CN105337298A - Evaluation method and system of mutual influence between channels of alternating-current/direct-current system supplementary controller - Google Patents

Abstract

The invention provides an evaluation method and system of a mutual influence between channels of an alternating-current/direct-current system supplementary controller. The method comprises: obtaining transfer functions between input channels and output channels of all control channels; according to the transfer functions, carrying out calculation to obtain effective relative gain matrixes of all transfer functions; and comparing elements of the effective relative gain matrixes with a preference value, thereby determining a control channel with a minimum mutual influence on the input channel and the output channel. According to the invention, the method with simple calculation can be used for carrying out a quantitative analysis on interaction on different control loops of a multi-input multi-output control system and for providing guidance and reference for determination of a matching scheme of an input and an output of a supplementary controller.

Description

The appraisal procedure of ac and dc systems additional controller inter-channel influence and system

Technical field

The present invention relates to alternating current-direct current interconnected electric power system control field, particularly relate to a kind of appraisal procedure and system of inter-channel influence of ac and dc systems additional controller.

Background technology

The control effects of ac and dc systems additional controller and the choice relation of its input and output signal position close.Remote power transmission need be paid close attention to and the coordinating of AC control appliance, to avoid the adverse drug reactions between isolation controller, as the situation of the new oscillation mode of " mode resonances " equal excitation, thus realize appropriate centralization and decentralization control, the poles and zeros assignment changing transfer function, reduction control cost and improve control performance.

Therefore, influencing each other between the input channel of correct assessment ac and dc systems additional controller and output channel is extremely important, can provide guide for the selection of the input channel of ac and dc systems additional controller and output channel.

But the interactional method between the input channel of more existing assessment ac and dc systems additional controllers and output channel is very complicated and amount of calculation is large.

Summary of the invention

Based on this, be necessary to provide a kind of simple and the appraisal procedure of the inter-channel influence of the ac and dc systems additional controller that amount of calculation is little and system.

An appraisal procedure for the inter-channel influence of ac and dc systems additional controller, comprises the following steps:

Obtain the transfer function between the input channel of each control channel and output channel;

Effective Relative increasing rate of each described transfer function is calculated respectively according to described transfer function;

Element in described effective Relative increasing rate and reference point are compared, to determine that input channel and output channel influence each other minimum control channel.

Wherein in a kind of execution mode, the described step calculating effective Relative increasing rate of each described transfer function according to described transfer function respectively comprises:

Calculate the bandwidth sum absolute value of the transfer function of each described control channel;

Bandwidth sum absolute value according to described transfer function calculates effective relative gain, with effective Relative increasing rate of described effective relative gain each described control channel for element is formed.

Wherein in a kind of execution mode, the computing formula of described effective relative gain is:

$e_{ij}=g_{ij}\left(0\right){\∫}_0^{{\mathrm{\ω}}_{B,ij}}\left|g_{ij}^0\left(j\mathrm{\ω}\right)\right|d\mathrm{\ω},$

Wherein, e _ijfor effective relative gain, ω _{b, ij}it is transfer function bandwidth, i, j=1,2 ..., n; for transfer function absolute value; $g_{ij}^0\left(j\mathrm{\ω}\right)=\frac{g_{ij}\left(j\mathrm{\ω}\right)}{g_{ij}\left(0\right)};$ G _ij(0) be steady-state gain, for g _ijthe normalized transfer function of (j ω); ω is angular speed;

Described effective Relative increasing rate is: $E=\left(\begin{array}{cccc}{e}_{11}& e_{12}& ...& e_{1n}\\ e_{21}& e_{22}& ...& e_{2n}\\ .& .& & .\\ .& .& & .\\ .& .& & .\\ e_{n1}& e_{n2}& ...& e_{nn}\end{array}\right).$

Wherein in a kind of execution mode, described reference point is 1.

Wherein in a kind of execution mode, described the step that element in described effective Relative increasing rate and reference point compare to determine to influence each other minimum input channel and output channel specifically to be comprised:

Element and 1 in described effective Relative increasing rate is compared to determine the element closest to 1;

The described control channel corresponding closest to the element of 1 is defined as input channel and output channel to influence each other minimum control channel.

The present invention also provides a kind of evaluating system of inter-channel influence of ac and dc systems additional controller, comprising:

Acquisition module, for obtaining the transfer function between the input channel of each control channel and output channel;

Computing module, for calculating effective Relative increasing rate of each described transfer function respectively according to described transfer function;

Evaluation module, for the element in described effective Relative increasing rate and reference point being compared, to determine that input channel and output channel influence each other minimum control channel.

Wherein in a kind of execution mode, described computing module comprises:

First computing unit, for calculating the bandwidth sum absolute value of the transfer function of each described control channel;

Matrix calculation unit, calculates effective relative gain for the bandwidth sum absolute value according to described transfer function, with effective Relative increasing rate of described effective relative gain each control channel for element is formed.

Wherein in a kind of execution mode, the computing formula of described effective relative gain is:

$e_{ij}=g_{ij}\left(0\right){\∫}_0^{{\mathrm{\ω}}_{B,ij}}\left|g_{ij}^0\left(j\mathrm{\ω}\right)\right|d\mathrm{\ω},$

Wherein, e _ijfor effective relative gain, ω _{b, ij}it is transfer function bandwidth, i, j=1,2 ..., n; for transfer function absolute value; $g_{ij}^0\left(j\mathrm{\ω}\right)=\frac{g_{ij}\left(j\mathrm{\ω}\right)}{g_{ij}\left(0\right)};$ G _ij(0) be steady-state gain, for g _ijthe normalized transfer function of (j ω); ω is angular speed;

Described effective Relative increasing rate is: $E=\left(\begin{array}{cccc}{e}_{11}& e_{12}& ...& e_{1n}\\ e_{21}& e_{22}& ...& e_{2n}\\ .& .& & .\\ .& .& & .\\ .& .& & .\\ e_{n1}& e_{n2}& ...& e_{nn}\end{array}\right).$

Wherein in a kind of execution mode, described reference point is 1.

Wherein in a kind of execution mode, described evaluation module comprises:

Comparing unit, for comparing to determine the element closest to 1 by the element and 1 in described effective Relative increasing rate;

Assessment unit, for the minimum control channel that the described control channel determination input channel corresponding closest to the element of 1 and output channel influenced each other.

The appraisal procedure of the inter-channel influence of this ac and dc systems additional controller, by obtaining the transfer function between different interchannel input channel and output channel, calculate effective Relative increasing rate of different controller input channel and output channel combination respectively, the element in passage in array and reference point are compared to determine according to comparative result influence each other minimum input channel and output channel.The method calculates simple, and the reciprocal effect between the different control loops that can be used for quantitative analysis multi-input multi-output control system, can be used for instructing and reference for determining that the pairing scheme of additional controller input variable and output variable provides.

Accompanying drawing explanation

Fig. 1 is a kind of flow chart of appraisal procedure of ac and dc systems additional controller inter-channel influence of execution mode;

Fig. 2 is a kind of flow chart of the method for effective Relative increasing rate that obtains according to transfer function calculating of execution mode;

Fig. 3 is a kind of flow chart of the method by comparing input channel and the output channel determining that relative effect is minimum of execution mode;

Fig. 4 is a kind of single feed-in direct current system topological diagram;

Fig. 5 is the schematic diagram of the input-output control system of the damping controller of Fig. 4;

Fig. 6 is a kind of high-level schematic functional block diagram of evaluating system of ac and dc systems additional controller inter-channel influence of execution mode.

Embodiment

As shown in Figure 1, a kind of appraisal procedure of inter-channel influence of ac and dc systems additional controller, comprises the following steps:

S10: obtain the transfer function between the input channel of each control channel and output channel.

In a particular embodiment, by Model Distinguish, obtain the transfer function between the input channel of each control channel and output channel.

S30: the effective Relative increasing rate calculating each transfer function according to transfer function respectively.

The interchannel transfer function of the difference that channel pattern identification obtains, calculates effective Relative increasing rate of different controller input channel and output channel combination respectively.

S50: the element in effective Relative increasing rate and reference point are compared, to determine that input channel and output channel influence each other minimum control channel.

The appraisal procedure of the inter-channel influence of this ac and dc systems additional controller, transfer function between the interchannel input channel of the difference obtained by Model Distinguish and output channel, calculate effective Relative increasing rate of different controller input channel and output channel combination respectively, the element in passage in array and reference point are compared to determine according to comparative result influence each other minimum input channel and output channel.The method calculates simple, and the reciprocal effect between the different control loops that can be used for quantitative analysis multi-input multi-output control system, can be used for instructing and reference for determining that the pairing scheme of additional controller input variable and output variable provides.

Concrete, as shown in Figure 2, step S30 specifically comprises:

S31: the bandwidth sum absolute value calculating the transfer function of each control channel.

S32: the bandwidth sum absolute value according to transfer function calculates effective relative gain, with effective Relative increasing rate of effective relative gain each control channel for element is formed.

The computing formula of effective relative gain is: $e_{ij}=g_{ij}\left(0\right){\∫}_0^{{\mathrm{\ω}}_{B,ij}}\left|g_{ij}^0\left(j\mathrm{\ω}\right)\right|d\mathrm{\ω},$

Wherein, e _ijfor effective relative gain, ω _{b, ij}it is transfer function bandwidth, i, j=1,2 ..., n; for transfer function absolute value; $g_{ij}^0\left(j\mathrm{\ω}\right)=\frac{g_{ij}\left(j\mathrm{\ω}\right)}{g_{ij}\left(0\right)};$ G _ij(0) be steady-state gain, for g _ijthe normalized transfer function of (j ω), ω is angular speed;

The effective Relative increasing rate formed is: $E=\left(\begin{array}{cccc}{e}_{11}& e_{12}& ...& e_{1n}\\ e_{21}& e_{22}& ...& e_{2n}\\ .& .& & .\\ .& .& & .\\ .& .& & .\\ e_{n1}& e_{n2}& ...& e_{nn}\end{array}\right).$

In a particular embodiment, reference point is set to 1, and as shown in Figure 3, step S50 specifically comprises:

S51: the element in effective Relative increasing rate and 1 are compared to determine the element closest to 1.

S52: control channel corresponding for the element closest to 1 is defined as input channel and output channel and influences each other minimum control channel.

For the single feed-in direct current system shown in Fig. 4, the present invention will be described.

This system comprises four generators, is respectively G1, G2, G3 and G4, and represent the load of node 7 and node 9 respectively with node 1 ~ node 13, L7 and L9, C7 and C9 represents the reactive power compensation of node 7 and node 9 respectively.

The topological structure of the single feed-in direct current system according to Fig. 4, the damping controller of system will form two input-output channels as shown in Figure 5, be respectively u ₁→ y ₁, u ₁→ y ₂and u ₂→ y ₁, u ₂→ y ₂passage.

First, according to identification algorithm, obtain the transfer function of each control channel.

Secondly, calculate effective Relative increasing rate of each control channel, during using alternating current interconnection active power as direct current additional damping controller feedback signal, the effective Relative increasing rate between its control loop and generator excitation controller loop is as shown in table 1.Concrete computational methods, as step S30, do not repeat them here.

Relative gain array between table 1 generator excitation controller and direct current additional damping controller

Wherein, Δ ω is generator speed deviation, and Δ P is interconnection active power variable quantity, Δ u _gfor generator additional damping controller controlled quentity controlled variable, Δ u _hVDCfor direct current additional damping controller controlled quentity controlled variable.G11 represents the first row first row matrix, and G12, G21, G22 are by that analogy; △ y represents the variable quantity of subscript amount shown, as represent Δ ω ₃variable quantity, represent Δ P ₇₉variable quantity, Δ ω ₃for the rotating speed deviation of generator 3, Δ P ₇₉for the active power variable quantity of node 7 to 9 interconnections, Δ u _g3be No. 3 generator additional damping controller controlled quentity controlled variables.

As shown in Table 1, effective Relative increasing rate index reflects passage Δ ω clearly ₄→ Δ u _g4with Δ P ₇₉→ Δ u _hVDCbetween interaction comparatively passage Δ ω ₃→ Δ u _g3with Δ P ₇₉→ Δ u _hVDCbetween interaction more weak, can by Δ ω ₄→ Δ u _g4with Δ P ₇₉→ Δ u _hVDCas input channel and the output channel of this system additional controller.

The appraisal procedure of this ac and dc systems additional controller inter-channel influence is simple, the reciprocal effect between the different control loops that can be used for quantitative analysis multi-input multi-output control system.

The present invention also provides a kind of evaluating system of inter-channel influence of ac and dc systems additional controller, as shown in Figure 6, comprising:

Acquisition module 10, for obtaining the transfer function between the input channel of each control channel and output channel.

In a particular embodiment, by Model Distinguish, obtain the transfer function between the input channel of each control channel and output channel.

Computing module 30, for calculating effective Relative increasing rate of each transfer function respectively according to transfer function.

The interchannel transfer function of the difference that channel pattern identification obtains, calculates effective Relative increasing rate of different controller input channel and output channel combination respectively.

Evaluation module 50, for the element in effective Relative increasing rate and reference point being compared, to determine that input channel and output channel influence each other minimum control channel.

The evaluating system of the inter-channel influence of this ac and dc systems additional controller, transfer function between the interchannel input channel of the difference obtained by Model Distinguish and output channel, calculate effective Relative increasing rate of different controller input channel and output channel combination respectively, the element in passage in array and reference point are compared to determine according to comparative result influence each other minimum input channel and output channel.This system-computed is simple, and the reciprocal effect between the different control loops that can be used for quantitative analysis multi-input multi-output control system, can be used for instructing and reference for determining that the pairing scheme of additional controller input variable and output variable provides.

Concrete, computing module 30 comprises:

First computing unit, for calculating the bandwidth sum absolute value of the transfer function of each control channel;

Matrix calculation unit, calculates effective relative gain for the bandwidth sum absolute value according to transfer function, with effective Relative increasing rate of effective relative gain each control channel for element is formed.

The computing formula of effective relative gain is: $e_{ij}=g_{ij}\left(0\right){\∫}_0^{{\mathrm{\ω}}_{B,ij}}\left|g_{ij}^0\left(j\mathrm{\ω}\right)\right|d\mathrm{\ω},$

Wherein, e _ijfor effective relative gain, ω _{b, ij}it is transfer function bandwidth, i, j=1,2 ..., n; for transfer function absolute value; $g_{ij}^0\left(j\mathrm{\ω}\right)=\frac{g_{ij}\left(j\mathrm{\ω}\right)}{g_{ij}\left(0\right)};$ G _ij(0) be steady-state gain, for g _ijthe normalized transfer function of (j ω);

The effective Relative increasing rate formed is: $E=\left(\begin{array}{cccc}{e}_{11}& e_{12}& ...& e_{1n}\\ e_{21}& e_{22}& ...& e_{2n}\\ .& .& & .\\ .& .& & .\\ .& .& & .\\ e_{n1}& e_{n2}& ...& e_{nn}\end{array}\right).$

In a particular embodiment, reference point is set to 1, and evaluation module 50 comprises:

Comparing unit, for comparing to determine the element closest to 1 by the element in effective Relative increasing rate and 1;

Assessment unit, to influence each other minimum control channel for control channel corresponding for the element closest to 1 being defined as input channel and output channel.

The evaluating system of this ac and dc systems additional controller inter-channel influence is simple, the reciprocal effect between the different control loops that can be used for quantitative analysis multi-input multi-output control system.

Each technical characteristic of above embodiment can combine arbitrarily, for making description succinct, all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this specification is recorded.

Above embodiment only have expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.

Claims (10)

1. an appraisal procedure for the inter-channel influence of ac and dc systems additional controller, is characterized in that, comprises the following steps:

Obtain the transfer function between the input channel of each control channel and output channel;

Effective Relative increasing rate of each described transfer function is calculated respectively according to described transfer function;

Element in described effective Relative increasing rate and reference point are compared, to determine that input channel and output channel influence each other minimum control channel.

2. the appraisal procedure of the inter-channel influence of ac and dc systems additional controller according to claim 1, is characterized in that, the described step calculating effective Relative increasing rate of each described transfer function according to described transfer function respectively comprises:

Calculate the bandwidth sum absolute value of the transfer function of each described control channel;

Bandwidth sum absolute value according to described transfer function calculates effective relative gain, with effective Relative increasing rate of described effective relative gain each described control channel for element is formed.

3. the appraisal procedure of the inter-channel influence of ac and dc systems additional controller according to claim 2, is characterized in that,

The computing formula of described effective relative gain is:

Wherein, e _ijfor effective relative gain, ω _{b, ij}it is transfer function bandwidth, i, j=1,2 ..., n; for transfer function absolute value; g _ij(0) be steady-state gain, for g _ijthe normalized transfer function of (j ω); ω is angular speed;

Described effective Relative increasing rate is: $E=\left(\begin{array}{cccc}{e}_{11}& e_{12}& ...& e_{1n}\\ e_{21}& e_{22}& ...& e_{2n}\\ \·& \·& & \·\\ \·& \·& & \·\\ \·& \·& & \·\\ e_{n1}& e_{n2}& ...& e_{nn}\end{array}\right).$

4. the appraisal procedure of the inter-channel influence of ac and dc systems additional controller according to claim 1, is characterized in that, described reference point is 1.

5. the appraisal procedure of the inter-channel influence of ac and dc systems additional controller according to claim 4, it is characterized in that, described the step that element in described effective Relative increasing rate and reference point compare to determine to influence each other minimum input channel and output channel specifically to be comprised:

Element and 1 in described effective Relative increasing rate is compared to determine the element closest to 1;

The described control channel corresponding closest to the element of 1 is defined as input channel and output channel to influence each other minimum control channel.

6. an evaluating system for the inter-channel influence of ac and dc systems additional controller, is characterized in that, comprising:

Acquisition module, for obtaining the transfer function between the input channel of each control channel and output channel;

Computing module, for calculating effective Relative increasing rate of each described transfer function respectively according to described transfer function;

Evaluation module, for the element in described effective Relative increasing rate and reference point being compared, to determine that input channel and output channel influence each other minimum control channel.

7. the evaluating system of the inter-channel influence of ac and dc systems additional controller according to claim 6, is characterized in that, described computing module comprises:

First computing unit, for calculating the bandwidth sum absolute value of the transfer function of each described control channel;

Matrix calculation unit, calculates effective relative gain for the bandwidth sum absolute value according to described transfer function, with effective Relative increasing rate of described effective relative gain each control channel for element is formed.

8. the evaluating system of the inter-channel influence of ac and dc systems additional controller according to claim 7, is characterized in that,

The computing formula of described effective relative gain is:

Wherein, e _ijfor effective relative gain, ω _{b, ij}it is transfer function bandwidth, i, j=1,2 ..., n; for transfer function absolute value; g _ij(0) be steady-state gain, for g _ijthe normalized transfer function of (j ω); ω is angular speed;

Described effective Relative increasing rate is: $E=\left(\begin{array}{cccc}{e}_{11}& e_{12}& ...& e_{1n}\\ e_{21}& e_{22}& ...& e_{2n}\\ \·& \·& & \·\\ \·& \·& & \·\\ \·& \·& & \·\\ e_{n1}& e_{n2}& ...& e_{nn}\end{array}\right).$

9. the evaluating system of the inter-channel influence of ac and dc systems additional controller according to claim 6, is characterized in that, described reference point is 1.

10. the evaluating system of the inter-channel influence of ac and dc systems additional controller according to claim 9, is characterized in that, described evaluation module comprises:

Comparing unit, for comparing to determine the element closest to 1 by the element and 1 in described effective Relative increasing rate;

Assessment unit, for the minimum control channel that the described control channel determination input channel corresponding closest to the element of 1 and output channel influenced each other.