＝1/z ij(h) ，z ij(h) The impedance of the branch is h times;measuring the h-order harmonic current phasors flowing into the branch for the bus i;and the state quantity of the h subharmonic voltage of the i bus and the j bus to be solved.
Further, the injection current measurement equation is calculated using the following formula:
wherein: n is the number of network nodes;measuring the h-order harmonic current phasors injected into the bus i;
and the state quantity of the h-order harmonic voltage of the j bus to be solved.
Further, the LCC direct current system measurement equation is calculated by adopting the following formula:
wherein:
the order of the dynamic phasor is selected to be-h max ～h max ，U dc For 0 to h to be solved dc Secondary LCC DC busLine harmonic voltage state quantity;for-h to be solved max ～h max Positive and negative sequence voltage state quantity of secondary converter transformer network side; η (eta) dc Is 0 to h dc Measuring error vector of the secondary quantity; z is Z dc Is LCC direct current system 0-h dc Secondary quantity measurement; />Is of the order of-h max ～h max Measuring the quantity of positive and negative sequence voltage phasors at the secondary converter transformer network side; z is Z T A converter transformer harmonic impedance matrix; s is S ± The voltage harmonic transmission matrix between the alternating-current side positive and negative sequence networks and the direct-current system consists of LCC switching function dynamic phasors; k (k) ± The converter transformer is positive and negative sequence conversion ratio.
S3, constructing a unified harmonic state estimation model by using the simultaneous measurement equation;
the unified harmonic state estimation model is calculated by adopting the following formula:
wherein: z is Z ac M for measuring AC harmonic quantity ac Dimension of observation vector, Z dc M for DC harmonic measurement dc Maintaining an observation vector; η (eta) ac M for measuring error of AC harmonic wave ac Vector of dimension, eta dc M is the measurement error of direct current harmonic wave dc A dimension column vector; x is X ac N for the state quantity of the alternating current harmonic wave to be solved ac Vector of dimension and column, X dc N for the state quantity of direct current harmonic wave to be solved dc The vector of the dimension column generally selects the harmonic voltage of each bus; h ac For M between AC harmonic measurement and AC harmonic state quantity ac ×N ac Dimension measuring matrix, H dc,ac For M between DC harmonic measurement and AC harmonic state quantity dc ×N ac Dimension measuring matrix, H dc,dc For measuring DC harmonic quantityM between DC harmonic state quantities dc ×N dc And the dimension measurement matrix is used for forming an AC/DC hybrid power grid harmonic measurement matrix H.
Further, the simultaneous measurement equation is used for constructing a unified harmonic state estimation model, and the measurement equation numbering principle is as follows:
sequentially numbering the AC system measurement equations according to the bus sequence in the same AC harmonic measurement equation set, preferentially numbering the bus voltage measurement equations in the same numbering level, and then numbering the branch current measurement equations, wherein the branch current measurement equations are randomly numbered; the injection current measuring equation is numbered at last, and the injection current measuring equations are numbered at will; finally, sorting according to the number;
and numbering the direct current system measurement equations according to the sequence of the corresponding converter buses in the same direct current harmonic measurement equation set.
And S4, taking possible measurement coarse differences into consideration, and adopting anti-difference least square estimation based on the IGG III weight function to carry out iterative solution on the unified harmonic state estimation model so as to obtain harmonic voltage phasors of all buses.
In each iteration, the estimated value of the state quantity X to be solved
In the method, in the process of the invention,is based on the measurement value equivalent weight->A weight matrix is formed for diagonal elements. Measurement value equivalent weight->P i In order to measure the original weight of the value,ω i and (3) equivalently, assigning by using the IGG III weight function.
In the method, in the process of the invention,Q vv is a complementary factor matrix of the residual differences.
To verify the unified harmonic state estimation method presented herein, a simulation example as shown in fig. 2 was built in PSCAD/EMTDC. The grid in fig. 2 comprises two 220kV ac grids, each comprising 14 and 12 ac busbars, and connected by a "two ac two dc" line, wherein the dc lines are a CIGRE HVDC system standard model, and the LCCs are twelve-ripple converters.
And writing a related program of an AC/DC hybrid power grid unified harmonic state estimation model by using MATLAB. Adding a normal distribution error of +/-0.5% to the amplitude of each subharmonic in the measured data obtained by simulation, adding a normal distribution error of +/-0.4 DEG to the phase, randomly selecting part of data, adding an amplitude error of 10% -50% and a phase angle error of 2-15 DEG, and solving by adopting an anti-difference least square method based on an IGG III weight function.
The error results of the obtained estimated values and the simulation values are shown in fig. 3, and the amplitude relative errors and the phase absolute errors of the harmonic voltage estimated values of each LCC direct current bus and each alternating current bus are respectively shown in the graph.
As can be seen from fig. 3 (a) -3 (d), the maximum individual relative error of the harmonic voltage amplitude is lower than 5 °, and the maximum individual absolute error of the harmonic voltage phase is lower than 5 °. The result of the partial bus state estimation error is obviously higher than other buses because the amplitude of the partial bus state estimation error is relatively smaller, and the smaller simulation error or estimation error can also cause larger error. Overall, the errors meet engineering requirements. Therefore, the method has the advantages that the method is used for carrying out unified harmonic state estimation by using the anti-difference least square method for the IGG III weight function, has better anti-difference capability, and can accurately estimate the harmonic state of each busbar of the alternating current-direct current hybrid power grid containing LCC-HVDC under the condition of measurement errors.
Example 2
An apparatus comprising a memory, a processor, a computer program stored on the memory and executable on the processor, the processor implementing the unified harmonic state estimation method of any of embodiment 1 when the program is run.
Example 3
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the unified harmonic state estimation method as described in embodiment 1.
The embodiments described above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the embodiments described above, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the present invention should be made in the equivalent manner, and are included in the scope of the present invention.
Claims (8)
1. The unified harmonic state estimation method suitable for the alternating current-direct current hybrid power grid is characterized by comprising the following steps of:
obtaining a network topology structure, element parameters and synchronous quantity measurement of an LCC-HVDC alternating-direct current hybrid power grid;
establishing a unified harmonic state estimation measurement equation, wherein the unified harmonic state estimation measurement equation can be divided into an alternating current system measurement equation and an LCC direct current system measurement equation according to the synchronous measurement type, and the alternating current system measurement equation comprises a bus voltage measurement equation, a branch current measurement equation and an injection current measurement equation;
constructing a unified harmonic state estimation model by using simultaneous measurement equations;
carrying out iterative solution on the unified harmonic state estimation model to obtain a harmonic state estimation value;
the LCC direct current system measurement equation is calculated by adopting the following formula:
wherein:
the order of the dynamic phasor is selected to be-h max ～h max ，U dc For 0 to h to be solved dc Harmonic voltage state quantity of secondary LCC direct current bus;for-h to be solved max ～h max Positive and negative sequence voltage state quantity of secondary converter transformer network side; η (eta) dc Is 0 to h dc Error of secondary measurementVector; z is Z dc Is LCC direct current system 0-h dc Secondary quantity measurement; />Is of the order of-h max ～h max Measuring the quantity of positive and negative sequence voltage phasors at the secondary converter transformer network side; z is Z T A converter transformer harmonic impedance matrix; s is S ± The voltage harmonic transmission matrix between the alternating-current side positive and negative sequence networks and the direct-current system consists of LCC switching function dynamic phasors; k (k) ± The positive sequence transformation ratio and the negative sequence transformation ratio of the converter transformer are obtained;
the unified harmonic state estimation model is calculated by adopting the following formula:
wherein: z is Z ac M for measuring AC harmonic quantity ac Dimension of observation vector, Z dc M for DC harmonic measurement dc Maintaining an observation vector; η (eta) ac M for measuring error of AC harmonic wave ac Vector of dimension, eta dc M is the measurement error of direct current harmonic wave dc A dimension column vector; x is X ac N for the state quantity of the alternating current harmonic wave to be solved ac Vector of dimension and column, X dc N for the state quantity of direct current harmonic wave to be solved dc The vector of dimension and column, choose the harmonic voltage of each busbar; h ac For M between AC harmonic measurement and AC harmonic state quantity ac ×N ac Dimension measuring matrix, H dc,ac For M between DC harmonic measurement and AC harmonic state quantity dc ×N ac Dimension measuring matrix, H dc,dc For M between DC harmonic measurement and DC harmonic state quantity dc ×N dc And the dimension measurement matrix is used for forming an AC/DC hybrid power grid harmonic measurement matrix H.
2. The unified harmonic state estimation method of claim 1, wherein the bus voltage measurement equation is calculated using the following formula:
wherein:measuring the h-order harmonic voltage phasors of the i bus; η (eta) i(h) Error phasors for the quantity measurements; />And the state quantity of the h-order harmonic voltage of the i bus to be solved.
3. The unified harmonic state estimation method according to claim 1, wherein the branch current measurement equation is calculated using the following formula:
wherein: y is Y ii(h) ＝y ij(h) +y ii(h) ，Y ij(h) ＝-y ij(h) ，y ii(h) For the branch admittance of h times on the i side of the branch, y ij(h) ＝1/z ij(h) ，z ij(h) The impedance of the branch is h times;measuring the h-order harmonic current phasors flowing into the branch for the bus i; />And the state quantity of the h subharmonic voltage of the i bus and the j bus to be solved.
4. The method of claim 1, wherein the injection current measurement equation is calculated using the following equation:
wherein: n is the number of network nodes;measuring the h-order harmonic current phasors injected into the bus i; />And the state quantity of the h-order harmonic voltage of the j bus to be solved.
5. The method for estimating a unified harmonic state according to claim 1, wherein the simultaneous measurement equation is constructed, and the measurement equation numbering principle is as follows:
sequentially numbering the AC system measurement equations according to the bus sequence in the same AC harmonic measurement equation set, preferentially numbering the bus voltage measurement equations in the same numbering level, and then numbering the branch current measurement equations, wherein the branch current measurement equations are randomly numbered; the injection current measuring equation is numbered at last, and the injection current measuring equations are numbered at will; finally, sorting according to the number;
and numbering the LCC direct current system measurement equation according to the sequence of the corresponding converter bus in the same direct current harmonic measurement equation set.
6. The unified harmonic state estimation method of claim 1, wherein in each iteration, the estimated value of the harmonic state estimator to be solved for
In the method, in the process of the invention,is based on the measurement value equivalent weight->Weight matrix composed of diagonal elements, measuring value equivalent weight +.>P i To measure the original weight of the value omega i Equivalent to the weight factor, the IGG III weight function is utilized for assigning;
in the method, in the process of the invention,Q vv is a complementary factor matrix of the residual differences.
7. An apparatus comprising a memory, a processor, a computer program stored on the memory and executable on the processor, wherein the processor implements the unified harmonic state estimation method of any of claims 1 to 6 when the program is run by the processor.
8. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the unified harmonic state estimation method according to any of claims 1 to 6.
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