CN108462190B - Forced power oscillation suppression method based on UPFC - Google Patents
Forced power oscillation suppression method based on UPFC Download PDFInfo
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Abstract
A forced power oscillation suppression method based on UPFC comprises the following steps: the method comprises the steps of respectively controlling a series side and a parallel side, collecting oscillation signals on a UPFC installation bus, respectively forming deviation signals on the series side and the parallel side, filtering the deviation signals through a gating link, outputting the deviation signals to a lead-lag link, carrying out parameter design on the lead-lag link by adopting a synchronous torque coefficient compensation method, respectively superposing two output signals on a parallel side voltage and a series side impedance of the UPFC, and adjusting the parallel side voltage and the series side impedance, so that the resonance frequency of a system in an oscillation mode is changed. The invention overcomes the defect that the traditional damping control can not effectively inhibit forced oscillation through the resonance frequency control, realizes the effect of adjusting the resonance frequency only at the resonance frequency point so as to destroy the resonance condition of the system, can effectively inhibit the forced oscillation, and does not influence other oscillation modes.
Description
Technical Field
The invention relates to the field of power system stability control, in particular to a forced power oscillation suppression method based on a UPFC.
Background
Forced oscillation is one of the main problems jeopardizing the safe and stable operation of the power system, and its generation mechanism is caused by the existence of a continuous periodic disturbance source in the system. When the frequency of the external periodic power disturbance source is close to the resonant frequency of the system, a large-amplitude power oscillation phenomenon can occur due to the resonance phenomenon.
The main method for inhibiting the low-frequency oscillation of the power system in damping control at present generates a good inhibition effect on the low-frequency oscillation of a negative damping mechanism by improving the damping coefficient of a certain oscillation mode of the system, but has a poor inhibition effect on forced oscillation. The reason is that the disturbance source of the low-frequency oscillation of the negative damping mechanism is instantaneous, and when the damping coefficient is larger, the oscillation can be more quickly attenuated. The periodic disturbance source of forced oscillation is not disappeared, and the oscillation amplitude is in direct proportion to the disturbance amplitude. In addition, since the amplitude of the forced oscillation is large, the damping of the oscillation mode needs to be increased to a high level, the damping ratio can be generally increased to only about 0.3 due to the limitation of a negative damping mechanism, and if the damping coefficient of one oscillation mode is adjusted to be too large, other oscillation modes are affected, and the system is unstable. Besides damping, the dominant factor of forced oscillation is also closely related to the system resonance frequency, when the frequency of the disturbance source and the resonance frequency deviate, the resonance phenomenon disappears, and the amplitude of the forced oscillation is greatly attenuated, so that the suppression effect which is more obvious than that of the simple increase of the damping coefficient is generated. At present, an additional controller of the UPFC is generally designed by adopting a traditional damping control idea, and a damping device specially aiming at forced oscillation is not provided.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method for implementing a UPFC additional resonance frequency controller, in which an additional resonance frequency control is adopted, and an output signal of the additional resonance frequency controller changes a resonance frequency of a resonance oscillation mode by controlling a series side impedance and a parallel side voltage of the UPFC, respectively. Because the invention can effectively change the resonance frequency of the system under the resonance mode, and does not change the amplitude-frequency characteristic and the phase-frequency characteristic of the system at other oscillation frequencies, the invention can effectively inhibit forcing, does not influence other oscillation modes, and ensures the stability of the system, and for the purpose, the invention provides a forced power oscillation inhibition method based on UPFC, which is characterized in that: the system of the forced power oscillation suppression method based on the UPFC comprises a signal input link, a blocking link and a frequency phase compensation link, wherein the frequency phase compensation link outputs signals to the serial side or the parallel side of the UPFC and outputs the signals to a UPFC mounting point in the system through an amplitude limiting link, and the forced power oscillation suppression method based on the UPFC specifically comprises the following steps:
the method comprises the following steps: will oscillate signal x1Obtaining oscillation signal x inducing resonance through gating link2；
Step two: an oscillating signal x that will induce resonance2Processing the signal through a blocking link to obtain a deviation signal x, and processing the deviation signal x3As input signal of phase compensation link;
step three: designing parameters of a phase compensation link, and designing the deviation signal x through the phase compensation link3Adjusting, the phase compensation element comprises a plurality of lead-lag elements, adjusting the phase of the signal and generating an output signal x4So as to compensate the synchronous torque coefficient of the oscillation mode, thereby having influence on the system resonance frequency;
step four: output signal x of the phase compensation element4Compensating the corresponding electric quantity of the installed bus through a UPFC PI control structure to obtain an output signal x of a series side or a parallel side of the UPFC5；
Step five: output signal x of serial side or parallel side of UPFC5Limiting amplitude to obtain output control signal x6；
Step six: will output a control signal x6Superpose equivalent electric quantity S to UPFC installation busref0The reference electric quantity is adjusted.
The invention further improves the comprehensive transfer function G of the gating link in the step oneRFC(s) is:
wherein,
for the transfer function of the gating link, KΠGain factor, omega, of the gating elementr0Is the center frequency; kωAnd TωThe gain and time constant of the blocking element,
denotes a phase compensation element, where T1And T2The time constant of the lead-lag links is represented, m represents the number of the lead-lag links, s is a differential operator, and when the system has forced oscillation in various modes and the oscillation frequency of each mode has larger difference, a plurality of parallel gating link structures are adopted. When the system has the forced oscillation of a plurality of modes and the oscillation frequency difference of each mode is small, a gating link with large bandwidth is adopted.
The invention is further improved, and the parameter design is carried out on the phase compensation link in the third step, so that the aim of compensating the synchronous torque coefficient is fulfilled.
In a further development of the invention, the oscillation signal x in step one is1The UPFC additional frequency controller is designed for any one of the rotating speed of the generator, the active power or the frequency of the connecting line, but the phase compensation link needs to be designed according to the input signal of the response, and the UPFC additional frequency controller is characterized in that the resonant frequency of the system can be shifted by compensating the synchronous torque coefficient of a certain oscillation mode of the system, so that the resonant frequency of the system is changed. The relationship between the synchronous torque coefficient and the resonant frequency is as follows:
wherein, ω isnIs the resonant frequency, omega, of a certain oscillation mode0Is the rated frequency of the system, K is the synchronous torque coefficient, TJIs the generator inertia time constant.
According to a further improvement of the present invention, the equivalent electric quantity S in the sixth step should be selected as the equivalent reactance B or the active power P according to the serial-parallel connection side.
The additional frequency controller in the invention generates a large gain at a resonance frequency point, the gain at a point far away from the resonance frequency point is small, and if the central frequency of the gating link is set as the resonance frequency of forced oscillation, the UPFC additional frequency controller has a large gain only at the resonance point of forced oscillation. For the phase, the gating link does not influence the phase offset of the controller, and the phase for compensating the synchronous torque coefficient is mainly provided by the phase compensation link. Therefore, the normal operation of the system is not influenced by the additional frequency controller of the UPFC, and compared with the prior art, the invention has the advantages that:
1) aiming at forced oscillation, the UPFC additional resonance frequency control is adopted, when the system generates forced oscillation, the resonance frequency of the oscillation mode of the system is transferred, and the resonance condition is destroyed, so that the amplitude of the forced oscillation of the system is greatly attenuated.
2) The invention only transfers the resonance frequency when the forced oscillation occurs, and does not compensate the phase of the damping coefficient, thereby not deteriorating the damping of the system oscillation mode and not influencing the normal operation of the system.
Drawings
FIG. 1 is a schematic diagram of a UPFC additional resonant frequency controller in accordance with the present invention;
FIG. 2 is a block diagram of a single machine infinite system with UPFC;
FIG. 3 is a block diagram of a transfer function of a single machine infinite system with UPFC in an embodiment;
FIG. 4 is a block diagram of a transfer function of an additional resonant frequency controller at the parallel side of the UPFC in the embodiment;
FIG. 5 is a block diagram of the transfer function of the additional resonant frequency controller on the series side of the UPFC in the embodiment;
FIG. 6 is a graph comparing the suppression of low frequency oscillations in a resonance mechanism using the present invention and a conventional power system stabilizer;
fig. 7 is a graph comparing the damping effect of the oscillation by the UPFC additional frequency controller of the present invention and the conventional additional damping controller.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
the invention provides a method for realizing a UPFC additional resonance frequency controller, which adopts additional resonance frequency control, and the output signal of the additional resonance frequency controller respectively controls the impedance of the series side and the voltage of the parallel side of the UPFC, thereby changing the resonance frequency of a resonance oscillation mode. The invention can effectively change the resonance frequency of the system in the resonance mode, and does not change the amplitude-frequency characteristic and the phase-frequency characteristic of the system at other oscillation frequencies, thereby effectively inhibiting forcing, simultaneously not influencing other oscillation modes and ensuring the stability of the system.
Fig. 1 is a schematic diagram of the principle of the present invention, and a typical single-machine infinite system is taken as an example to illustrate the embodiment of the present invention. The structural block diagram of the infinite single-machine system with the UPFC is shown in figure 2, and the system comprises a generator and an excitation system, a steam turbine and speed regulation system, a transformer, the UPFC and a load which are connected to the infinite system through a connecting line. The rated capacity of the generator is 200MW, the rated voltage is 13.8kV, the rated frequency is 60Hz, and the generator works under the condition that the load factor is 0.75p.u. The excitation system adopts a direct current exciter model, and the speed regulator adopts a water turbine speed regulator model. The resonant frequency of the system is about 1.67 Hz. The UPFC with the UPFC additional frequency controller of the present invention and the UPFC with the conventional additional damping controller are respectively installed at the midpoint of the transmission line, and the block diagram of the single-machine infinite system structure and the block diagram of the series-parallel side transfer function of the device are shown in fig. 3, 4 and 5, and the oscillating signal x of the present embodiment is1And y1And respectively adopting a voltage signal of a mounting point and an active power signal on a transmission line.
The forced power oscillation suppression method based on the UPFC comprises the following implementation steps:
the method comprises the following steps: passing the oscillation signal through a gating element to obtain a resonance-inducing oscillation signal component, whereinThe transfer function of the gating element is
ωr0The central frequency is equal to the resonance frequency of the forced oscillation mode to be suppressed;
step two: the oscillation signal component causing resonance is processed by a stopping link to obtain a deviation signal, and the transfer function of the stopping link is
TωThe obtained deviation signal is used as an input signal of a phase compensation link for a stopping time constant;
step three: the deviation signal is adjusted through a phase compensation link, the phase compensation link comprises a plurality of lead-lag links, the phase of the signal is adjusted to generate an output signal, so that the synchronous torque coefficient of an oscillation mode is compensated, the influence is generated on the resonant frequency of the system, and the transfer function of the link is
Wherein m is the number of lead-lag links;
step four: compensating the corresponding electric quantity of the installed bus by the output signal of the phase compensation link through a UPFC PI control structure to obtain the output signal of the UPFC serial side or parallel side, wherein the transfer function of the UPFC PI control structure is
The link has different values for the serial side and the parallel side;
step five: limiting the output signal of the UPFC PI control structure, and for the parallel side, the output control signal delta B and the input S of the limiting linkshThe relationship of (1) is:
ΔBmaxand Δ BminRespectively an upper limit and a lower limit of the amplitude limiting link; for the serial side, the output of the clipping elementOutput control signal Delta B and input SseThe relationship of (1) is:
ΔBmaxand Δ BminRespectively an upper limit and a lower limit of the amplitude limiting link;
step six: for the parallel side, the output control signal Δ B is superimposed to the equivalent susceptance B of the parallel side of the UPFCUPFCAdjusting the reference voltage; for the series side, the output control signal Δ X is superimposed to the equivalent reactance X of the UPFC series sideUPFCAdjusting the reference voltage;
k in FIG. 31～K6Is defined by the physical quantities shown in fig. 2, which are defined as follows:
the difference between the conventional additional damping controller and the controller proposed by the method is step three, the conventional additional damping controller compensates the damping coefficient to influence the damping coefficient of the oscillation, and the additional frequency controller compensates the synchronous torque coefficient to directly shift the resonant frequency of the oscillation mode. The relationship between the synchronous torque coefficient of a certain oscillation mode of the system and the steady-state response amplitude of the forced oscillation can be obtained by analyzing the conventional parameters, as shown in fig. 4, when the synchronous torque coefficient changes, the steady-state amplitude of the forced oscillation of the system obtained according to the characteristics of the curve can be greatly reduced.
In this case, the series-parallel input signals of the additional frequency controller are selected as described above, whereas the series-parallel input signals of the conventional additional damping controller are selected from the generator rotor angular frequency. In this example, the parameters of the UPFC additional frequency controller are as follows, and the structure thereof is shown in fig. 5 and 6:
the parameters of the parallel connection side of the UPFC are as follows: kR＝0.030，ξ＝0.010，ωn0＝10.493，Tω＝10.0，Kω＝9.0，T1＝0.0423，T2＝0.2316，ΔBmax＝0.1，ΔBmin＝-0.1；
The parameters of the series side of the UPFC are as follows: kR＝0.017，ξ＝0.010，ωn0＝10.493，Tω＝10.0，Kω＝9.0，T1＝0.4862，T2＝0.0324，ΔXmax＝0.1，ΔXmin＝-0.1；
Based on the above parameters, the suppression effect of the UPFC additional resonance frequency controller of the present invention is compared with that of the conventional UPFC additional damping controller:
assuming that the output power of the prime mover of the system has disturbance with frequency of 1.67Hz and amplitude of 10MW, the UPFC using the conventional additional damping controller and the UPFC using the suppression method of the present invention are added to the system separately, and the suppression effect of the UPFC additional frequency controller and the conventional additional damping controller on oscillation is compared as shown in fig. 7.
It can be seen from the figure that the amplitude of the forced oscillation caused by the disturbance source is about 120MW, and the oscillation amplitude is about 30MW and about 25% of the steady-state response amplitude of the forced oscillation by using the conventional additional damping control, while the oscillation amplitude in the steady state is only about 10MW and less than 10% of the steady-state response amplitude of the forced oscillation by using the method of the present invention, and it can be seen that the effect of the UPFC additional resonant frequency controller provided by the present invention on the forced oscillation is better than that of the conventional additional damping controller. The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but any modifications or equivalent variations made according to the technical spirit of the present invention are within the scope of the present invention as claimed.
Claims (3)
1. A forced power oscillation suppression method based on UPFC is characterized in that: the system of the forced power oscillation suppression method based on the UPFC comprises a signal input link, a blocking link and a frequency phase compensation link, wherein the frequency phase compensation link outputs signals to the serial side or the parallel side of the UPFC and outputs the signals to a UPFC mounting point in the system through an amplitude limiting link, and the forced power oscillation suppression method based on the UPFC specifically comprises the following steps:
the method comprises the following steps: will oscillate signal x1Obtaining oscillation signal x inducing resonance through gating link2；
The comprehensive transfer function G of the gating linkRFC(s) is:
wherein,
for the transfer function of the gating link, KΠGain factor, omega, of the gating elementr0Is the center frequency; kωAnd TωThe gain and time constant of the blocking element,
denotes a phase compensation element, where T1And T2Represents the time constant of the lead-lag links, m represents the number of the lead-lag links,s is a differential operator;
step two: an oscillating signal x that will induce resonance2Processing the signal through a blocking link to obtain a deviation signal x, and processing the deviation signal x3As input signal of phase compensation link;
step three: designing parameters of a phase compensation link, and designing the deviation signal x through the phase compensation link3Adjusting, the phase compensation element comprises a plurality of lead-lag elements, adjusting the phase of the signal and generating an output signal x4So as to compensate the synchronous torque coefficient of the oscillation mode, thereby having influence on the system resonance frequency;
step four: output signal x of the phase compensation element4Compensating the equivalent electric quantity S of the installation bus through a UPFC PI control structure to obtain an output signal x of a series side or a parallel side of the UPFC5；
Step five: output signal x of serial side or parallel side of UPFC5Limiting amplitude to obtain output control signal x6；
Step six: will output a control signal x6Superpose equivalent electric quantity S to UPFC installation busref0The reference voltage is adjusted, and the equivalent electric quantity S is used for the parallel sideref0Is specifically selected as equivalent susceptance BUPFCEquivalent electric quantity S for the series sideref0Is selected as equivalent reactance XUPFC。
2. The UPFC-based forced power oscillation suppression method according to claim 1, wherein: and in the third step, when the parameter design is carried out on the phase compensation link, the synchronous torque coefficient is compensated as the target.
3. The UPFC-based forced power oscillation suppression method according to claim 1, wherein: the oscillating signal x in the step one1The phase compensation link is designed according to the input signal of the response, wherein the phase compensation link is any one of the rotating speed of the generator, the active power or the frequency on the connecting line.
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| CN111934329B (en) * | 2020-09-22 | 2021-01-01 | 国网江苏省电力有限公司电力科学研究院 | Line-to-line power flow controller oscillation suppression method considering new energy fluctuation |
| CN114172169B (en) * | 2021-11-29 | 2023-06-13 | 国网四川省电力公司成都供电公司 | Asynchronous networking low-frequency oscillation multi-feed control system and method |
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