CN117937468A - Power grid dynamic security domain construction method and device based on extended phase trajectory theory - Google Patents
Power grid dynamic security domain construction method and device based on extended phase trajectory theory Download PDFInfo
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
The method obtains a transient stability condition and a power angle leading cluster of a system by transient simulation of an initial operation point of the system; for the generators in the leading cluster A, respectively changing the dominant instability critical point of the output search of each generator; calculating to obtain the reciprocal of the tangential slope of a fourth quadrant track in n times of swinging of an extended phase plane based on angular velocity-angular acceleration according to actual measurement information, obtaining stability indexes capable of identifying single-pendulum instability and multi-pendulum instability, and obtaining the sensitivity of the extended phase track by changing the small disturbance output of a generator at a dominant instability critical point; and constructing a multi-mode practical dynamic security domain based on the extended phase track by combining the upper and lower limits of the generator output and the limit of the balance machine output. The method and the device realize accurate transient stability assessment before the occurrence of the fault, expand the application range, and change the limitation that the stability margin cannot be quantified in track judgment.
Description
Technical Field
The invention relates to a method and a device for constructing a dynamic safety domain of a power grid based on an extended phase trajectory theory, and belongs to the technical field of circuit system analysis.
Background
The safe and stable operation of the power system is a global common problem related to economic development and social stability, and is highly concerned by personnel in power industries of all countries of the world for years. With the continuous expansion of the interconnection range of the power grid and the rapid development of the power market, the power grid presents more complex dynamic characteristics, and brings new challenges to the safe, stable and reliable operation of the power system.
At present, serious electric accidents seriously endangering the social production life come from the defect of transient safety and stability, and long-term operation practice of an electric power system shows that the occurrence of large-area power failure accidents is always initiated from the loss of transient stability of the system. Therefore, the rapid and reliable transient stability analysis method is researched, the limit state of the system due to instability is described, and the method has important significance for monitoring the safe and stable operation of the power grid in real time.
Disclosure of Invention
Therefore, the invention provides a power grid dynamic safety domain construction method and device based on an extended phase track theory, which can judge the system stability in a multi-instability mode scene and provide a more accurate safety domain boundary depiction scheme for transient stability analysis of a power system.
In order to achieve the above object, the present invention provides the following technical solutions: the method for constructing the dynamic safety domain of the power grid based on the extended phase trajectory theory comprises the following steps:
Acquiring power system data, wherein the power system data comprise a power angle delta and an angular speed difference delta omega of a generator node after a fault occurs; recognizing a leading machine group A through a power angle delta, and carrying out CCCOI-RM conversion on a diagonal speed difference delta omega to obtain converted angular acceleration gamma;
for the generators in the leading cluster A, respectively changing the dominant instability critical point of the output search of each generator;
Calculating the reciprocal of the tangential slope of a fourth quadrant track in n times of swinging of an extended phase plane based on angular speed-angular acceleration according to actual measurement information to obtain a stability index for identifying single-pendulum instability and multi-pendulum instability, and changing the disturbance output delta P of a generator at the critical point of the dominant instability to obtain the sensitivity of the extended phase track;
And constructing a multi-mode practical dynamic security domain based on the extended phase track by combining the upper and lower limits of the generator output and the limit of the balance machine output.
As a preferable scheme of the power grid dynamic security domain construction method based on the extended phase trajectory theory, CCCOI-RM conversion is carried out on the angular velocity difference delta omega, and the formula for obtaining the converted angular acceleration is as follows:
In the method, in the process of the invention, The angular velocity deviation of the ith generator with respect to COI is Δω i, the angular velocity deviation of the ith generator is Δω COI, the angular velocity deviation based on COI is M T, the sum of the inertia time constants of the n generators, and M i is the inertia time constant of the ith generator.
As a preferable scheme of the power grid dynamic security domain construction method based on the extended phase track theory, in the process of respectively changing the dominant instability critical point of the output search of each generator for the generators in the leading cluster A:
If the system transient state is unstable when the fault duration time t of the power system is long, obtaining a power angle meter and an angular velocity meter of the power system;
Drawing an extended phase track of angular speed and angular acceleration according to a power angle meter and an angular velocity meter of the power system, dividing the power system into a leading cluster A and a lagging cluster S according to a destabilizing power angle curve of the power system when the power angle between generators is larger than a threshold value by 180 degrees, and carrying out transient simulation again after adjusting the output of the generators in the leading cluster A until a stable operating point P 0 is obtained by transient stability of the power system;
and respectively increasing the output of the generator i in the leading cluster A to the upper limit of the output of the generator i at the position of the stable operation point P 0, performing transient simulation again, and if the power system is in transient instability, searching a critical instability point by a dichotomy, and recording the critical instability point as a dominant instability critical point of the generator.
As a preferable scheme of the power grid dynamic security domain construction method based on the extended phase track theory, calculating the reciprocal of the tangential slope of a fourth quadrant track in n times of swinging of an extended phase plane based on angular velocity-angular acceleration according to actual measurement information, and obtaining a formula for identifying the stability index f of single swing instability and multiple swing instability, wherein the formula is as follows:
In the method, in the process of the invention, D γ is the intercept value of the tangent line of the fourth quadrant of the expanding phase plane track at the gamma axis, which is the negative reciprocal of the tangent slope of the track at the fourth quadrant of the ith swing; the system stability is determined by determining the sign of f where the ith wobble leaves the fourth quadrant.
As a preferable scheme of the power grid dynamic security domain construction method based on the extended phase track theory, the method further comprises the steps of correcting the stability index f, wherein a transient stability judgment and stabilization formula after correction is as follows:
where Δω min is the value of the angular velocity difference when the extended phase plane track currently swings away from the fourth quadrant, and γ is the transformed angular acceleration.
As a preferable scheme of the power grid dynamic security domain construction method based on the extended phase track theory, the method further comprises the steps of carrying out injection power sensitivity analysis on the multi-mode instability correction criterion based on the extended phase track, obtaining effective mapping of the correction criterion and node injection power, and defining an extended phase track sensitivity matrix S as follows:
When the change amount of the generator output is delta P= [ delta P 1,ΔP2,…ΔPn ], the extended phase track stability judging formula is as follows:
fi+SΔP＜0
by introducing upper and lower limit constraints of active output of a generator and output constraints of a balancing machine, an extended phase track formula is expressed as follows:
the output change amount at the balancing machine is as follows:
According to the change amount Deltaf i of the extended phase trajectory correction criterion, the sensitivity S j of the stability criterion of the generator i to the generator j is as follows:
The dominant safety domain expression for generator i is:
Where f i＝[f1,f2,…fn is the stability index of the lead cluster a, and the disturbance Δp j;Pj is changed for all generator nodes by aiming at the extended phase track f i at the dominant critical point of the generator i.
As a preferable scheme of the power grid dynamic security domain construction method based on the extended phase track theory, the formula for constructing the multi-mode practical dynamic security domain based on the extended phase track by combining the upper limit and the lower limit of the output of the generator and the output limit of the balancing machine is as follows:
wherein, P s is the active output of the balancing unit, Is the lower limit of the active power of the j-th generator,/>For the j-th generator active power upper limit, P s m is the lower limit of the output of the active power of the balancing machine, and P s M is the upper limit of the output of the active power of the balancing machine.
The invention also provides a power grid dynamic security domain construction device based on the extended phase trajectory theory, which comprises:
the data acquisition module is used for acquiring power system data, wherein the power system data comprise a power angle delta and an angular speed difference delta omega of a generator node after a fault occurs; recognizing a leading machine group A through a power angle delta, and carrying out CCCOI-RM conversion on a diagonal speed difference delta omega to obtain converted angular acceleration gamma;
the instability analysis module is used for respectively changing the output force of each generator for searching the dominant instability critical point for the generators in the leading cluster A;
the sensitivity calculation module is used for calculating the reciprocal of the tangential slope of the fourth quadrant track in n times of swinging of the extended phase plane based on angular speed-angular acceleration according to actual measurement information to obtain stability indexes for identifying single-pendulum instability and multi-pendulum instability, and changing the disturbance output delta P of the generator at the main instability critical point to obtain the sensitivity of the extended phase track;
the safety domain construction module is used for combining the upper and lower limits of the output of the generator and the output limit of the balancing machine to construct a multi-mode practical dynamic safety domain based on the extended phase track.
As a preferable scheme of the power grid dynamic security domain construction device based on the extended phase track theory, in the data acquisition module, CCCOI-RM conversion is carried out on the angular velocity difference delta omega, and the formula for obtaining the converted angular acceleration is as follows:
In the method, in the process of the invention, The angular velocity deviation of the ith generator with respect to COI is Δω i, the angular velocity deviation of the ith generator is Δω COI, the angular velocity deviation based on COI is M T, the sum of the inertia time constants of the n generators, and M i is the inertia time constant of the ith generator.
As a preferable scheme of the power grid dynamic security domain construction device based on the extended phase trajectory theory, the instability analysis module comprises:
The table acquisition sub-module is used for obtaining a power angle table and an angular velocity table of the power system if the system is in transient instability during the fault duration t of the power system;
The stable operating point analysis submodule is used for drawing an extended phase track of angular speed and angular acceleration according to a power angle meter and an angular velocity meter of the power system, dividing the power system into a leading machine group A and a lagging machine group S according to a destabilizing power angle curve of the power system when the power angle between the generators is larger than a threshold value by 180 degrees, and carrying out transient simulation again after the output of the generators in the leading machine group A is regulated until the transient stability of the power system is achieved to obtain a stable operating point P 0;
and the critical instability point analysis sub-module is used for respectively increasing the output of the generator i in the leading cluster A to the upper limit of the output of the generator i at the position of the stable operation point P 0, carrying out transient simulation again, and if the power system is in transient instability, searching the critical instability point by adopting a dichotomy method and recording the critical instability point as the dominant instability critical point of the generator.
As a preferable scheme of the power grid dynamic security domain construction device based on the extended phase track theory, in the sensitivity calculation module, the inverse of the tangential slope of the fourth quadrant track in n times of swinging of an extended phase plane based on angular velocity-angular acceleration is calculated according to actual measurement information, and a formula for identifying the stability index f of single swing instability and multiple swing instability is obtained:
In the method, in the process of the invention, D γ is the intercept value of the tangent line of the fourth quadrant of the expanding phase plane track at the gamma axis, which is the negative reciprocal of the tangent slope of the track at the fourth quadrant of the ith swing; judging the stability of the system by judging the sign of f at the position where the ith swing leaves the fourth quadrant;
in the sensitivity calculation module, the stability index f is corrected, and the corrected transient stability judgment formula is as follows:
Wherein Δω min is the value of the angular velocity difference when the extended phase plane track currently swings away from the fourth quadrant, and γ is the transformed angular acceleration;
In the sensitivity calculation module, injection power sensitivity analysis is carried out on a multi-mode instability correction criterion based on an extended phase track, effective mapping of the correction criterion and node injection power is obtained, and an extended phase track sensitivity matrix S is defined as follows:
In the sensitivity calculation module, when the change amount of the generator output is Δp= [ Δp 1,ΔP2,…ΔPn ], the extended phase trajectory stability judging formula is:
fi+SΔP＜0
In the sensitivity calculation module, the upper and lower limit constraints of the active output of the generator and the output constraint of the balancing machine are introduced to express an extended phase track formula as follows:
In the sensitivity calculation module, the output change amount at the balancing machine is as follows:
In the sensitivity calculation module, according to the change amount Δf i of the extended phase track correction criterion, the sensitivity S j of the stability criterion of the generator i to the generator j is:
in the sensitivity calculation module, the dominant safety domain expression of the generator i is:
Where f i＝[f1,f2,…fn is the stability index of the lead cluster a, and the disturbance Δp j;Pj is changed for all generator nodes by aiming at the extended phase track f i at the dominant critical point of the generator i.
As an optimal scheme of the power grid dynamic safety domain construction device based on the extended phase track theory, in the safety domain construction module, the upper and lower limits of the generator output and the output limit of the balancing machine are combined, and the formula for constructing the multi-mode practical dynamic safety domain based on the extended phase track is as follows:
wherein, P s is the active output of the balancing unit, Is the lower limit of the active power of the j-th generator,/>For the j-th generator active power upper limit, P s m is the lower limit of the output of the active power of the balancing machine, and P s M is the upper limit of the output of the active power of the balancing machine.
The invention has the following advantages: acquiring power system data, wherein the power system data comprise a power angle delta and an angular speed difference delta omega of a generator node after a fault occurs; recognizing a leading machine group A through a power angle delta, and carrying out CCCOI-RM conversion on a diagonal speed difference delta omega to obtain converted angular acceleration gamma; for the generators in the leading cluster A, respectively changing the dominant instability critical point of the output search of each generator; calculating the reciprocal of the tangential slope of a fourth quadrant track in n times of swinging of an extended phase plane based on angular speed-angular acceleration according to actual measurement information to obtain a stability index for identifying single-pendulum instability and multi-pendulum instability, and changing the disturbance output delta P of a generator at the critical point of the dominant instability to obtain the sensitivity of the extended phase track; and constructing a multi-mode practical dynamic security domain based on the extended phase track by combining the upper and lower limits of the generator output and the limit of the balance machine output. The invention realizes the stability discrimination of the system simple pendulum and multi-pendulum instability, and compared with the traditional extended phase track, the invention expands the application range, and breaks through the limitation that the traditional track stability discrimination can not quantify the stability margin by combining with the safety domain; the invention realizes the effective mapping of the correction criterion and the dynamic security domain, and simultaneously utilizes the sensitivity matrix to construct the dynamic security domain at the critical stable point. Compared with the traditional phase trajectory sensitivity, the stability criterion sensitivity is constructed by the method, the constant coefficient characteristic of the measurement data is not needed, the margin quantization capacity of a security domain is fully utilized, the linear relation between the stability criterion and the node injection power is obtained, and the accurate transient stability evaluation before the occurrence of the fault can be realized.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
Fig. 1 is a schematic flow chart of a method for constructing a dynamic safety domain of a power grid based on an extended phase trajectory theory provided in an embodiment of the present invention;
Fig. 2 is a diagram of a power grid dynamic security domain construction device based on an extended phase trajectory theory according to an embodiment of the present invention.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the related technology, the application of the phasor measurement unit of the power system and the wide area measurement system is wider and wider, and a new idea is provided for the research of an online transient stability analysis method. According to the characteristic that the response track of the system in the phase plane can show the change of the geometric characteristic when the power system suffers from transient instability, the invention provides the stability criterion of the power angle-angular velocity and the angular velocity-angular acceleration phase plane track, so that the stable state of the system is accurately judged before the instability track passes through a dynamic saddle point, and the transient stability analysis of fine system modeling and complex model solving is avoided. The following is a specific content of an embodiment of the present invention.
Example 1
Referring to fig. 1, embodiment 1 of the present invention provides a method for constructing a dynamic security domain of a power grid based on an extended phase trajectory theory, including the following steps:
s0, establishing a synchronous generator and a load dynamic model according to power system data, and determining a fault line L and a fault duration t to obtain a basic operating point;
s1, acquiring power system data, wherein the power system data comprise a power angle delta and an angular speed difference delta omega of a generator node after a fault occurs; recognizing a leading machine group A through a power angle delta, and carrying out CCCOI-RM conversion on a diagonal speed difference delta omega to obtain converted angular acceleration gamma;
S2, respectively changing the dominant instability critical points of the output search of each generator for the generators in the leading cluster A;
s3, calculating the reciprocal of the tangential slope of a fourth quadrant track in n times of swinging of an extended phase plane based on angular velocity-angular acceleration according to actual measurement information to obtain a stability index for identifying single-pendulum instability and multi-pendulum instability, and changing the disturbance output delta P of the generator at the dominant instability critical point to obtain the sensitivity of the extended phase track;
s4, combining the upper and lower limits of the generator output and the limit of the balance machine output to construct a multi-mode practical dynamic security domain based on the extended phase track.
In this embodiment, in step S0, a synchronous generator and a load dynamic model are established, and the fault line L and the fault duration t are determined, so as to obtain the basic operating point as follows:
Specifically, by taking a transient stability classical computing example IEEE39 node system as an example, the effectiveness of the method provided by the application is verified, a fault line L is selected as a three-phase grounding short circuit of lines 17-18, and faults are removed at 0.15 s.
In the embodiment, in step S1, real-time operation data of a power angle δ and an angular velocity difference Δω of a generator node after a fault are obtained from an actual power system; identifying the coherent group of the leading cluster A and the lagging cluster S through the power angle respectively, further carrying out CCCOI-RM conversion on the delta omega, and calculating the converted angular acceleration gamma; wherein, the angular velocity difference delta omega is subjected to CCCOI-RM conversion, and the formula of the angular acceleration after conversion is obtained as follows:
In the method, in the process of the invention, The angular velocity deviation of the ith generator with respect to COI is Δω i, the angular velocity deviation of the ith generator is Δω COI, the angular velocity deviation based on COI is M T, the sum of the inertia time constants of the n generators, and M i is the inertia time constant of the ith generator.
In the embodiment, in step S2, if the system transient state is unstable during the fault duration t of the power system, a power angle meter and an angular velocity meter of the power system are obtained;
Drawing an extended phase track of angular speed and angular acceleration according to a power angle meter and an angular velocity meter of the power system, dividing the power system into a leading cluster A and a lagging cluster S according to a destabilizing power angle curve of the power system when the power angle between generators is larger than a threshold value by 180 degrees, and carrying out transient simulation again after adjusting the output of the generators in the leading cluster A until a stable operating point P 0 is obtained by transient stability of the power system;
and respectively increasing the output of the generator i in the leading cluster A to the upper limit of the output of the generator i at the position of the stable operation point P 0, performing transient simulation again, and if the power system is in transient instability, searching a critical instability point by a dichotomy, and recording the critical instability point as a dominant instability critical point of the generator.
In this embodiment, in step S3, after the first swing of the electric power system is stable at the dominant instability critical point obtained in step S2, when the damping of the electric power system is seriously insufficient, the unbalanced energy of the electric power system in the oscillation process is gradually increased, and when the kinetic energy reduction stage of the nth swing is finished, the angular velocity of the rotor is not reduced to 0 at this time, so that the phenomenon of multi-swing instability occurs. The equivalent of a multi-machine power system can be converted into a single-machine infinite system through the transformation of the center-relative motion of the inertia of the complementary group of the actually measured response tracks of each unit, and the characteristics that the tracks enter and leave the fourth quadrant each time on the expansion phase plane respectively represent the start and end of the kinetic energy reduction stage are combined, so that the track of the last swing of the multi-swing instability on the expansion phase plane leaves the fourth quadrant from the positive half axis of the omega-axis and diverges at the upper right corner of the first quadrant.
Specifically, for different destabilizing mode systems, the stability of the system may be determined by the sign of the negative tangential slope D γ/Δω of the trajectory in the fourth quadrant. By calculating the maximum value of negative reciprocal delta omega/D γ of the tangent slope of the fourth quadrant of the extended phase plane after n times of swinging of the extended phase plane track, the stability index f of system single pendulum and multi-pendulum instability can be accurately judged to be smaller than 0 after correction, wherein D γ is the intercept value of the track tangent line in the fourth quadrant in the gamma axis, wherein:
In the method, in the process of the invention, D γ is the intercept value of the tangent line of the fourth quadrant of the expanding phase plane track at the gamma axis, which is the negative reciprocal of the tangent slope of the track at the fourth quadrant of the ith swing; judging the stability of the system by judging the sign of f at the position where the ith swing leaves the fourth quadrant;
Since the track slope change rate in the fourth quadrant is monotonically changed, the system stability can be determined by determining the sign of f at which the ith wobble leaves the fourth quadrant. The corrected transient stability criterion formula is then:
where Δω min is the value of the angular velocity difference when the extended phase plane track currently swings away from the fourth quadrant, and γ is the transformed angular acceleration.
For a stable system, the track is reduced by each swing, f takes the maximum value at the first swing, and for a destabilizing system, deltaomega min/Dγ is only greater than 0 at the last swing, so f takes the maximum value at the last swing, and the rationality of a stability judging index is verified.
In one possible embodiment, since the angular speed of the generator is a hidden function of the mechanical power, the correction criterion f can be expressed as a hidden function of the generator power, and in order to achieve an efficient mapping of the criterion to the dynamic security domain, the sensitivity variation of the f function when the mechanical power P m is changed is calculated:
When the system is stable, in the formula And/>All tend to be 0, i.e. the above formula is rewritten as:
From this, the modified multi-modal stability criterion is linearly related to the mechanical power of the generator, and the extended phase trajectory sensitivity matrix S is now defined as follows:
by simplifying the sensitivity of the extended phase trajectory, it can be known that the sensitivity matrix is a constant matrix irrelevant to measurement data, and when the change amount of the generator output is Δp= [ Δp 1,ΔP2,…ΔPn ], the extended phase trajectory stability judging formula is as follows:
fi+SΔP＜0
by introducing upper and lower limit constraints of active output of a generator and output constraints of a balancing machine, an extended phase track formula is expressed as follows:
In order to ensure the output balance of an actual power system, the output change amount at the balancing machine is as follows:
According to the change amount Deltaf i of the extended phase trajectory correction criterion, the sensitivity S j of the stability criterion of the generator i to the generator j is as follows:
The dominant safety domain expression for generator i is:
Where f i＝[f1,f2,…fn is the stability index of the lead cluster a, and the disturbance Δp j;Pj is changed for all generator nodes by aiming at the extended phase track f i at the dominant critical point of the generator i.
The expression of the dominant safety domain of the generator i realizes the effective mapping of the extended phase trajectory correction criterion and the dynamic safety domain, and the constraint of the upper limit and the lower limit of the generator output and the constraint of the balancing machine are considered as follows:
the formula for constructing the multi-mode practical dynamic security domain based on the extended phase track by combining the upper and lower limits of the generator output and the limit of the balance machine output is as follows:
wherein, P s is the active output of the balancing unit, Is the lower limit of the active power of the j-th generator,/>Is the upper limit of active power of the j-th generator,/>To balance the lower limit of active power of the machine,/>Is the upper limit of the output of the active power of the balancing machine.
In summary, the present invention obtains power system data, where the power system data includes a power angle δ and an angular velocity difference Δω of a generator node after a fault occurs; recognizing a leading machine group A through a power angle delta, and carrying out CCCOI-RM conversion on a diagonal speed difference delta omega to obtain converted angular acceleration gamma; if the system transient state is unstable during the fault duration t of the power system, a power angle meter and an angular velocity meter of the power system are obtained; drawing an extended phase track of angular speed and angular acceleration according to a power angle meter and an angular velocity meter of the power system, dividing the power system into a leading cluster A and a lagging cluster S according to a destabilizing power angle curve of the power system when the power angle between generators is larger than a threshold value by 180 degrees, and carrying out transient simulation again after adjusting the output of the generators in the leading cluster A until a stable operating point P 0 is obtained by transient stability of the power system; and respectively increasing the output of the generator i in the leading cluster A to the upper limit of the output of the generator i at the position of the stable operation point P 0, performing transient simulation again, and if the power system is in transient instability, searching a critical instability point by a dichotomy, and recording the critical instability point as a dominant instability critical point of the generator. For the generators in the leading cluster A, respectively changing the dominant instability critical point of the output search of each generator; calculating the reciprocal of the tangential slope of a fourth quadrant track in n times of swinging of an extended phase plane based on angular speed-angular acceleration according to actual measurement information to obtain a stability index for identifying single-pendulum instability and multi-pendulum instability, and changing the disturbance output delta P of a generator at the critical point of the dominant instability to obtain the sensitivity of the extended phase track; and constructing a multi-mode practical dynamic security domain based on the extended phase track by combining the upper and lower limits of the generator output and the limit of the balance machine output. The invention realizes the stability discrimination of the system simple pendulum and multi-pendulum instability, and compared with the traditional extended phase track, the invention expands the application range, and breaks through the limitation that the traditional track stability discrimination can not quantify the stability margin by combining with the safety domain; the invention realizes the effective mapping of the correction criterion and the dynamic security domain, and simultaneously utilizes the sensitivity matrix to construct the dynamic security domain at the critical stable point. Compared with the traditional phase trajectory sensitivity, the stability criterion sensitivity is constructed by the method, the constant coefficient characteristic of the measurement data is not needed, the margin quantization capacity of a security domain is fully utilized, the linear relation between the stability criterion and the node injection power is obtained, and the accurate transient stability evaluation before the occurrence of the fault can be realized.
It should be noted that the method of the embodiments of the present disclosure may be performed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the methods of embodiments of the present disclosure, the devices interacting with each other to accomplish the methods.
It should be noted that the foregoing describes some embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Example 2
Referring to fig. 2, the embodiment of the invention further provides a power grid dynamic security domain construction device based on the extended phase trajectory theory, which comprises:
The data acquisition module 001 is used for acquiring power system data, wherein the power system data comprises a power angle delta and an angular speed difference delta omega of a generator node after a fault occurs; recognizing a leading machine group A through a power angle delta, and carrying out CCCOI-RM conversion on a diagonal speed difference delta omega to obtain converted angular acceleration gamma;
the instability analysis module 002 is configured to change the output force of each generator to search for a dominant instability critical point for the generators in the leading cluster a;
The sensitivity calculation module 003 is configured to calculate, according to actual measurement information, the inverse of the tangential slope of the fourth quadrant track in n oscillations of the extended phase plane based on angular velocity-angular acceleration, obtain a stability index for identifying single-pendulum instability and multiple-pendulum instability, and change the disturbance output Δp of the generator at the dominant instability critical point, and calculate the sensitivity of the extended phase track;
the safety domain construction module 004 is used for constructing a multi-mode practical dynamic safety domain based on the extended phase track by combining the upper and lower limits of the output of the generator and the output limit of the balancing machine.
In this embodiment, in the data acquisition module 001, the angular velocity difference Δω is subjected to CCCOI-RM transformation, and the formula of the transformed angular acceleration is:
In the method, in the process of the invention, The angular velocity deviation of the ith generator with respect to COI is Δω i, the angular velocity deviation of the ith generator is Δω COI, the angular velocity deviation based on COI is M T, the sum of the inertia time constants of the n generators, and M i is the inertia time constant of the ith generator.
In this embodiment, the destabilization analysis module 002 includes:
A table obtaining sub-module 201, configured to obtain a power angle table and an angular velocity table of the power system if the system is transient unstable during a fault duration t of the power system;
the stable operating point analysis sub-module 202 is configured to draw an extended phase track of angular velocity and angular acceleration according to a power angle meter and an angular velocity meter of the power system, divide the power system into a leading cluster a and a lagging cluster S according to a destabilizing power angle curve of the power system when the power angle between the generators is greater than a threshold value of 180 degrees, adjust the output of the generators in the leading cluster a, and then perform transient simulation again until the transient stability of the power system obtains a stable operating point P 0;
And the critical instability point analysis sub-module 203 is configured to, at the position where the stable operating point P 0 is obtained, respectively increase the output of the generator i in the leading cluster a to the upper limit of the output of the generator i, perform transient simulation again, and if the power system is transient unstable, search the critical instability point by using a dichotomy, and record the critical instability point as the dominant instability critical point of the generator.
In this embodiment, in the sensitivity calculation module 003, the inverse of the tangential slope of the fourth quadrant track in n-time wobbles of the extended phase plane based on angular velocity-angular acceleration is calculated according to actual measurement information, and the formula for obtaining the stability index f for identifying single wobble instability and multiple wobble instability is:
In the method, in the process of the invention, D γ is the intercept value of the tangent line of the fourth quadrant of the expanding phase plane track at the gamma axis, which is the negative reciprocal of the tangent slope of the track at the fourth quadrant of the ith swing; judging the stability of the system by judging the sign of f at the position where the ith swing leaves the fourth quadrant;
in the sensitivity calculation module 003, the stability index f is corrected, and the transient stability judgment and stabilization formula after correction is as follows:
Wherein Δω min is the value of the angular velocity difference when the extended phase plane track currently swings away from the fourth quadrant, and γ is the transformed angular acceleration;
In the sensitivity calculation module 003, injection power sensitivity analysis is performed on the multimode instability correction criterion based on the extended phase track, an effective mapping between the correction criterion and node injection power is obtained, and an extended phase track sensitivity matrix S is defined as follows:
in the sensitivity calculation module 003, when the change amount of the generator output is Δp= [ Δp 1,ΔP2,…ΔPn ], the extended phase trajectory stability judging formula is:
fi+SΔP＜0
In the sensitivity calculation module 003, by introducing the upper and lower limit constraints of the active output of the generator and the output constraint of the balancing machine, the extended phase trajectory formula is expressed as:
in the sensitivity calculation module 003, the amount of change in the output at the balancing machine is:
In the sensitivity calculation module 003, according to the change amount Δf i of the extended phase trajectory correction criterion, the sensitivity S j of the stability criterion of the generator i to the generator j is:
In the sensitivity calculation module 003, the dominant safety domain expression of the generator i is:
Where f i＝[f1,f2,…fn is the stability index of the lead cluster a, and the disturbance Δp j;Pj is changed for all generator nodes by aiming at the extended phase track f i at the dominant critical point of the generator i.
In this embodiment, in the safety domain construction module 004, the formula for constructing the multi-mode practical dynamic safety domain based on the extended phase track by combining the upper and lower limits of the generator output and the limit of the balance machine output is as follows:
wherein, P s is the active output of the balancing unit, Is the lower limit of the active power of the j-th generator,/>For the j-th generator active power upper limit, P s m is the lower limit of the output of the active power of the balancing machine, and P s M is the upper limit of the output of the active power of the balancing machine.
It should be noted that, because the content of information interaction and execution process between the modules of the above-mentioned device is based on the same concept as the method embodiment in the embodiment 1 of the present application, the technical effects brought by the content are the same as the method embodiment of the present application, and the specific content can be referred to the description in the foregoing illustrated method embodiment of the present application, which is not repeated herein.
Example 3
Embodiment 3 of the present invention provides a non-transitory computer readable storage medium having stored therein program code of an extended phase trajectory theory-based power grid dynamic security domain construction method, the program code including instructions for performing the extended phase trajectory theory-based power grid dynamic security domain construction method of embodiment 1 or any possible implementation thereof.
Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc., that contain an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (Solid STATE DISK, SSD)), etc.
Example 4
Embodiment 4 of the present invention provides an electronic device, including: a memory and a processor;
The processor and the memory complete communication with each other through a bus; the memory stores program instructions executable by the processor, and the processor invokes the program instructions to perform the grid dynamic security domain construction method based on the extended phase trajectory theory of embodiment 1 or any possible implementation thereof.
Specifically, the processor may be implemented by hardware or software, and when implemented by hardware, the processor may be a logic circuit, an integrated circuit, or the like; when implemented in software, the processor may be a general-purpose processor, implemented by reading software code stored in a memory, which may be integrated in the processor, or may reside outside the processor, and which may reside separately.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.).
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a memory device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (10)
1. The power grid dynamic safety domain construction method based on the extended phase trajectory theory is characterized by comprising the following steps of:
Acquiring power system data, wherein the power system data comprise a power angle delta and an angular speed difference delta omega of a generator node after a fault occurs; recognizing a leading machine group A through a power angle delta, and carrying out CCCOI-RM conversion on a diagonal speed difference delta omega to obtain converted angular acceleration gamma;
for the generators in the leading cluster A, respectively changing the dominant instability critical point of the output search of each generator;
Calculating the reciprocal of the tangential slope of a fourth quadrant track in n times of swinging of an extended phase plane based on angular speed-angular acceleration according to actual measurement information to obtain a stability index for identifying single-pendulum instability and multi-pendulum instability, and changing the disturbance output delta P of a generator at the critical point of the dominant instability to obtain the sensitivity of the extended phase track;
And constructing a multi-mode practical dynamic security domain based on the extended phase track by combining the upper and lower limits of the generator output and the limit of the balance machine output.
2. The method for constructing a dynamic safety domain of a power grid based on an extended phase trajectory theory according to claim 1, wherein the angular velocity difference Δω is subjected to CCCOI-RM transformation, and the transformed angular acceleration is obtained by the following formula:
In the method, in the process of the invention, The angular velocity deviation of the ith generator with respect to COI is Δω i, the angular velocity deviation of the ith generator is Δω COI, the angular velocity deviation based on COI is M T, the sum of the inertia time constants of the n generators, and M i is the inertia time constant of the ith generator.
3. The method for constructing a dynamic safety domain of a power grid based on an extended phase trajectory theory according to claim 1, wherein, for the generators in the leading cluster a, in the process of respectively changing the dominant instability critical point of the output search of each generator:
If the system transient state is unstable when the fault duration time t of the power system is long, obtaining a power angle meter and an angular velocity meter of the power system;
Drawing an extended phase track of angular speed and angular acceleration according to a power angle meter and an angular velocity meter of the power system, dividing the power system into a leading cluster A and a lagging cluster S according to a destabilizing power angle curve of the power system when the power angle between generators is larger than a threshold value by 180 degrees, and carrying out transient simulation again after adjusting the output of the generators in the leading cluster A until a stable operating point P 0 is obtained by transient stability of the power system;
and respectively increasing the output of the generator i in the leading cluster A to the upper limit of the output of the generator i at the position of the stable operation point P 0, performing transient simulation again, and if the power system is in transient instability, searching a critical instability point by a dichotomy, and recording the critical instability point as a dominant instability critical point of the generator.
4. The method for constructing a dynamic safety domain of a power grid based on an extended phase trajectory theory according to claim 1, wherein the equation for obtaining the stability index f for identifying single pendulum instability and multiple pendulum instability by calculating the reciprocal of the tangential slope of the fourth quadrant trajectory in n times of oscillation of the extended phase plane based on angular velocity-angular acceleration based on actual measurement information is as follows:
In the method, in the process of the invention, D γ is the intercept value of the tangent line of the fourth quadrant of the expanding phase plane track at the gamma axis, which is the negative reciprocal of the tangent slope of the track at the fourth quadrant of the ith swing; the system stability is determined by determining the sign of f where the ith wobble leaves the fourth quadrant.
5. The method for constructing a dynamic safety domain of a power grid based on an extended phase trajectory theory according to claim 4, further comprising the step of correcting a stability index f, wherein a transient stability judgment and stabilization formula after correction is as follows:
where Δω min is the value of the angular velocity difference when the extended phase plane track currently swings away from the fourth quadrant, and γ is the transformed angular acceleration.
6. The method for constructing a dynamic safety domain of a power grid based on an extended phase trajectory theory according to claim 5, further comprising performing injection power sensitivity analysis on a multi-mode instability correction criterion based on an extended phase trajectory to obtain an effective mapping of the correction criterion and node injection power, and defining an extended phase trajectory sensitivity matrix S as follows:
When the change amount of the generator output is delta P= [ delta P 1,ΔP2,…ΔPn ], the extended phase track stability judging formula is as follows:
fi+SΔP＜0
by introducing upper and lower limit constraints of active output of a generator and output constraints of a balancing machine, an extended phase track formula is expressed as follows:
the output change amount at the balancing machine is as follows:
According to the change amount Deltaf i of the extended phase trajectory correction criterion, the sensitivity S j of the stability criterion of the generator i to the generator j is as follows:
The dominant safety domain expression for generator i is:
Where f i＝[f1,f2,…fn is the stability index of the lead cluster a, and the disturbance Δp j;Pj is changed for all generator nodes by aiming at the extended phase track f i at the dominant critical point of the generator i.
7. The method for constructing a dynamic safety domain of a power grid based on an extended phase trajectory theory according to claim 6, wherein the formula for constructing the multi-mode practical dynamic safety domain based on the extended phase trajectory by combining the upper and lower limits of the output of the generator and the output limit of the balancing machine is as follows:
wherein, P s is the active output of the balancing unit, Is the lower limit of the active power of the j-th generator,/>For the j-th generator active power upper limit, P s m is the lower limit of the output of the active power of the balancing machine, and P s M is the upper limit of the output of the active power of the balancing machine.
8. The utility model provides a power grid dynamic security domain construction device based on extension phase trajectory theory which characterized in that includes:
the data acquisition module is used for acquiring power system data, wherein the power system data comprise a power angle delta and an angular speed difference delta omega of a generator node after a fault occurs; recognizing a leading machine group A through a power angle delta, and carrying out CCCOI-RM conversion on a diagonal speed difference delta omega to obtain converted angular acceleration gamma;
the instability analysis module is used for respectively changing the output force of each generator for searching the dominant instability critical point for the generators in the leading cluster A;
the sensitivity calculation module is used for calculating the reciprocal of the tangential slope of the fourth quadrant track in n times of swinging of the extended phase plane based on angular speed-angular acceleration according to actual measurement information to obtain stability indexes for identifying single-pendulum instability and multi-pendulum instability, and changing the disturbance output delta P of the generator at the main instability critical point to obtain the sensitivity of the extended phase track;
the safety domain construction module is used for combining the upper and lower limits of the output of the generator and the output limit of the balancing machine to construct a multi-mode practical dynamic safety domain based on the extended phase track.
9. The power grid dynamic security domain construction device based on the extended phase trajectory theory according to claim 8, wherein in the data acquisition module, the angular velocity difference Δω is subjected to CCCOI-RM transformation, and a formula for obtaining the transformed angular acceleration is:
In the method, in the process of the invention, For the angular speed deviation of the ith generator relative to the COI, Δω i is the angular speed deviation of the ith generator, Δω COI is the angular speed deviation based on the COI, M T is the sum of the inertia time constants of the n generators, and M i is the inertia time constant of the ith generator;
The destabilization analysis module includes:
The table acquisition sub-module is used for obtaining a power angle table and an angular velocity table of the power system if the system is in transient instability during the fault duration t of the power system;
The stable operating point analysis submodule is used for drawing an extended phase track of angular speed and angular acceleration according to a power angle meter and an angular velocity meter of the power system, dividing the power system into a leading machine group A and a lagging machine group S according to a destabilizing power angle curve of the power system when the power angle between the generators is larger than a threshold value by 180 degrees, and carrying out transient simulation again after the output of the generators in the leading machine group A is regulated until the transient stability of the power system is achieved to obtain a stable operating point P 0;
The critical instability point analysis sub-module is used for respectively increasing the output of the generator i in the leading cluster A to the upper limit of the output of the generator i at the position of the stable operation point P 0, carrying out transient simulation again, and if the power system is in transient instability, searching a critical instability point by adopting a dichotomy, and recording the critical instability point as a dominant instability critical point of the generator;
In the sensitivity calculation module, the inverse of the tangential slope of the fourth quadrant track in n times of swinging of the extended phase plane based on angular velocity-angular acceleration is calculated according to actual measurement information, and a formula for identifying the stability index f of single pendulum instability and multiple pendulum instability is obtained as follows:
In the method, in the process of the invention, D γ is the intercept value of the tangent line of the fourth quadrant of the expanding phase plane track at the gamma axis, which is the negative reciprocal of the tangent slope of the track at the fourth quadrant of the ith swing; judging the stability of the system by judging the sign of f at the position where the ith swing leaves the fourth quadrant;
in the sensitivity calculation module, the stability index f is corrected, and the corrected transient stability judgment formula is as follows:
Wherein Δω min is the value of the angular velocity difference when the extended phase plane track currently swings away from the fourth quadrant, and γ is the transformed angular acceleration;
In the sensitivity calculation module, injection power sensitivity analysis is carried out on a multi-mode instability correction criterion based on an extended phase track, effective mapping of the correction criterion and node injection power is obtained, and an extended phase track sensitivity matrix S is defined as follows:
In the sensitivity calculation module, when the change amount of the generator output is Δp= [ Δp 1,ΔP2,…ΔPn ], the extended phase trajectory stability judging formula is:
fi+SΔP＜0
In the sensitivity calculation module, the upper and lower limit constraints of the active output of the generator and the output constraint of the balancing machine are introduced to express an extended phase track formula as follows:
In the sensitivity calculation module, the output change amount at the balancing machine is as follows:
In the sensitivity calculation module, according to the change amount Δf i of the extended phase track correction criterion, the sensitivity S j of the stability criterion of the generator i to the generator j is:
in the sensitivity calculation module, the dominant safety domain expression of the generator i is:
Where f i＝[f1,f2,…fn is the stability index of the lead cluster a, and the disturbance Δp j;Pj is changed for all generator nodes by aiming at the extended phase track f i at the dominant critical point of the generator i.
10. The power grid dynamic security domain construction device based on the extended phase trajectory theory according to claim 9, wherein in the security domain construction module, a formula for constructing a multi-mode practical dynamic security domain based on the extended phase trajectory by combining an upper limit and a lower limit of the output of a generator and an output limit of a balancing machine is as follows:
wherein, P s is the active output of the balancing unit, Is the lower limit of the active power of the j-th generator,/>Is the upper limit of active power of the j-th generator,/>To balance the lower limit of active power of the machine,/>Is the upper limit of the output of the active power of the balancing machine.
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