CN115864502A - Method and device for analyzing stability and designing stability of small signal of alternating current and direct current power system - Google Patents
Method and device for analyzing stability and designing stability of small signal of alternating current and direct current power system Download PDFInfo
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Abstract
The application relates to a method and a device for analyzing and stabilizing stability of a small signal of an alternating current-direct current power system, wherein the method comprises the following steps: judging whether the current stand-alone equipment is newly accessed stand-alone equipment or not; if the current single-machine equipment is not newly accessed, receiving a first black box model uploaded by the current single-machine equipment, testing two-port impedance of the current single-machine equipment, and judging whether the current single-machine equipment has a right half-plane pole or not according to a first test result; if the right half-plane pole does not exist, acquiring the all-working-condition two-port admittance of the first black box model, and positioning the instability mode of the interconnection system based on a preset instability mode positioning method; and obtaining a stability margin and a polymerization impedance characteristic required by stabilization based on a destabilization mode of the interconnection system, and redesigning the first black box model based on the stability margin and the polymerization impedance characteristic required by stabilization until a simulation result shows that the whole working condition is stable. Therefore, the device and the system can exchange and fully use impedance information, and the risk of broadband oscillation is reduced.
Description
Technical Field
The application relates to the technical field of power system stability analysis, in particular to a method and a device for analyzing and stabilizing the stability of a small signal of an alternating current-direct current power system.
Background
With the wide access of power electronic equipment, the problem of broadband oscillation becomes one of the important factors threatening the safe and stable operation of the system. The broadband oscillation problem essentially belongs to the small signal stability problem, and the latter is analyzed by using a characteristic root analysis method or a damping torque method based on a state space in a traditional power system, so that the physical meaning is clear and quantitative data can be given.
However, different from the conventional power system in which the single machine power of the synchronous generator is large and the control structure is relatively fixed, the distributed power generation unit of the novel power system widely adopts a three-phase converter, the single machine capacity is small, the control modes are different, and a converter manufacturer usually cannot provide detailed converter control models or parameters due to privacy protection, and only provides a black/grey box electromagnetic transient simulation model for simulation and verification of a power grid, so that a characteristic root analysis method or a damping torque method does not have practical conditions theoretically.
Disclosure of Invention
The application provides a method and a device for analyzing and stabilizing small signal stability of an alternating current-direct current power system, which are used for solving the problems that the potential unstable mode of multi-terminal system stability is not judged by using an impedance method at a single port, and partial privacy protection systems are failed by time/frequency domain mode analysis based on complete and detailed parameters.
The embodiment of the first aspect of the application provides a method for analyzing and stabilizing the stability of a small signal of an alternating current and direct current power system, which comprises the following steps: judging whether the current stand-alone equipment is newly accessed stand-alone equipment or not; if the current stand-alone equipment is not the newly-accessed stand-alone equipment, receiving a first black box model uploaded by the current stand-alone equipment, testing two-port immittance of the current stand-alone equipment based on the first black box model, and judging whether Right Half Plane (RHP) zero/pole exists in the current stand-alone equipment or not according to a first test result; if the RHP zero/pole does not exist in the current single-machine equipment, acquiring the all-working-condition two-port admittance of the first black box model based on a preset black box model all-working-condition two-port admittance generating method, and positioning the instability mode of the interconnection system based on a preset unstable mode positioning method; and obtaining a stability margin and a polymerization impedance characteristic required by stabilization based on the instability mode of the interconnection system, and redesigning the first black box model based on the stability margin and the polymerization impedance characteristic required by the stabilization until the designed first black box model enables a simulation result to display stability under all working conditions.
Optionally, in some embodiments, after determining whether the current stand-alone device is the newly-accessed stand-alone device, the method further includes: if the current single-machine equipment is the new access equipment, receiving PCC (Point of Common Coupling) Point impedance characteristics, an internal-external stability design method and a second black box model of the current single-machine equipment; performing an alternating current impedance test on the current single-machine equipment based on the PCC point impedance characteristic, the internal-external stability design method and the second black box model, and judging whether the current single-machine equipment has the RHP according to a second test result; and if the RHP exists in the current single-machine equipment, adjusting parameters of the current single-machine equipment, and redesigning the internal-external stability design method and the second black box model until a simulation result shows that the whole working condition is stable.
Optionally, in some embodiments, the preset full-operating-condition two-port admittance generating method of the black box model is: determining a control structure and control parameters of target single-machine equipment based on the target single-machine equipment, and verifying the validity of the control parameters by using a preset electromagnetic transient simulation model to obtain an initial black box model; determining ideal power supply input and ideal power supply output of each two-port admittance model and an alternating current/direct current port in the target interconnection system based on the control strategy of the target stand-alone equipment and the topological structure of the target interconnection system, and calculating the amplitude and the frequency of the ideal power supply according to the power balance principle of the alternating current/direct current port; based on preset working conditions, obtaining AC/DC side small signal frequency response of each port based on the amplitude and frequency of the ideal power supply, and based on each two-port admittance model, dividing a preset disturbance injection term by a plurality of ideal power supply outputs respectively to obtain two-port admittance; dividing the small signal frequency response into a training set, a verification set and a test set according to a preset division ratio, and training the initial black box model by using the training set and the verification set based on a preset Artificial Neural Network (ANN) and/or a Support Vector Machine (SVM) to obtain a preset black box model; and testing the preset black box model based on the test set, and generating the two-port admittance of the full working condition space of the preset black box model when the test result meets the preset test requirement.
Optionally, in some embodiments, the method for locating the preset unstable mode comprises: writing a transfer function containing a plurality of zero poles into a zero pole form under a complex frequency domain to obtain a complex frequency domain transfer function; extracting any basic unit from the molecules of the complex frequency domain transfer function, obtaining a target logarithmic derivative based on the basic unit, and separating the real part and the imaginary part of the target logarithmic derivative to obtain a first real function and a second real function; and solving a first-order derivative of the first real function to obtain a first solving result, solving a second-order derivative of the second real function to obtain a second solving result, and applying the target logarithmic derivative to the transfer function to obtain an application result so as to position an unstable mode according to the first solving result, the second solving result and/or the application result.
Optionally, in some embodiments, after determining whether the current stand-alone device has the RHP zero/pole according to the first test result, the method further includes; and if the RHP zero/pole exists, adjusting the parameters of the current single-machine equipment to redesign the first black box model according to the adjusted parameters of the current single-machine equipment, the stability margin required by stability and the polymerization impedance characteristic until the designed first black box model enables the simulation result to display the stability of the all-working condition.
The embodiment of the second aspect of the present application provides an analysis of stability of a small signal of an ac/dc power system and a design device that stabilizes, including: the judging module is used for judging whether the current stand-alone equipment is newly accessed stand-alone equipment or not; the testing module is used for receiving a first black box model uploaded by the current stand-alone equipment if the current stand-alone equipment is not the newly-accessed stand-alone equipment, testing the two-port impedance of the current stand-alone equipment based on the first black box model, and judging whether the current stand-alone equipment has the RHP or not according to a first testing result; an obtaining module, configured to obtain full-operating-condition two-port admittance of the first black box model based on a preset black box model full-operating-condition two-port admittance generating method if the current standalone device does not have the RHP, and locate an unstable mode of the interconnection system based on a preset unstable mode positioning method; and the stability making module is used for obtaining a stability margin and a polymerization impedance characteristic required by stability making based on the instability mode of the interconnection system, and redesigning the first black box model based on the stability margin and the polymerization impedance characteristic required by stability making until the designed first black box model makes a simulation result show that the whole working condition is stable.
Optionally, in some embodiments, after determining whether the current stand-alone device is the newly-accessed stand-alone device, the testing module is further configured to: if the current single-machine equipment is the new access equipment, receiving PCC (point-to-point) impedance characteristics, an internal-external stability design method and a second black box model of the current single-machine equipment; performing an alternating current impedance test on the current single-machine equipment based on the PCC point impedance characteristic, the internal-external stability design method and the second black box model, and judging whether the current single-machine equipment has the RHP according to a second test result; and if the current single machine equipment has the RHP, adjusting the parameters of the current single machine equipment, and redesigning the internal-external stability-causing design method and the second black box model until a simulation result shows that the all-working-condition is stable.
Optionally, in some embodiments, the preset black box model full-condition two-port admittance generating method includes: determining a control structure and control parameters of target single-machine equipment based on the target single-machine equipment, and verifying the validity of the control parameters by using a preset electromagnetic transient simulation model to obtain an initial black box model; determining ideal power supply input and ideal power supply output of each two-port admittance model and an alternating current/direct current port in the target interconnection system based on the control strategy of the target stand-alone equipment and the topological structure of the target interconnection system, and calculating the amplitude and the frequency of the ideal power supply according to the power balance principle of the alternating current/direct current port; based on preset working conditions, obtaining AC/DC side small signal frequency response of each port based on the amplitude and frequency of the ideal power supply, and based on each two-port admittance model, dividing a preset disturbance injection term by a plurality of ideal power supply outputs respectively to obtain two-port admittance; dividing the small signal frequency response into a training set, a verification set and a test set according to a preset division ratio, and training the initial black box model by using the training set and the verification set based on a preset Artificial Neural Network (ANN) and/or a Support Vector Machine (SVM) to obtain a preset black box model; and testing the preset black box model based on the test set, and generating the two-port admittance of the full working condition space of the preset black box model when the test result meets the preset test requirement.
Optionally, in some embodiments, the method for locating the preset unstable mode comprises: writing a transfer function containing a plurality of zero poles into a zero pole form under a complex frequency domain to obtain a transfer function of the complex frequency domain; extracting any basic unit from the molecules of the complex frequency domain transfer function, obtaining a target logarithmic derivative based on the basic unit, and separating the real part and the imaginary part of the target logarithmic derivative to obtain a first real function and a second real function; and solving a first-order derivative of the first real function to obtain a first solving result, solving a second-order derivative of the second real function to obtain a second solving result, and applying the target logarithmic derivative to the transfer function to obtain an application result so as to position an unstable mode according to the first solving result, the second solving result and/or the application result.
Optionally, in some embodiments, after determining whether the current stand-alone device has the RHP according to the first test result, the method further includes; and if the RHP exists, adjusting the parameters of the current single-machine equipment to redesign the first black box model according to the adjusted parameters of the current single-machine equipment, the stability margin required by stability and the polymerization impedance characteristic until the designed first black box model enables the simulation result to display the stability of the all-working condition.
An embodiment of a third aspect of the present application provides an electronic device, including: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the method for analyzing and designing the stability of the small signal of the AC/DC power system according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor, so as to implement the method for analyzing and designing stability of small signals of an ac/dc power system as described in the foregoing embodiments.
Therefore, the application at least has the advantages that: based on strict theoretical analysis, the instability modes of all loops of the system can be effectively covered; the privacy of each main body of the system is fully protected, and the interacted information is easily accepted by the main body of the system; the method has the potential of stabilizing an analysis frame with the existing power system, so that the risk of broadband oscillation is restrained in a system planning and designing stage, the input of an additional external device for controlling oscillation is greatly reduced, equipment manufacturers and system operators are stimulated to jointly participate in the potential of safe and stable operation of the system, and the safe and stable operation of the novel power system is assisted.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a small signal stability analysis and stability-causing design method for an ac/dc power system according to an embodiment of the present application;
fig. 2 is a flowchart of a small signal stability analysis and stability-causing design method for an ac/dc power system according to an embodiment of the present application;
FIG. 3 is a schematic diagram of offshore wind power generation through flexible direct grid connection provided according to an embodiment of the application;
fig. 4 is a flowchart of a full condition two-port admittance generating method according to an embodiment of the present application.
FIG. 5 is a schematic diagram of two cases of an unstable mode existing according to an embodiment of the present application;
fig. 6 is a schematic block diagram of a small signal stability analysis and stability control design device of an ac/dc power system according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
Before introducing the method for analyzing the stability and designing the stability of the small signal of the ac/dc power system in the embodiment of the present application, an impedance analysis method in the related art is introduced.
The impedance analysis method is a small signal stability frequency domain analysis method using a small signal transfer function relation of equipment port voltage and current. Because the impedance/admittance model of the equipment can be measured and obtained in an external disturbance injection mode, the impedance analysis method solves the problem that the black/gray box model fails in a state space method, and is particularly suitable for power system operators to analyze the instability mechanism and provide guidance for equipment manufacturers.
However, with the progress of research, when the scenario of the impedance analysis method is used for stability analysis of new energy from new energy through collection of single grid-connected points and gradual turning to a multi-terminal alternating current/direct current system, it is a complicated task to apply the impedance analysis method reasonably and effectively. On one hand, the premise that the unstable mode is accurately positioned by using the impedance method is that the loop subsystem is considerable to the mode, so that the considerable and visual mode for any unstable mode is ensured to contain current information of each loop as much as possible in modeling, and the generalized source load method based on the two-port model of each converter is more suitable for the analysis of a multi-port system than the equivalent source load method of dividing a network at a single port; on the other hand, the generalized source-load method in the related art is generally effective for a system based on a two-level voltage source Converter (TL-VSC), but for a Modular Multilevel Converter (MMC) or an aggregated wind farm, an ac/dc interconnection port is not observable for an internal mode of the wind farm, if an unobservable mode is defined as the internal stability of the device, the analysis of the internal stability also depends on the impedance characteristic of an external ac/dc port, and the device generally cannot acquire the authority of an external complex network, and needs to rely on a system side auxiliary design urgently; in addition, the Nyquist criterion is proposed as a standardized criterion in the industry standard, however, the multidimensional Nyquist criterion considering frequency coupling has the problems that the solution of characteristic values is difficult, partial criterion is misjudged and is stable due to unobservable unstable modes, subsystems cannot be accurately/correctly divided, and the like.
In order to solve the technical problem, the embodiment of the application provides a method for analyzing and stabilizing the small signal stability of an alternating current/direct current power system, which includes judging whether new equipment is accessed or not, receiving impedance characteristics of each PCC point if no new equipment is accessed, and ensuring that an internal-external loop of equipment does not have an unstable mode; when a new device is accessed, the device is taken as a black box model, two-port immittance test is carried out, whether RHP zero/pole exists or not is judged, if RHP zero/pole exists, parameter setting is carried out until RHP zero/pole does not exist, the system is judged whether to be stable or not through electromagnetic transient (EMT) simulation, if not, recommended stability margin requirement and impedance characteristic are issued, internal stability is verified, interconnection system stability control is designed, all-working-condition granularity subdivision or instability early warning is carried out, and the device is uploaded to a black box module again until EMT simulation display system is stable. Therefore, the problems that the potential unstable mode of multi-port system stability is analyzed by applying an impedance method to a single port to avoid judgment and partial privacy protection system is invalid by time/frequency domain mode analysis based on complete and detailed parameters are solved, impedance information can be exchanged and fully used in analysis and design of equipment and a system, and broadband oscillation risk is reduced in a system planning and design stage.
Specifically, fig. 1 is a schematic flow chart of a method for analyzing and designing stability of a small signal of an ac/dc power system according to an embodiment of the present disclosure.
As shown in fig. 1, the method for analyzing and designing the stability of the small signal of the ac/dc power system includes the following steps:
in step S101, as shown in fig. 2, it is determined whether the current stand-alone device is a newly-accessed stand-alone device.
It should be understood that considering that the devices in the system are usually put into operation in batches, the single capacity of the wind field is usually smaller than the capacity of the dc transmission network, and the priority of the dc transmission line is usually higher than that of the wind field for the operation and maintenance of the power grid, the stability of the dc transmission converter is preferentially analyzed, and after the stability of the end-to-end transmission system is clarified (the voltage source for the wind field is equivalent), the execution path of the flow of fig. 2 is determined by judging whether the new wind field is connected or not.
Specifically, the power grid judges whether the current stand-alone equipment is newly accessed stand-alone equipment.
In step S102, if the current stand-alone device is not a newly-accessed stand-alone device, a first black box model uploaded by the current stand-alone device is received, two-port immittance of the current stand-alone device is tested based on the first black box model, and whether an RHP zero/pole exists in the current stand-alone device is determined according to a first test result.
The equipment determines the self control structure and parameters, verifies the validity of the parameters by using an electromagnetic transient simulation model, and packages the confirmed model into a first black box model.
It should be noted that, in order to avoid the situation that the interconnection of the devices inhibits the single-machine instability mode under the conventional condition, the analysis is complicated. The embodiment of the application can adopt electromagnetic transient simulation software to simulate and confirm the ideal AC/DC ideal power supply of each device, and can stably operate in all working condition spaces according to the set port voltage-power; if the device is found to be incapable of stably operating, the RHP zero/pole exists in the admittance model of the device, and the device is informed of the optimization parameters by the device until the system confirms that the device does not contain the RHP zero/pole.
As shown in fig. 2, when the current stand-alone device is a newly-accessed stand-alone device, the first black box model is uploaded, a reactance test is performed on two ports of the current stand-alone device based on the first black box model to obtain a first test result, and whether an RHP zero/pole exists in the current stand-alone device is determined according to the first test result. And if the first black box model exists, performing parameter setting, and uploading the first black box model again.
In step S103, as shown in fig. 2, if there is no RHP zero/pole in the current standalone device, the all-condition two-port admittance of the first black box model is obtained based on the preset black box model all-condition two-port admittance generating method, and the unstable mode of the interconnection system is located based on the preset unstable mode locating method.
Specifically, the full-condition two-port admittance of the first black box model is obtained based on a preset black box model full-condition two-port admittance generating method, the dominant loop of the instability condition is positioned by using the obtained port frequency response characteristic,
if the instability mode is found to be unable to be located in the AC/DC loop, the equipment contributing to the internal instability mode is located according to the oscillation amplitude. The unstable mode positioning method can be converted into a problem of which loop determines the unstable mode, and specifically, the unstable mode of the interconnection system can be positioned based on a preset unstable mode positioning method.
In step S104, a stability margin and a polymerization impedance characteristic required for the stabilization are obtained based on the instability mode of the interconnection system, and the first black box model is redesigned based on the stability margin and the polymerization impedance characteristic required for the stabilization until the designed first black box model makes the simulation result show the full-condition stability.
Specifically, in step S103, a destabilization mode (non-internal destabilization mode) of the interconnection system is located, and the located port of the system is divided into a source-load part and a load-load part, so as to obtain a stability margin required for causing stability; to assist in the design of internal stability of each device, the aggregate impedance characteristics of each port of the device are provided by the system.
If the equipment cannot meet the stability margin requirement sent by the system due to the stability constraint of other types, the following two processing modes are available:
(1) The system allows the equipment to adopt variable-structure variable-parameter control, but needs to make clear the corresponding range of the working condition and the same structure/parameter, namely subdivides the granularity of the working condition, and objectively increases the transmission quantity of data between the system and the equipment;
(2) The device provides part of working condition instability early warning, and the system constructs a safety stability domain according to the device feedback, so that the device is guided to start a vibration suppression control function related to the working condition when the related working condition is detected in actual operation; meanwhile, the constructed safe stability domain can guide the reasonable configuration of the oscillation suppression device.
And for the high-priority subsystem, redesigning the first black box model based on the stability margin required by stability and the polymerization impedance characteristic, uploading the first black box model to the system, and repeating the steps S101 to S104 until the designed first black box model enables the simulation result to display the stability of the whole working condition.
Optionally, in some embodiments, after determining whether the current stand-alone device is a newly-accessed stand-alone device, the method further includes: if the current single machine equipment is new access equipment, receiving the impedance characteristics of the PCC points, an internal-external stability design method and a second black box model of the current single machine equipment; performing alternating current impedance test on the current single-machine equipment based on PCC point impedance characteristics, an internal-external stability design method and a second black box model, and judging whether the current single-machine equipment has RHP or not according to a second test result; and if the current single machine equipment has the RHP, adjusting the parameters of the current single machine equipment, and redesigning the internal-external stability-causing design method and the second black box model until the simulation result shows that the all-condition is stable.
Specifically, for a low-priority system access stabilization design, such as the wind field with a low system priority shown in fig. 3, if the wind field confirms a new access system, the system provides impedance information of an ac grid-connected point in the wind field design stage for the stabilization design of the intra-external mode of the aggregated wind field; consider whether it is necessary to adjust the parameters (preferably the wind farm parameters) appropriately when the wind farm is switched on or the rest of the equipment in the system, in particular. Performing alternating current impedance test on the current single-machine equipment based on PCC point impedance characteristics, an internal-external stability design method and a second black box model, and judging whether the current single-machine equipment has RHP or not according to a second test result; and if the current single machine equipment has the RHP, adjusting the parameters of the current single machine equipment, and redesigning the internal-external stability-causing design method and the second black box model until the simulation result shows that the all-condition is stable.
Optionally, in some embodiments, the preset black box model full-condition two-port admittance generating method includes: determining a control structure and control parameters of the target stand-alone equipment based on the target stand-alone equipment, and verifying the validity of the control parameters by using a preset electromagnetic transient simulation model to obtain an initial black box model; determining ideal power supply input and ideal power supply output of each two-port admittance model and an alternating current/direct current port in the target interconnection system based on a control strategy of target single-machine equipment and a topological structure of the target interconnection system, and calculating the amplitude and the frequency of an ideal power supply according to an alternating current/direct current port power balance principle; based on preset working conditions, obtaining AC-DC side small signal frequency response of each port based on the amplitude and frequency of an ideal power supply, and based on each two-port admittance model, utilizing preset matrix division operation, and using preset disturbance injection terms to respectively divide the disturbance injection terms with a plurality of ideal power supply outputs to obtain two-port admittance; dividing the small signal frequency response into a training set, a verification set and a test set according to a preset division ratio, and training an initial black box model by using the training set and the verification set based on a preset artificial neural network ANN and/or a Support Vector Machine (SVM) to obtain a preset black box model; and testing the preset black box model based on the test set, and generating the two-port admittance of the full working condition space of the preset black box model when the test result meets the preset test requirement.
It can be understood that, considering that the device of the access system generally provides the black box model for the power grid and the impedance test cost of the actual device is high, the embodiment of the application can be completed in the simulation software by the device itself or the system according to the preset black box model full-working-condition two-port admittance generating method, and has certain universality.
Specifically, as shown in fig. 4, the first step: and (5) packaging and uploading the black/gray box model of the equipment.
The device determines its own control structure and parameters, verifies the validity of the parameters using an electromagnetic transient simulation model, and encapsulates the confirmed model.
The second step is that: the ideal power source selection and amplitude selection of the AC/DC port.
According to the control strategy and the system topological structure of the equipment, confirming the input/output of each two-port admittance model and the ideal power supply of the AC/DC port in the system: if the direct current side of the converter controls direct current voltage or the alternating current side of the converter adopts networking control, corresponding input in the immittance model is selected as a small voltage signal, and a constant-amplitude current/voltage source and current/voltage source disturbance injection are arranged at a corresponding port; if the direct current side of the converter does not control the direct current voltage or the alternating current side adopts net following type control, selecting the corresponding input of the immittance model as a current small signal, and setting a constant amplitude voltage source and voltage source disturbance injection at a corresponding port; and calculating the amplitude of the ideal power supply according to the power balance principle of the AC/DC port of the converter, determining the frequency and the like. Considering the frequency coupling effect and the alternating current and direct current dynamic state, the two-port admittance model of the equipment is generally 3-dimensional, wherein a diagonal term represents the output of the same frequency under the alternating current positive/negative sequence and direct current disturbance injection, namely a self-conductance reactance term; while the non-diagonal terms represent different classes of input/output relationships, i.e., transconductance terms; the mutual immittance item may not have dimension, but has intuitive physical meaning.
The third step: and (3) disturbance injection, measurement and two-port admittance calculation under partial working conditions.
Considering that the main objective of the design is to enlarge the safe stable domain of the system under the full working condition space formed by port voltage and current, and traversing the full working condition scanning usually wastes time and labor, so that only part of the working conditions are selected, and small signal disturbances on the AC/DC side are injected into the system in a set frequency range (such as 1-1000 Hz) and step length respectively at one time to obtain small signal responses on the AC/DC side of each port; on the premise of approximately linearizing the system, a preset matrix division operation is utilized, and disturbance injection terms are respectively divided by a plurality of outputs to obtain each item of two-port admittance.
The fourth step: and dividing a training set, a verification set and a test set.
The measured frequency response is divided into a training set, a verification set and a test set according to a certain proportion. The training set and the verification set are used for theoretically deriving a full-working-condition model or adjusting parameters; the test set is used to evaluate the generalization ability of the model. If the full-working-condition impedance model is derived by using a theoretical derivation mode, the number of training sets has a lower limit (fixed theoretically), and is generally related to multiplication and division operations (working-condition related parameters) of voltage and current of the alternating current/direct current port.
The fifth step: and (4) selecting and implementing an algorithm.
From the black/grey box model provided by the device, the algorithm is validated by the system: the theoretical calculation method theoretically obtains strict precision (no error exists), the number of the used training set samples is determined, equipment is required to provide a control structure of the equipment to determine the form of the relevant parameters of the working condition, and different types of control have large control difference; the machine learning algorithm has no deterministic requirement on the number of samples, but the model precision is greatly related to the number of samples, and algorithms such as ANN (artificial neural network), SVM (support vector machine) and the like can be selected
And a sixth step: and (5) verifying and deriving the model.
And (4) exporting results of the two-port admittance model under the working condition of the test set, and if the precision can meet the requirement, generating the two-port admittance of the full working condition space for analysis through the proposed black box equipment full working condition two-port admittance generation method.
Optionally, in some embodiments, the method for locating the preset unstable mode comprises: writing a transfer function containing a plurality of zero poles into a zero pole form under a complex frequency domain to obtain a complex frequency domain transfer function; extracting any basic unit from the molecules of the complex frequency domain transfer function, obtaining a target logarithmic derivative based on any basic unit, and separating the real part and the imaginary part of the target logarithmic derivative to obtain a first real function and a second real function; and solving a first derivative of the first real function to obtain a first solving result, solving a second derivative of the second real function to obtain a second solving result, and applying the target logarithmic derivative to the transfer function to obtain an application result so as to position the unstable mode according to the first solving result, the second solving result and/or the application result.
Specifically, the impedance in the impedance analysis method is a dynamic impedance in the frequency domain rather than the quotient of the voltage and current vectors (static impedance) in the time domain; more importantly, the impedance is a frequency domain transfer function (usually, only a series of frequency responses of the transfer function can be obtained), and the transfer function can be derived by selecting proper input-output from the state space of the system, and for a multi-terminal system, the cancellation phenomenon of the pole-zero is most likely to be introduced in the process, so that a significant difference of different loop impedances is that the cancelled pole-zero is different (of course, the poles are different per se); if the zero pole of cancellation contains an unstable mode, the stability of the system cannot be judged correctly by using the transfer function; the essence of the impedance criterion presented below is therefore to identify whether there is an unstable mode of the corresponding transfer function using the frequency response.
A general transfer function Z containing several poles-zero is written as a pole-zero version in the complex frequency domain:
wherein: a denotes gain, and z and p denote zero-pole, respectively. Z can be viewed as a product and division of several first order polynomials. Let s = j ω extract one of the elementary units g from the Z molecule z (ω)＝α z (jω–λ z )，λ z ＝α z +jω z And defines the following logarithmic derivative DL (g) z )：
Mixing DL (g) z ) And (3) separating real parts from imaginary parts to obtain two real functions:
continue to pair Re [ DL (g) z )]And Im [ DL (g) z )]First and second derivatives are found for ω, and the solution is omitted here; let ω = ω z Substituting the real imaginary part and the first and second derivatives (i.e. the first and second differences of the frequency response) to obtain:
from the above results, it can be inferred that when ω = ω z And alpha is z <<ω z (normally true for damping modes of interest), re [ DL (g) z )]The slope with respect to ω must be positive; if α is z >0 (corresponding to unstable pattern to be searched), im [ DL (g) z )]There is a negative minimum, and a z >0，Im[DL(g z )]There is a positive maximum, so Im [ DL (g) is integrated z )]With Re [ DL (g) z )]Can accurately position g z The new stability criterion is formed.
The logarithmic derivative is further applied to Z:
the obvious advantage of the logarithmic derivative can be seen from the formula (5), namely that the multiplication and division operation of the polynomial is converted into the addition and subtraction operation, so that the operation result is more intuitive. In addition, the patterns can be estimated or accurately identified by the equations (4) and (5). FIG. 5 is two typical cases where unstable modes exist, the left diagram showing the presence of only a single right half-plane zero in a very small frequency range; the right graph is a pair of right half-plane poles and zeros coexisting. For both cases, the correlation values are usually estimated more accurately by using higher derivatives, but in the case of the right diagram, due to the "coupling" of a pair of poles-zero in close frequencies, the estimation may generate a larger error, and in the severe cases, the α may be misjudged z The symbol of (2). Therefore, an optimization problem is constructed, the right pair of half-plane zero-poles is solved by a method of undetermined coefficients, and stability information can be obtained more accurately.
The above is repeated for each loop impedance, and if any unstable pattern is found, the unstable pattern is localized to the loop.
Therefore, the method overcomes the defect that the loop impedance ratio criterion characteristic value is difficult to calculate, is a stable method for judging the unstable mode of the polymerization impedance of each electric loop, and has important popularization value.
According to the small signal stability analysis and stabilization design method for the alternating current and direct current power system, whether new equipment is accessed or not is judged, if no new equipment is accessed, the impedance characteristics of all PCC points are received, and the fact that an unstable mode does not exist in an internal-external loop of the equipment is ensured; when a new device is accessed, the device is taken as a black box model, two-port immittance test is carried out, whether RHP zero/pole exists or not is judged, if yes, parameter setting is carried out until RHP zero/pole does not exist, and the system is judged whether to be stable or not by using Electromagnetic Transient (EMT) simulation, if not, recommended stability margin requirement and impedance characteristic are issued, internal stability is verified, interconnection system stability control is designed, full-working-condition granularity subdivision or instability early warning is carried out, and the device is uploaded to a black box module again until the EMT simulation shows that the system is stable. Therefore, the problems that the potential unstable mode of multi-port system stability is analyzed by applying an impedance method to a single port to avoid judgment and partial privacy protection system is invalid by time/frequency domain mode analysis based on complete and detailed parameters are solved, impedance information can be exchanged and fully used in analysis and design of equipment and a system, and broadband oscillation risk is reduced in a system planning and design stage.
The small signal stability analysis and stability-inducing design device for the alternating-current and direct-current power system is described with reference to the attached drawings.
Fig. 6 is a block diagram illustrating an apparatus for analyzing and stabilizing the small signal stability of the ac/dc power system according to the embodiment of the present application.
As shown in fig. 6, the apparatus 10 for analyzing and stabilizing the small signal stability of the ac/dc power system includes: the device comprises a judging module 100, a testing module 200, an obtaining module 300 and a stabilizing module 400.
The judging module 100 is configured to judge whether a current stand-alone device is a newly-accessed stand-alone device; the test module 200 receives a first black box model uploaded by the current stand-alone equipment if the current stand-alone equipment is not newly accessed stand-alone equipment, tests the two-port impedance of the current stand-alone equipment based on the first black box model, and judges whether the current stand-alone equipment has the RHP according to a first test result; an obtaining module 300, configured to obtain full-operating-condition two-port admittance of the first black box model based on a preset black box model full-operating-condition two-port admittance generating method if there is no RHP in the current stand-alone device, and locate the unstable mode of the interconnection system based on a preset unstable mode locating method; and a stabilization module 400, configured to obtain a stability margin and a polymerization impedance characteristic required for stabilization based on a destabilization mode of the interconnection system, and redesign the first black box model based on the stability margin and the polymerization impedance characteristic required for stabilization until the designed first black box model makes a simulation result show full-condition stabilization.
Optionally, in some embodiments, after determining whether the current stand-alone device is a newly-accessed stand-alone device, the testing module 200 is further configured to: if the current single machine equipment is new access equipment, receiving the impedance characteristics of the PCC points, an internal-external stability design method and a second black box model of the current single machine equipment; performing alternating current impedance test on the current single-machine equipment based on PCC point impedance characteristics, an internal-external stability design method and a second black box model, and judging whether the current single-machine equipment has RHP or not according to a second test result; and if the current single machine equipment has the RHP, adjusting the parameters of the current single machine equipment, and redesigning the internal-external stability-causing design method and the second black box model until the simulation result shows that the all-condition is stable.
Optionally, in some embodiments, the preset black box model full-condition two-port admittance generating method includes: determining a control structure and control parameters of the target stand-alone equipment based on the target stand-alone equipment, and verifying the validity of the control parameters by using a preset electromagnetic transient simulation model to obtain an initial black box model; determining ideal power supply input and ideal power supply output of each two-port admittance model and an alternating current/direct current port in the target interconnection system based on a control strategy of target single-machine equipment and a topological structure of the target interconnection system, and calculating the amplitude and the frequency of an ideal power supply according to an alternating current/direct current port power balance principle; based on preset working conditions, obtaining AC/DC side small signal frequency response of each port based on the amplitude and frequency of an ideal power supply, and based on each two-port admittance model, dividing a preset disturbance injection item with a plurality of ideal power supply outputs respectively to obtain two-port admittance; dividing the small signal frequency response into a training set, a verification set and a test set according to a preset division ratio, and training an initial black box model by using the training set and the verification set based on a preset artificial neural network ANN and/or a Support Vector Machine (SVM) to obtain a preset black box model; and testing the preset black box model based on the test set, and generating the two-port admittance of the full working condition space of the preset black box model when the test result meets the preset test requirement.
Optionally, in some embodiments, the method for locating the preset unstable mode comprises: writing a transfer function containing a plurality of zero poles into a zero pole form under a complex frequency domain to obtain a complex frequency domain transfer function; extracting any basic unit from the numerator of the complex frequency domain transfer function, obtaining a target logarithmic derivative based on any basic unit, and separating a real part and an imaginary part of the target logarithmic derivative to obtain a first real function and a second real function; and solving a first derivative of the first real function to obtain a first solving result, solving a second derivative of the second real function to obtain a second solving result, and applying the target logarithmic derivative to the transfer function to obtain an application result so as to position the unstable mode according to the first solving result, the second solving result and/or the application result.
Optionally, in some embodiments, after determining whether the current stand-alone device has the RHP according to the first test result, the testing module 200 further includes; and if the RHP exists, adjusting the parameters of the current single-machine equipment so as to redesign the first black box model according to the adjusted parameters of the current single-machine equipment, the stability margin required by stability and the polymerization impedance characteristic until the designed first black box model enables the simulation result to display the stability of the whole working condition.
It should be noted that the explanation of the embodiment of the method for analyzing and designing stability of a small signal of an ac/dc power system is also applicable to the apparatus for analyzing and designing stability of a small signal of an ac/dc power system of this embodiment, and will not be described herein again.
According to the small signal stability analysis and stabilization design device for the alternating current and direct current power system, whether new equipment is accessed or not is judged, if no new equipment is accessed, the impedance characteristics of all PCC points are received, and the fact that an unstable mode does not exist in an internal-external loop of the equipment is ensured; when a new device is accessed, the device is taken as a black box model, two-port immittance test is carried out, whether RHP zero/pole exists or not is judged, if yes, parameter setting is carried out until RHP zero/pole does not exist, and the system is judged whether to be stable or not by using Electromagnetic Transient (EMT) simulation, if not, recommended stability margin requirement and impedance characteristic are issued, internal stability is verified, interconnection system stability control is designed, full-working-condition granularity subdivision or instability early warning is carried out, and the device is uploaded to a black box module again until the EMT simulation shows that the system is stable. Therefore, the problems that the potential unstable mode of multi-port system stability is analyzed by applying an impedance method to a single port to avoid judgment and partial privacy protection system is invalid by time/frequency domain mode analysis based on complete and detailed parameters are solved, impedance information can be exchanged and fully used in analysis and design of equipment and a system, and broadband oscillation risk is reduced in a system planning and design stage.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
The processor 702 executes the program to implement the method for analyzing and designing the stability of the small signal of the ac/dc power system provided in the above embodiments.
Further, the electronic device further includes:
a communication interface 703 for communicating between the memory 701 and the processor 702.
A memory 701 for storing computer programs operable on the processor 702.
The Memory 701 may include a high-speed RAM (Random Access Memory) Memory, and may also include a non-volatile Memory, such as at least one disk Memory.
If the memory 701, the processor 702 and the communication interface 703 are implemented independently, the communication interface 703, the memory 701 and the processor 702 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a chip, the memory 701, the processor 702, and the communication interface 703 may complete mutual communication through an internal interface.
The processor 702 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method for analyzing and designing the stability of the small signal of the alternating current and direct current power system is realized.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A method for analyzing and designing stability of small signals of an alternating current-direct current power system is characterized by comprising the following steps:
judging whether the current stand-alone equipment is newly accessed stand-alone equipment or not;
if the current stand-alone equipment is not the newly-accessed stand-alone equipment, receiving a first black box model uploaded by the current stand-alone equipment, testing two-port impedance of the current stand-alone equipment based on the first black box model, and judging whether the current stand-alone equipment has RHP or not according to a first test result;
if the current single-machine equipment does not have the RHP, acquiring the all-working-condition two-port admittance of the first black box model based on a preset black box model all-working-condition two-port admittance generating method, and positioning the instability mode of the interconnection system based on a preset instability mode positioning method; and
and obtaining a stability margin and a polymerization impedance characteristic required by stabilization based on the instability mode of the interconnection system, and redesigning the first black box model based on the stability margin and the polymerization impedance characteristic required by the stabilization until the designed first black box model enables a simulation result to display stability under all working conditions.
2. The method according to claim 1, wherein after determining whether the current stand-alone device is the newly-accessed stand-alone device, further comprising:
if the current single-machine equipment is the new access equipment, receiving PCC (point-to-point) impedance characteristics, an internal-external stability design method and a second black box model of the current single-machine equipment;
performing an alternating current impedance test on the current single-machine equipment based on the PCC point impedance characteristic, the internal-external stability design method and the second black box model, and judging whether the current single-machine equipment has the RHP according to a second test result;
and if the current single machine equipment has the RHP, adjusting the parameters of the current single machine equipment, and redesigning the internal-external stability-causing design method and the second black box model until a simulation result shows that the all-working-condition is stable.
3. The method according to claim 1, wherein the preset black box model full-operating-condition two-port admittance generating method comprises:
determining a control structure and control parameters of target single-machine equipment based on the target single-machine equipment, and verifying the validity of the control parameters by using a preset electromagnetic transient simulation model to obtain an initial black box model;
determining ideal power supply input and ideal power supply output of each two-port admittance model and an alternating current/direct current port in the target interconnection system based on the control strategy of the target stand-alone equipment and the topological structure of the target interconnection system, and calculating the amplitude and the frequency of the ideal power supply according to the power balance principle of the alternating current/direct current port;
based on preset working conditions, obtaining AC/DC side small signal frequency response of each port based on the amplitude and frequency of the ideal power supply, and based on each two-port admittance model, dividing a preset disturbance injection term by a plurality of ideal power supply outputs respectively to obtain two-port admittance;
dividing the small signal frequency response into a training set, a verification set and a test set according to a preset division ratio, and training the initial black box model by using the training set and the verification set through an ANN and/or a Support Vector Machine (SVM) based on a preset artificial neural network to obtain a preset black box model;
and testing the preset black box model based on the test set, and generating the two-port admittance of the full working condition space of the preset black box model when the test result meets the preset test requirement.
4. The method according to claim 3, wherein the method for locating the predetermined unstable mode comprises:
writing a transfer function containing a plurality of zero poles into a zero pole form under a complex frequency domain to obtain a complex frequency domain transfer function;
extracting any basic unit from the molecules of the complex frequency domain transfer function, obtaining a target logarithmic derivative based on the basic unit, and separating the real part and the imaginary part of the target logarithmic derivative to obtain a first real function and a second real function;
and solving a first-order derivative of the first real function to obtain a first solving result, solving a second-order derivative of the second real function to obtain a second solving result, and applying the target logarithmic derivative to the transfer function to obtain an application result so as to position an unstable mode according to the first solving result, the second solving result and/or the application result.
5. The method of claim 1, further comprising, after determining whether the RHP exists in the current stand-alone device according to the first test result;
and if the RHP exists, adjusting the parameters of the current single-machine equipment to redesign the first black box model according to the adjusted parameters of the current single-machine equipment, the stability margin required by stability and the polymerization impedance characteristic until the designed first black box model enables the simulation result to display the stability of the all-working condition.
6. The utility model provides an alternating current-direct current electric power system small-signal stability analysis and steady design device that send, its characterized in that includes:
the judging module is used for judging whether the current stand-alone equipment is newly accessed stand-alone equipment or not;
the testing module is used for receiving a first black box model uploaded by the current stand-alone equipment if the current stand-alone equipment is not the newly-accessed stand-alone equipment, testing the two-port impedance of the current stand-alone equipment based on the first black box model, and judging whether the current stand-alone equipment has the RHP or not according to a first testing result;
an obtaining module, configured to obtain a full-operating-condition two-port admittance of the first black box model based on a preset black box model full-operating-condition two-port admittance generating method if the current standalone device does not have the RHP, and locate an unstable mode of the interconnection system based on a preset unstable mode locating method; and
and the stability control module is used for obtaining a stability margin and a polymerization impedance characteristic required by stability control based on the instability mode of the interconnection system, and redesigning the first black box model based on the stability margin and the polymerization impedance characteristic required by stability control until the designed first black box model enables a simulation result to show stability in all working conditions.
7. The apparatus according to claim 6, wherein after determining whether the current stand-alone device is the newly-accessed stand-alone device, the testing module is further configured to:
if the current single-machine equipment is the new access equipment, receiving PCC (point-to-point) impedance characteristics, an internal-external stability design method and a second black box model of the current single-machine equipment;
performing an alternating current impedance test on the current single-machine equipment based on the PCC point impedance characteristic, the internal-external stability design method and the second black box model, and judging whether the current single-machine equipment has the RHP according to a second test result;
and if the current single machine equipment has the RHP, adjusting the parameters of the current single machine equipment, and redesigning the internal-external stability-causing design method and the second black box model until a simulation result shows that the all-working-condition is stable.
8. The device of claim 6, wherein the generation method of the preset black box model full-condition two-port admittance is as follows:
determining a control structure and control parameters of target single-machine equipment based on the target single-machine equipment, and verifying the validity of the control parameters by using a preset electromagnetic transient simulation model to obtain an initial black box model;
determining ideal power supply input and ideal power supply output of each two-port admittance model and an alternating current/direct current port in the target interconnection system based on the control strategy of the target stand-alone equipment and the topological structure of the target interconnection system, and calculating the amplitude and the frequency of the ideal power supply according to the power balance principle of the alternating current/direct current port;
based on preset working conditions, obtaining AC/DC side small signal frequency response of each port based on the amplitude and frequency of the ideal power supply, and based on each two-port admittance model, respectively dividing a preset disturbance injection term by a plurality of ideal power supply outputs to obtain two-port admittance;
dividing the small signal frequency response into a training set, a verification set and a test set according to a preset division ratio, and training the initial black box model by using the training set and the verification set based on a preset Artificial Neural Network (ANN) and/or a Support Vector Machine (SVM) to obtain a preset black box model;
and testing the preset black box model based on the test set, and generating the two-port admittance of the full working condition space of the preset black box model when the test result meets the preset test requirement.
9. An electronic device, comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to realize the method for analyzing and designing stability of small signals of the AC/DC power system according to any one of claims 1-5.
10. A computer-readable storage medium, on which a computer program is stored, the program being executed by a processor for implementing the method for small signal stability analysis and stability-enabling design of a ac/dc power system according to any of claims 1-5.
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| CN116914777B (en) * | 2023-06-25 | 2024-04-09 | 国网湖北省电力有限公司电力科学研究院 | Small signal stability analysis method, device and system for wind power system and storage medium |
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