WO2022217812A1 - 一种机电暂态建模方法、系统、设备及存储介质 - Google Patents

一种机电暂态建模方法、系统、设备及存储介质 Download PDF

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WO2022217812A1
WO2022217812A1 PCT/CN2021/115569 CN2021115569W WO2022217812A1 WO 2022217812 A1 WO2022217812 A1 WO 2022217812A1 CN 2021115569 W CN2021115569 W CN 2021115569W WO 2022217812 A1 WO2022217812 A1 WO 2022217812A1
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electromechanical transient
generator
model
voltage
power system
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PCT/CN2021/115569
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French (fr)
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雷阳
何信林
李春丽
王团结
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西安热工研究院有限公司
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H02J3/241—The oscillation concerning frequency
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/02—Circuit arrangements for ac mains or ac distribution networks using a single network for simultaneous distribution of power at different frequencies; using a single network for simultaneous distribution of ac power and of dc power
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]

Definitions

  • the invention belongs to the technical field of modeling and analysis of power system stabilizers, and relates to an electromechanical transient modeling method, system, equipment and storage medium.
  • the dynamic stability problem (low frequency oscillation problem) has become one of the most important factors affecting the safe, stable and economical operation of the power grid system.
  • the regional oscillation mode generally 0.5-2.0 Hz in frequency
  • the inter-regional oscillation mode generally 0.1-0.5 Hz in frequency
  • the weakly damped or negatively damped low-frequency oscillation problem belonging to the regional oscillation mode it can be accomplished by configuring power system stabilizers in one or a few power plants; to solve the weakly damped or negatively damped low-frequency oscillation problem belonging to the inter-regional oscillation mode , it is not enough to configure PSS only in one or a few power plants, it is necessary to configure a power system stabilizer (PSS) on a large number of generators related to this oscillation mode to effectively solve the weak damping or weak damping of inter-regional oscillation modes.
  • PSS power system stabilizer
  • the problem of negative damping low frequency oscillation ensures the safe, stable and economical operation of the networked system.
  • an electromechanical transient model that can be used for the stability analysis of small disturbances of PSS in the current power grid is needed to analyze the self-healing ability of the system after small disturbances and the correctness of PSS parameter tuning.
  • the classical Heffron-Phillips model can be used for the static stability model of the single-machine-infinite system, but it is difficult to consider the transition state stability when the system operating mode changes in the multi-machine scenario.
  • the AC-DC coupling of the current power grid is becoming deeper, and it is particularly important to consider the static stability analysis of large-scale synchronous generators near the DC transmission point.
  • the purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art, and to provide an electromechanical transient modeling method, system, device and storage medium, which can perform multi-machine operation in an AC/DC power grid environment.
  • PSS performance analysis and small disturbance stability analysis are examples of PSS performance analysis and small disturbance stability analysis.
  • the electromechanical transient modeling method of the present invention includes the following steps:
  • step 5 Build a power system model according to the decomposition result of step 2), the transformation result of step 4) and the grid-side equation established in step 3), and then set the electromechanical transient disturbance scene to observe whether the electrical quantity of the power system model is under disturbance. Transition to a new equilibrium point, obtain the output of the power system model under different PSS parameters, and complete the electromechanical transient modeling.
  • the basic electrical parameters of the power system to be modeled include moment of inertia H, generator longitudinal axis synchronous reactance X d , generator transverse axis synchronous reactance X q , generator longitudinal axis transient reactance X' d , generator transverse axis transient reactance X' q , the time constant T d0 ' of the vertical axis excitation winding and the time constant T q0 ' of the horizontal axis excitation winding;
  • the control parameters of the power system to be modeled include excitation magnification K A , excitation time constant T A , PSS gain multiple K PSS and PSS time constant.
  • the established electromechanical transient model of the synchronous generator is:
  • ⁇ is the rotor angle
  • ⁇ is the rotor speed
  • ⁇ s is the speed of the synchronous generator
  • E' d and E' q are the internal potentials on the reactances X' d and X' q respectively
  • I d and I q are the synchronous power generation
  • T J is the generator rotor time constant
  • D is the damping constant
  • T M is the mechanical power input
  • E f is the excitation voltage
  • V is the generator terminal voltage
  • V ref is the voltage reference value
  • i is the ith generator.
  • R s is the direct resistance of the generator stator.
  • step 3 The specific operation process of step 3) is:
  • the power system to be modeled is equivalent to m generator nodes, n load nodes and a balance node, the transformers and transmission line branches in the power system are written in the form of node admittance, and then the admittance matrix describes the current,
  • the voltage relationship is:
  • I s and V s are the injected current and node voltage from the balance node to the network, respectively
  • IG and V G are the injected current vector and node voltage vector from the generator node to the network, respectively
  • IL and VL are the load node, respectively The injected current vector and node voltage vector to the network
  • the load node is a passive node, which is reflected in the node output value setting through the power flow calculation process.
  • the generator node is transformed into the dq coordinate system, and then interfaced with the network model in the form of current and voltage components. ) in the generator part of the vector is:
  • V s , VL and formula (3) in the Y bus are updated by the dynamic power flow calculation results.
  • step 4 the voltage and current output from the electromechanical transient model of the DC converter station are transformed into the dq coordinate system according to formula (5):
  • u sxy and u cxy are the xy components of the grid side and converter station side voltages
  • isxy is the xy component of the converter station port current
  • R arm and L arm are the bridge arm resistance and reactance
  • u dc is the converter
  • the DC node voltage of , C eq is the equivalent capacitor voltage of MMC
  • u Ceq is the equivalent capacitor voltage of MMC
  • P dc is the DC power supply
  • ⁇ B is the reference angular velocity
  • ⁇ 1 is the angular velocity;
  • ⁇ is the output power angle of the phase-locked loop
  • u dq is the voltage component on the dq axis
  • u xy is the voltage component on the xy axis.
  • the electromechanical transient disturbance scenario set in step 5) includes a generator voltage step scenario and a three-phase short circuit scenario at the generator outlet, and the observed electrical quantities of the power system model include node voltage and generator active power.
  • An electromechanical transient modeling system includes:
  • the synchronous generator module is used to establish the electromechanical transient model of the synchronous generator according to the basic electrical parameters and control parameters of the power system to be modeled, and then decompose the voltage and current output from the electromechanical transient model of the synchronous generator into the dq coordinate system ;
  • the grid-side module is used to construct the grid-side equation
  • the DC station module is used to obtain parameters of the DC station, establish an electromechanical transient model of the DC converter station according to the parameters of the DC station, and transform the voltage and current output from the electromechanical transient model of the DC converter station to the dq coordinate system Down;
  • the modeling module is used to construct a power system model according to the decomposition result, the transformation result and the grid-side equation, and then set the electromechanical transient disturbance scene to observe whether the electrical quantity of the power system model can transition under the disturbance At the new equilibrium point, the output of the power system model under different PSS parameters is obtained, and the electromechanical transient modeling is completed.
  • a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the electromechanical transient modeling method when the processor executes the computer program step.
  • a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the electromechanical transient modeling method.
  • the electromechanical transient modeling method, system, equipment and storage medium constructs a power system model based on the synchronous generator, grid side and DC station during specific operation, then sets the electromechanical transient disturbance scene, and observes the power system model Whether the electrical quantity can transition to a new equilibrium point under disturbance, obtain the output quantity of the power system model under different PSS parameters, to analyze the multi-machine PSS performance and small disturbance stability in the AC and DC power grid environment, and realize the multi-machine PSS
  • the practical engineering application research of stability ensures the safe and stable operation of the power system.
  • Fig. 1 is the simplified control block diagram adopted by the synchronous generator model
  • Figure 2 is a simplified control block diagram of the inner loop current regulation of the VSC DC converter station
  • Fig. 3 is the test data voltage curve verification diagram of the single-machine infinite system
  • Figure 4 is a graph showing the comparison results of PSS performance in AC and DC systems
  • Fig. 5 is the result graph of the voltage curve of the generator without PSS in the IEEE 39 system
  • Figure 6 is a graph showing the result of the voltage curve of the PSS generator in the IEEE 39 system
  • Figure 7 is a graph showing the result of the active power curve of the generator without PSS in the IEEE 39 system
  • Figure 8 shows the result of the active power curve of the PSS generator in the IEEE 39 system.
  • the electromechanical transient modeling method of the present invention includes the following steps:
  • the basic electrical parameters of the power system to be modeled include moment of inertia H, generator longitudinal axis synchronous reactance X d , generator transverse axis synchronous reactance X q , generator longitudinal axis transient reactance X' d , generator transverse axis transient reactance X' q , the time constant T d0 ' of the vertical axis excitation winding and the time constant T q0 ' of the horizontal axis excitation winding;
  • the control parameters of the power system to be modeled include excitation magnification K A , excitation time constant T A , PSS gain multiple K PSS and PSS time constant.
  • the established electromechanical transient model of the synchronous generator is:
  • ⁇ is the rotor angle
  • ⁇ is the rotor speed
  • ⁇ s is the speed of the synchronous generator
  • E' d and E' q are the internal potentials on the reactances X' d and X' q respectively
  • I d and I q are the synchronous power generation
  • T J is the generator rotor time constant
  • D is the damping constant
  • T M is the mechanical power input
  • E f is the excitation voltage
  • V is the generator terminal voltage
  • V ref is the voltage reference value
  • i is the ith generator.
  • R s is the direct resistance of the generator stator.
  • step 3 The specific operation process of step 3) is:
  • the power system to be modeled is equivalent to m generator nodes, n load nodes and a balance node, the transformers and transmission line branches in the power system are written in the form of node admittance, and then the admittance matrix describes the current,
  • the voltage relationship is:
  • I s and V s are the injected current and node voltage from the balance node to the network, respectively
  • IG and V G are the injected current vector and node voltage vector from the generator node to the network, respectively
  • IL and VL are the load node, respectively The injected current vector and node voltage vector to the network
  • the load node is a passive node, which is reflected in the node output value setting through the power flow calculation process.
  • the generator node is transformed into the dq coordinate system, and then interfaced with the network model in the form of current and voltage components. ) in the generator part of the vector is:
  • V s , VL and formula (3) in the Y bus are updated by the dynamic power flow calculation results.
  • step 4 the voltage and current output from the electromechanical transient model of the DC converter station are transformed into the dq coordinate system according to formula (5):
  • u sxy and u cxy are the xy components of the grid side and converter station side voltages
  • isxy is the xy component of the converter station port current
  • R arm and L arm are the bridge arm resistance and reactance
  • u dc is the converter
  • the DC node voltage of , C eq is the equivalent capacitor voltage of MMC
  • u Ceq is the equivalent capacitor voltage of MMC
  • P dc is the DC power supply
  • ⁇ B is the reference angular velocity
  • ⁇ 1 is the angular velocity;
  • ⁇ is the output power angle of the phase-locked loop
  • u dq is the voltage component on the dq axis
  • u xy is the voltage component on the xy axis.
  • step 5 Build a power system model according to the decomposition result of step 2), the transformation result of step 4) and the grid-side equation established in step 3), and then set the electromechanical transient disturbance scene to observe whether the electrical quantity of the power system model is under disturbance. Transition to a new equilibrium point, obtain the output of the power system model under different PSS parameters, and complete the electromechanical transient modeling.
  • the electromechanical transient disturbance scenario set in step 5) includes a generator voltage step scenario and a three-phase short circuit scenario at the generator outlet, and the observed electrical quantities of the power system model include node voltage and generator active power.
  • the specific transient disturbance form is realized by the following process:
  • the step amount disturbance can directly superimpose the step change signal on the given value in the generator excitation regulation link shown in Figure 1.
  • the step amount is generally set within ⁇ 0.5, and the external characteristics represent the instantaneous occurrence of the generator terminal voltage. ⁇ 5% variation;
  • the setting of the three-phase short circuit at the generator end can use the classical transfer impedance method to calculate the short-circuit current, and the fault point can be set on the simulated generator node.
  • An electromechanical transient modeling system includes:
  • the synchronous generator module is used to establish the electromechanical transient model of the synchronous generator according to the basic electrical parameters and control parameters of the power system to be modeled, and then decompose the voltage and current output from the electromechanical transient model of the synchronous generator into the dq coordinate system ;
  • the grid-side module is used to construct the grid-side equation
  • the DC station module is used to obtain parameters of the DC station, establish an electromechanical transient model of the DC converter station according to the parameters of the DC station, and transform the voltage and current output from the electromechanical transient model of the DC converter station to the dq coordinate system Down;
  • the modeling module is used to construct a power system model according to the decomposition result, the transformation result and the grid-side equation, and then set the electromechanical transient disturbance scene to observe whether the electrical quantity of the power system model can transition under the disturbance At the new equilibrium point, the output of the power system model under different PSS parameters is obtained, and the electromechanical transient modeling is completed.
  • a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the electromechanical transient modeling method when the processor executes the computer program step.
  • a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the electromechanical transient modeling method.
  • the recorded data of the excitation test of the synchronous generator is used to verify the correctness of the model.
  • the disturbance given at the site is a step test of ⁇ 3% of the given value of the excitation voltage when the unit is connected to the grid.
  • the curve comparison results between the test record and the model output are shown in Figure 3. The results show that the model is reasonable.
  • the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions
  • the apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

Abstract

本发明公开了一种机电暂态建模方法、系统、设备及存储介质，包括以下步骤：1)获取待建模电力系统的基本电气参数及控制参数；2)建立同步发电机机电暂态模型，再将同步发电机机电暂态模型输出的电压及电流量分解到dq坐标系下；3)构建电网侧方程；4)获取直流站的参数，根据所述直流站的参数建立直流换流站机电暂态模型，并将直流换流站机电暂态模型输出的电压及电流量变换到dq坐标系下；5)构建电力系统模型，然后设置机电暂态扰动场景，观测电力系统模型的电气量在扰动下能否过渡到新的平衡点，获取不同PSS参数下电力系统模型的输出量，本发明能够在交直流电网环境下进行多机PSS性能分析及小干扰稳定性分析。

Description

一种机电暂态建模方法、系统、设备及存储介质 技术领域
本发明属于电力系统稳定器建模分析技术领域，涉及一种机电暂态建模方法、系统、设备及存储介质。
背景技术
随着电力系统规模的不断扩大，以及自并励等快速微机励磁系统的广泛应用，动态稳定问题(低频振荡问题)已成为影响电网系统安全、稳定、经济运行的最重要的因素之一。研究表明，在互联的电力系统中一般都存在两种振荡模式，即地区性振荡模式(频率一般在0.5～2.0Hz)和区域间振荡模式(频率一般在0.1～0.5Hz)。要解决属于地区性振荡模式的弱阻尼或负阻尼低频振荡问题，可以通过在一个或少数几个电厂配置电力系统稳定器来完成；要解决属于区域间振荡模式的弱阻尼或负阻尼低频振荡问题，仅靠在一个或少数几个发电厂配置PSS是不够的，需要在一大批与该振荡模相关的发电机上配置电力系统稳定器(PSS)，才能有效地解决区域间振荡模式的弱阻尼或负阻尼低频振荡问题，保证连网系统的安全、稳定、经济运行。
简单来说，需要一种能用于当前电网多机PSS小干扰稳定分析的机电暂态模型，来分析系统发生小扰动后的自愈能力以及PSS参数整定的正确性。其中，单机-无穷大系统的静态稳定模型可用经典的Heffron-Phillips模型，多机场景下则难以考虑系统运行方式改变时的过渡状态稳定性。另外，当前电网交直流耦合变深，近直流送出点的大 型同步发电机静态稳定性分析的考虑尤为重要。
因此，需要进一步研究在交直流电网环境下，从而能够在交直流电网环境下多机PSS性能分析及小干扰稳定性分析，用于保证电力系统安全稳定运行的相关问题。
发明内容
本发明的目的在于克服上述现有技术的缺点，提供了一种机电暂态建模方法、系统、设备及存储介质，该方法、系统、设备及存储介质能够在交直流电网环境下进行多机PSS性能分析及小干扰稳定性分析。
为达到上述目的，本发明所述的机电暂态建模方法包括以下步骤：
1)获取待建模电力系统的基本电气参数及控制参数；
2)根据待建模电力系统的基本电气参数及控制参数建立同步发电机机电暂态模型，再将同步发电机机电暂态模型输出的电压及电流量分解到dq坐标系下；
3)构建电网侧方程；
4)获取直流站的参数，根据所述直流站的参数建立直流换流站机电暂态模型，并将直流换流站机电暂态模型输出的电压及电流量变换到dq坐标系下；
5)根据步骤2)分解的结果、步骤4)变换的结果以及步骤3)建立的电网侧方程构建电力系统模型，然后设置机电暂态扰动场景，观测电力系统模型的电气量在扰动下能否过渡到新的平衡点，获取不同PSS参数下电力系统模型的输出量，完成机电暂态建模。
待建模电力系统的基本电气参数包括转动惯量H、发电机纵轴同步 电抗X d、发电机横轴同步电抗X q、发电机纵轴暂态电抗X’ d、发电机横轴暂态电抗X’ q、纵轴励磁绕组时间常数T d0'及横轴励磁绕组时间常数T q0'；
待建模电力系统的控制参数包括励磁放大倍数K A、励磁时间常数T A、PSS增益倍数K PSS及PSS时间常数。
建立的同步发电机机电暂态模型为：
Figure PCTCN2021115569-appb-000001
其中，δ为转子角度，ω为转子转速，ω s为同步发电机速度，E′ d及E′ q分别为电抗X′ d和X′ q上的内电势，I d和I q为同步发电机定子电流在dq坐标下的分量，T J为发电机转子时间常数，D为阻尼常数，T M机械功率输入，E f为励磁电压，V为发电机机端电压，V ref为电压参考值，i为第i台发电机。
利用式(2)将第i台发电机的电压及电流输出量分解到dq坐标系下；
Figure PCTCN2021115569-appb-000002
其中，R s为发电机定子直阻。
步骤3)的具体操作过程为：
将待建模电力系统等效为m台发电机节点、n个负荷节点及一个平衡节点，将电力系统中的变压器及输电线支路写成节点导纳的形式，再由导纳矩阵描述电流、电压关系为：
Figure PCTCN2021115569-appb-000003
其中，I s及V s分别为平衡节点对网络的注入电流及节点电压，I G及V G分别为发电机节点到网络的注入电流矢量及节点电压矢量，I L和V L分别为负载节点对网络的注入电流矢量及节点电压矢量；
负荷节点为无源节点，通过潮流计算过程反映在节点出力值设置上，将发电机节点变换到dq坐标系下，然后与网络模型通过电流、电压的分量形式进行接口化，其中，式(3)中发电机部分的向量为：
Figure PCTCN2021115569-appb-000004
通过潮流计算的结果实现模型的初始值、网侧与机源的相互作用，同时利用动态潮流计算结果更新Y bus中的V s、V L及式(3)。
步骤4)中将直流换流站机电暂态模型输出的电压及电流量根据式(5)变换到dq坐标系下：
Figure PCTCN2021115569-appb-000005
其中，u sxy，u cxy为网侧和换流站侧电压的x-y分量，i sxy为换流站端口电流的x-y分量，R arm及L arm为桥臂电阻和电抗，u dc为换流器的直流节点电压，C eq为MMC的等效电容电压，u Ceq为MMC的等效电容电压，P dc为直流电源，ω B为参考角速度，ω 1为角速度；
考虑同步发电机与网侧模型的接口为dq坐标系，利用式(6)进行dq坐标变换；
Figure PCTCN2021115569-appb-000006
其中，θ为锁相环的输出功角，u dq为d-q轴上的电压分量，u xy为x-y轴上的电压分量。
步骤5)中设置的机电暂态扰动场景包括发电机电压阶跃场景及发电机出口三相短路场景，观测的电力系统模型的电气量包括节点电压及发电机有功功率。
一种机电暂态建模系统包括：
获取模型，用于获取待建模电力系统的基本电气参数及控制参数；
同步发电机模块，用于根据待建模电力系统的基本电气参数及控制参数建立同步发电机机电暂态模型，再将同步发电机机电暂态模型输出的电压及电流量分解到dq坐标系下；
电网侧模块，用于构建电网侧方程；
直流站模块，用于获取直流站的参数，根据所述直流站的参数建立直流换流站机电暂态模型，并将直流换流站机电暂态模型输出的电压及电流量变换到dq坐标系下；
建模模块，用于根据所述分解的结果、所述变换的结果以及所述电 网侧方程构建电力系统模型，然后设置机电暂态扰动场景，观测电力系统模型的电气量在扰动下能否过渡到新的平衡点，获取不同PSS参数下电力系统模型的输出量，完成机电暂态建模。
一种计算机设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现所述机电暂态建模方法的步骤。
一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现所述机电暂态建模方法的步骤。
本发明具有以下有益效果：
本发明所述的机电暂态建模方法、系统、设备及存储介质在具体操作时，基于同步发电机、电网侧及直流站构建电力系统模型，再设置机电暂态扰动场景，观测电力系统模型的电气量在扰动下能否过渡到新的平衡点，获取不同PSS参数下电力系统模型的输出量，以分析在交直流电网环境下的多机PSS性能及小干扰稳定性，实现多机PSS稳定性的实际工程应用研究，保证电力系统安全稳定运行。
附图说明
构成本发明的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为同步发电机模型所采用的简化控制框图；
图2为VSC直流换流站内环电流调节的简化控制框图；
图3为单机无穷大系统的试验数据电压曲线验证图；
图4为交直流系统中PSS性能的比较结果图；
图5为IEEE 39系统中无PSS发电机电压曲线结果图；
图6为IEEE 39系统中有PSS发电机电压曲线结果图；
图7为IEEE 39系统中无PSS发电机有功功率曲线结果图；
图8为IEEE 39系统中有PSS发电机有功功率曲线结果图。
具体实施方式
下面将参考附图并结合实施例来详细说明本发明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
以下详细说明均是示例性的说明，旨在对本发明提供进一步的详细说明。除非另有指明，本发明所采用的所有技术术语与本申请所属领域的一般技术人员的通常理解的含义相同。本发明所使用的术语仅是为了描述具体实施方式，而并非意图限制根据本发明的示例性实施方式。
实施例一
本发明所述的机电暂态建模方法包括以下步骤：
1)获取待建模电力系统的基本电气参数及控制参数；
待建模电力系统的基本电气参数包括转动惯量H、发电机纵轴同步电抗X d、发电机横轴同步电抗X q、发电机纵轴暂态电抗X’ d、发电机横轴暂态电抗X’ q、纵轴励磁绕组时间常数T d0'及横轴励磁绕组时间常数T q0'；
待建模电力系统的控制参数包括励磁放大倍数K A、励磁时间常数T A、PSS增益倍数K PSS及PSS时间常数。
2)根据待建模电力系统的基本电气参数及控制参数建立同步发电机机电暂态模型，再将同步发电机机电暂态模型输出的电压及电流量分解到dq坐标系下；
建立的同步发电机机电暂态模型为：
Figure PCTCN2021115569-appb-000007
其中，δ为转子角度，ω为转子转速，ω s为同步发电机速度，E′ d及E′ q分别为电抗X′ d和X′ q上的内电势，I d和I q为同步发电机定子电流在dq坐标下的分量，T J为发电机转子时间常数，D为阻尼常数，T M机械功率输入，E f为励磁电压，V为发电机机端电压，V ref为电压参考值，i为第i台发电机。
利用式(2)将第i台发电机的电压及电流输出量分解到dq坐标系下；
Figure PCTCN2021115569-appb-000008
其中，R s为发电机定子直阻。
3)构建电网侧方程；
步骤3)的具体操作过程为：
将待建模电力系统等效为m台发电机节点、n个负荷节点及一个平衡节点，将电力系统中的变压器及输电线支路写成节点导纳的形式，再由导纳矩阵描述电流、电压关系为：
Figure PCTCN2021115569-appb-000009
其中，I s及V s分别为平衡节点对网络的注入电流及节点电压，I G及V G分别为发电机节点到网络的注入电流矢量及节点电压矢量，I L和V L分别为负载节点对网络的注入电流矢量及节点电压矢量；
负荷节点为无源节点，通过潮流计算过程反映在节点出力值设置上，将发电机节点变换到dq坐标系下，然后与网络模型通过电流、电压的分量形式进行接口化，其中，式(3)中发电机部分的向量为：
Figure PCTCN2021115569-appb-000010
通过潮流计算的结果实现模型的初始值、网侧与机源的相互作用，同时利用动态潮流计算结果更新Y bus中的V s、V L及式(3)。
4)获取直流站的参数，根据所述直流站的参数建立直流换流站机电暂态模型，并将直流换流站机电暂态模型输出的电压及电流量变换到dq坐标系下；
步骤4)中将直流换流站机电暂态模型输出的电压及电流量根据式(5)变换到dq坐标系下：
Figure PCTCN2021115569-appb-000011
其中，u sxy，u cxy为网侧和换流站侧电压的x-y分量，i sxy为换流站端口电流的x-y分量，R arm及L arm为桥臂电阻和电抗，u dc为换流器的直流节点电压，C eq为MMC的等效电容电压，u Ceq为MMC的等效电容电压，P dc为直流电源，ω B为参考角速度，ω 1为角速度；
考虑同步发电机与网侧模型的接口为dq坐标系，利用式(6)进行dq坐标变换；
Figure PCTCN2021115569-appb-000012
其中，θ为锁相环的输出功角，u dq为d-q轴上的电压分量，u xy为x-y轴上的电压分量。
5)根据步骤2)分解的结果、步骤4)变换的结果以及步骤3)建立的电网侧方程构建电力系统模型，然后设置机电暂态扰动场景，观测电力系统模型的电气量在扰动下能否过渡到新的平衡点，获取不同PSS参数下电力系统模型的输出量，完成机电暂态建模。
步骤5)中设置的机电暂态扰动场景包括发电机电压阶跃场景及发电机出口三相短路场景，观测的电力系统模型的电气量包括节点电压及发电机有功功率。
具体的暂态扰动形式由下述过程实现：
a)阶跃量扰动可直接在图1所示的发电机励磁调节环节中的给定值 叠加设置阶跃变化信号，阶跃量一般设置±0.5以内，外部特性表征发电机机端电压瞬时发生±5％的变化量；
b)机端发生三相短路的设置可利用经典转移阻抗计算短路电流的方式，将故障点设置在所模拟的发电机节点上即可。
实施例二
一种机电暂态建模系统包括：
获取模型，用于获取待建模电力系统的基本电气参数及控制参数；
同步发电机模块，用于根据待建模电力系统的基本电气参数及控制参数建立同步发电机机电暂态模型，再将同步发电机机电暂态模型输出的电压及电流量分解到dq坐标系下；
电网侧模块，用于构建电网侧方程；
直流站模块，用于获取直流站的参数，根据所述直流站的参数建立直流换流站机电暂态模型，并将直流换流站机电暂态模型输出的电压及电流量变换到dq坐标系下；
建模模块，用于根据所述分解的结果、所述变换的结果以及所述电网侧方程构建电力系统模型，然后设置机电暂态扰动场景，观测电力系统模型的电气量在扰动下能否过渡到新的平衡点，获取不同PSS参数下电力系统模型的输出量，完成机电暂态建模。
实施例三
一种计算机设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现所述机电暂态建模方法的步骤。
实施例四
一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现所述机电暂态建模方法的步骤。
实施例五
为验证模型的正确性，利用同步发电机励磁试验的记录数据来验证模型的正确性。在同一场景下建立单机无穷大总线系统，设置相同的扰动，并比较输出结果。现场给定的扰动为机组并网时励磁电压给定值的±3％阶跃试验，试验记录和模型输出的曲线比较结果如图3所示，结果表明，该模型是合理的。
实施例六
本实施例建立一个简单的带VSC接口的单机无穷大总线系统，为说明PSS性能对交直流系统稳定性的影响，并网母线发生三相短路故障点，0.1s后消除，VSC采用常数有功功率控制模式，交直流系统的一些参数混合动力系统如表1所示，在没有PSS的情况下，得阻尼的不稳定解为-0.017，特征值为0.138±i8.261出现在1.32Hz处。当应用PSS时，系统的各阶特征值都处于稳定区域，而原有不稳定的特征值出现在6.05Hz，阻尼为0.233和特征值为-9.136±i38.067。电压曲线并联点，发电机输出有功功率为如图4所示，结果表明模型验证PSS的设置是非常必要的，正确设置PSS参数是非常必要的有利于提高系统的稳定性。
表1
Figure PCTCN2021115569-appb-000013
实施例七
以一个典型的IEEE39节点系统10机39母线为例，验证多机励磁系统稳定性分析的有效性，10台发电机励磁参数如表2所示，31号节点(G2)为平衡节点。所有发电机节点设为1s三相短路故障，0.1s后故障恢复，观察比较有无PSS的性能，电压稳定性比较中，无PSS作用的十机电压曲线如图5所示，有PSS作用的如图6所示。功率稳定性比较中，无PSS作用的有功功率曲线如图7所示，有PSS作用的如图8所示。
设系统中可能发生模拟扰动，通过非线性仿真来研究系统的这种现象，可以观察到它在扰动开始时并没有立即发散，而是在5次以上的振荡后发散，最终崩溃。通过对系统的特征值分析，发现在无PSS的情况下，系统具有中心频率分别为0.96Hz和0.63Hz的负阻尼点，特征值分别为0.26±i6.62和0.01±i3.96。考虑PSS后，中心频率分别为0.93hz和0.58Hz，特征值分别为0.97±i5.83和0.77±i3.64。它不仅补偿了特征频率处的负阻尼，而且增加了阻尼值。再次说明了本发明可用于分析实际问题的合理性。
表2
Figure PCTCN2021115569-appb-000014
Figure PCTCN2021115569-appb-000015
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制，尽管参照上述实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者等同替换，而未脱离本发明精神和范围的任何修改或者等同替换，其均应涵盖在本发明的权利要求保护范围之内。

Claims (10)

  1. 一种机电暂态建模方法，其特征在于，包括以下步骤：
    1)获取待建模电力系统的基本电气参数及控制参数；
    2)根据待建模电力系统的基本电气参数及控制参数建立同步发电机机电暂态模型，再将同步发电机机电暂态模型输出的电压及电流量分解到dq坐标系下；
    3)构建电网侧方程；
    4)获取直流站的参数，根据所述直流站的参数建立直流换流站机电暂态模型，并将直流换流站机电暂态模型输出的电压及电流量变换到dq坐标系下；
    5)根据步骤2)分解的结果、步骤4)变换的结果以及步骤3)建立的电网侧方程构建电力系统模型，然后设置机电暂态扰动场景，观测电力系统模型的电气量在扰动下能否过渡到新的平衡点，获取不同PSS参数下电力系统模型的输出量，完成机电暂态建模。
  2. 根据权利要求1所述的机电暂态建模方法，其特征在于，待建模电力系统的基本电气参数包括转动惯量H、发电机纵轴同步电抗X d、发电机横轴同步电抗X q、发电机纵轴暂态电抗X’ d、发电机横轴暂态电抗X’ q、纵轴励磁绕组时间常数T d0'及横轴励磁绕组时间常数T q0'；
    待建模电力系统的控制参数包括励磁放大倍数K A、励磁时间常数T A、PSS增益倍数K PSS及PSS时间常数。
  3. 根据权利要求1所述的机电暂态建模方法，其特征在于，建立的同步发电机机电暂态模型为：
    Figure PCTCN2021115569-appb-100001
    其中，δ为转子角度，ω为转子转速，ω s为同步发电机速度，E′ d及E′ q分别为电抗X′ d和X′ q上的内电势，I d和I q为同步发电机定子电流在dq坐标下的分量，T J为发电机转子时间常数，D为阻尼常数，T M机械功率输入，E f为励磁电压，V为发电机机端电压，V ref为电压参考值，i为第i台发电机。
  4. 根据权利要求1所述的机电暂态建模方法，其特征在于，利用式(2)将第i台发电机的电压及电流输出量分解到dq坐标系下；
    Figure PCTCN2021115569-appb-100002
    其中，R s为发电机定子直阻。
  5. 根据权利要求1所述的机电暂态建模方法，其特征在于，步骤3)的具体操作过程为：
    将待建模电力系统等效为m台发电机节点、n个负荷节点及一个平衡节点，将电力系统中的变压器及输电线支路写成节点导纳的形式，再由导纳矩阵描述电流、电压关系为：
    Figure PCTCN2021115569-appb-100003
    其中，I s及V s分别为平衡节点对网络的注入电流及节点电压，I G及V G分别为发电机节点到网络的注入电流矢量及节点电压矢量，I L和V L分别为负载节点对网络的注入电流矢量及节点电压矢量；
    负荷节点为无源节点，通过潮流计算过程反映在节点出力值设置上，将发电机节点变换到dq坐标系下，然后与网络模型通过电流、电压的分量形式进行接口化，其中，式(3)中发电机部分的向量为：
    Figure PCTCN2021115569-appb-100004
    通过潮流计算的结果实现模型的初始值、网侧与机源的相互作用，同时利用动态潮流计算结果更新Y bus中的V s、V L及式(3)。
  6. 根据权利要求1所述的机电暂态建模方法，其特征在于，步骤4)中将直流换流站机电暂态模型输出的电压及电流量根据式(5)变换到dq坐标系下：
    Figure PCTCN2021115569-appb-100005
    其中，u sxy，u cxy为网侧和换流站侧电压的x-y分量，i sxy为换流站端口电流的x-y分量，R arm及L arm为桥臂电阻和电抗，u dc为换流器的直流节点电压，C eq为MMC的等效电容电压，u Ceq为MMC的等效电容电压，P dc为直流电源，ω B为参考角速度，ω 1为角速度；
    考虑同步发电机与网侧模型的接口为dq坐标系，利用式(6)进行dq 坐标变换；
    Figure PCTCN2021115569-appb-100006
    其中，θ为锁相环的输出功角，u dq为d-q轴上的电压分量，u xy为x-y轴上的电压分量。
  7. 根据权利要求1所述的机电暂态建模方法，其特征在于，步骤5)中设置的机电暂态扰动场景包括发电机电压阶跃场景及发电机出口三相短路场景，观测的电力系统模型的电气量包括节点电压及发电机有功功率。
  8. 一种机电暂态建模系统，其特征在于，包括：
    获取模型，用于获取待建模电力系统的基本电气参数及控制参数；
    同步发电机模块，用于根据待建模电力系统的基本电气参数及控制参数建立同步发电机机电暂态模型，再将同步发电机机电暂态模型输出的电压及电流量分解到dq坐标系下；
    电网侧模块，用于构建电网侧方程；
    直流站模块，用于获取直流站的参数，根据所述直流站的参数建立直流换流站机电暂态模型，并将直流换流站机电暂态模型输出的电压及电流量变换到dq坐标系下；
    建模模块，用于根据所述分解的结果、所述变换的结果以及所述电网侧方程构建电力系统模型，然后设置机电暂态扰动场景，观测电力系统模型的电气量在扰动下能否过渡到新的平衡点，获取不同PSS参数下电力系统模型的输出量，完成机电暂态建模。
  9. 一种计算机设备，包括存储器、处理器以及存储在所述存储器中 并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至7任一项所述机电暂态建模方法的步骤。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至7任一项所述机电暂态建模方法的步骤。
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