CN110994643B - Control parameter adjusting method and device for speed regulator of hydroelectric generating set - Google Patents
Control parameter adjusting method and device for speed regulator of hydroelectric generating set Download PDFInfo
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Abstract
The application relates to a control parameter adjusting method and device of a hydroelectric generating set speed regulator, comprising the following steps: acquiring the full system state information of a hydroelectric generating set system; determining an ultralow frequency oscillation mode of a hydroelectric generating set system; acquiring a target damping ratio of a hydroelectric generating set system in an ultralow frequency oscillation mode; if the target damping ratio is smaller than the set damping ratio threshold, acquiring a plurality of power angle variable participation factors of the hydroelectric generating set system in the ultralow frequency oscillation mode; determining a target power angle variable participation factor; and acquiring target control parameters of a speed regulator of the hydroelectric generating set system according to the target power angle variable participation factors, and adjusting initial control parameters of the speed regulator by using the target control parameters. According to the method, the ultralow frequency oscillation mode is accurately screened through modal analysis, the ultralow frequency oscillation mode negative damping unit is globally positioned through the participation factor, the control parameters of the speed regulator are globally optimized, the damping ratio of the ultralow frequency oscillation mode of the system is effectively improved, and the precision of the adjustment parameters of the speed regulator of the hydroelectric generating set is improved.
Description
Technical Field
The present application relates to the field of hydroelectric technologies, and in particular, to a method for adjusting control parameters of a hydro-power generating unit speed regulator, a device for adjusting control parameters of a hydro-power generating unit speed regulator, a computer device, and a computer-readable storage medium.
Background
In recent years, the ultra-low frequency oscillation phenomenon of the actual high-proportion hydropower and island operation power grid has attracted extensive attention of industrial grade and academic circles, and the ultra-low frequency oscillation phenomenon seriously jeopardizes the safety and stability of the power grid. Research shows that the ultralow frequency oscillation phenomenon is caused by the fact that a speed regulation prime system of a hydroelectric generating set provides negative damping in the frequency fluctuation process, and meanwhile, phase lag of the speed regulation prime system can be effectively reduced by optimizing PID parameters of the speed regulator, the damping of the speed regulation prime system is improved, and frequency oscillation is effectively inhibited.
However, in the current hydro-power generating unit speed regulator parameter adjusting method, the accuracy of the adjusting parameter of the selected speed regulator is too low.
Disclosure of Invention
Based on this, it is necessary to provide a hydro-power generating unit speed regulator parameter adjusting method, a hydro-power generating unit speed regulator parameter adjusting device, a computer device and a computer readable storage medium for solving the technical problem that the accuracy of the hydro-power generating unit speed regulator adjusting parameter is too low in the conventional technology.
A control parameter adjusting method of a hydroelectric generating set speed regulator comprises the following steps:
acquiring the full system state information of a hydroelectric generating set system;
determining an ultralow frequency oscillation mode of the hydroelectric generating set system according to the full-system state information;
acquiring a target damping ratio of the hydroelectric generating set system in the ultralow frequency oscillation mode;
if the target damping ratio is smaller than a set damping ratio threshold, acquiring a plurality of power angle variable participation factors of the hydroelectric generating set system in the ultralow frequency oscillation mode;
determining a target power angle variable participation factor; the target power angle variable participation factor is a power angle variable participation factor which is larger than or equal to a set factor threshold value in the plurality of power angle variable participation factors;
and acquiring a target control parameter of a speed regulator of the hydroelectric generating set system according to the target power angle variable participation factor, and adjusting an initial control parameter of the speed regulator by using the target control parameter.
In one embodiment, the determining an ultra-low frequency oscillation mode of the hydroelectric generating set system according to the system-wide state information includes: acquiring a plurality of system characteristic values of the hydroelectric generating set system according to the full-system state information; the hydroelectric generating set system comprises a plurality of hydroelectric generating sets; obtaining phase angles corresponding to power angle state variables of the hydroelectric generating sets from the characteristic values of the systems; and determining the ultralow frequency oscillation mode of the hydroelectric generating set system according to the phase angle corresponding to the power angle state variable of each hydroelectric generating set.
In one embodiment, the obtaining a plurality of system characteristic values of the hydroelectric generating set system according to the system-wide state information includes: determining the number of the plurality of system characteristic values according to the full-system state information; if the number is smaller than a set number threshold value, obtaining a plurality of system characteristic values of the hydroelectric generating set system according to the full-system state information through an orthogonal triangular decomposition method; and if the number is larger than or equal to the number threshold value, obtaining a plurality of system characteristic values of the hydroelectric generating set system according to the full-system state information by an implicit restart method.
In one embodiment, the determining an ultra-low frequency oscillation mode of the hydroelectric generating set system according to the phase angle corresponding to the power angle state variable of each hydroelectric generating set includes: if the phase angle
The following conditions are satisfied:
setting the oscillation mode corresponding to the corresponding system characteristic value as the ultralow frequency oscillation mode of the hydroelectric generating set system; wherein,
and representing the phase angle of the power angle state variable corresponding to the j hydroelectric generating set in the ith system characteristic value.
In one embodiment, the obtaining system-wide state information of a hydroelectric power system comprises: acquiring a full-network state equation of the hydroelectric generating set system; and obtaining the full system state information of the hydroelectric generating set system according to the full network state equation through a small interference analysis model of the power system.
In one embodiment, the determining the target power angle variable participation factor includes: sequencing according to the magnitude sequence of the multiple power angle variable participation factors; the plurality of power angle variable participation factors correspond to a plurality of sequence numbers; determining a target sequence number; the power angle variable participation factor corresponding to the target sequence number is used as the factor threshold; and determining the target power angle variable participation factor according to the relative sizes of the plurality of sequence numbers and the target sequence number.
In one embodiment, the obtaining a target control parameter of a speed regulator of the hydroelectric generating set system according to the target work angle variable participation factor includes: determining a corresponding target hydroelectric generating set according to the target power angle variable participation factor; acquiring initial control parameters of the target hydroelectric generating set; acquiring sensitivity of an ultralow frequency oscillation characteristic value corresponding to an initial control parameter of the target hydroelectric generating set; obtaining an optimized step length; and acquiring the target control parameter according to the initial control parameter of the target hydroelectric generating set, the sensitivity of the ultralow frequency oscillation characteristic value and the optimization step length.
In one embodiment, a method for adjusting a control parameter of a hydro-power generating unit speed regulator is further provided, comprising the steps of:
a. determining initial control parameters of a speed regulator of a hydroelectric generating set system;
b. on the basis of the control parameter adjusting method of the hydroelectric generating set speed regulator, the initial control parameter of the speed regulator is replaced by the target control parameter;
c. and if the adjusted target damping ratio is smaller than the damping ratio threshold, repeating the steps a and b until the target damping ratio is larger than or equal to the damping ratio threshold.
A control parameter adjustment device for a hydro-power generating unit speed regulator, comprising:
the system information acquisition module is used for acquiring the full system state information of the hydroelectric generating set system;
the oscillation mode determining module is used for determining an ultralow frequency oscillation mode of the hydroelectric generating set system according to the full-system state information;
the damping ratio determining module is used for acquiring a target damping ratio of the hydroelectric generating set system in the ultralow frequency oscillation mode;
a participation factor determining module, configured to obtain a plurality of power angle variable participation factors of the hydroelectric generating set system in the ultra-low frequency oscillation mode if the target damping ratio is smaller than a set damping ratio threshold;
the target factor determining module is used for determining a target power angle variable participation factor; the target power angle variable participation factor is a power angle variable participation factor which is larger than or equal to a set factor threshold value in the plurality of power angle variable participation factors;
and the control parameter adjusting module is used for acquiring a target control parameter of the speed regulator of the hydroelectric generating set system according to the target power angle variable participation factor and adjusting an initial control parameter of the speed regulator by using the target control parameter.
In one embodiment, there is also provided a control parameter adjustment device for a hydro-power generating unit governor, comprising:
a control parameter determination module for performing step a. determining initial control parameters of a speed regulator of a hydroelectric generating set system;
a control parameter replacement module, configured to perform step b, based on the method for adjusting a control parameter of a hydro-power generating unit speed regulator according to any one of the embodiments, replace an initial control parameter of the speed regulator with the target control parameter;
and c, if the adjusted target damping ratio is smaller than the damping ratio threshold, repeating the steps a and b until the target damping ratio is larger than or equal to the damping ratio threshold.
A computer device comprising a processor and a memory, the memory storing a computer program, the processor, when executing the computer program, implementing a method of adjusting a control parameter of a hydro-power generating unit speed regulator according to any of the above embodiments.
A computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements a method of adjusting a control parameter of a hydro-power generating unit governor as defined in any of the above embodiments.
The control parameter adjusting method, the control parameter adjusting device, the computer equipment and the storage medium of the hydroelectric generating set speed regulator are used for acquiring the full system state information of a hydroelectric generating set system; determining an ultralow frequency oscillation mode of the hydroelectric generating set system according to the full-system state information; acquiring a target damping ratio of a hydroelectric generating set system in an ultralow frequency oscillation mode; if the target damping ratio is smaller than the set damping ratio threshold, acquiring a plurality of power angle variable participation factors of the hydroelectric generating set system in the ultralow frequency oscillation mode; determining a target power angle variable participation factor; the target power angle variable participation factor is a power angle variable participation factor which is larger than or equal to a set factor threshold value in the plurality of power angle variable participation factors; and acquiring target control parameters of a speed regulator of the hydroelectric generating set system according to the target power angle variable participation factors, and adjusting initial control parameters of the speed regulator by using the target control parameters. According to the method, the ultralow frequency oscillation mode is accurately screened from thousands of characteristic values of a large system through modal analysis, the ultralow frequency oscillation mode negative damping unit is globally positioned through the participation factor, the control parameter of the speed regulator is globally optimized, the ultralow frequency oscillation mode damping ratio of the system is effectively improved, and the accuracy of the regulating parameter of the speed regulator of the hydroelectric generating set is improved.
Drawings
FIG. 1 is a schematic flow diagram of a method for adjusting control parameters of a hydro-power unit governor in one embodiment;
FIG. 2 is a schematic flow diagram of a method for determining an ultra low frequency oscillation mode of a hydroelectric power-generating system based on system-wide state information, according to one embodiment;
FIG. 3 is a schematic flow diagram of a method for adjusting a control parameter of a hydro-power unit governor according to one embodiment;
FIG. 4 is a schematic flow diagram of a method for adjusting a control parameter of a hydro-power unit governor in another embodiment;
FIG. 5 is a schematic flow chart of a control parameter adjustment method for a governor of a hydroelectric generating set in an application example;
FIG. 6 is a schematic diagram of a four-machine two-zone system including DC delivery in an exemplary application;
FIG. 7 is a flow chart of a method for screening an ultra-low frequency oscillation mode based on modal analysis in an exemplary application;
fig. 8 is a schematic diagram of a mode of an oscillation mode 1;
fig. 9 is a schematic diagram of a mode of an oscillation mode 2 corresponding to a characteristic value in an application example;
FIG. 10 is a block diagram of a control parameter adjustment device for a hydro-power unit governor in one embodiment;
FIG. 11 is a block diagram of a control parameter adjustment mechanism for a hydro-power unit governor in another embodiment;
FIG. 12 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In an embodiment, a method for adjusting a control parameter of a hydro-power generating unit speed regulator is provided, and referring to fig. 1, fig. 1 is a schematic flow chart of the method for adjusting a control parameter of a hydro-power generating unit speed regulator in an embodiment, and the method for adjusting a control parameter of a hydro-power generating unit speed regulator may include the following steps:
and step S101, acquiring the full system state information of the hydroelectric generating set system.
The state information of the whole system can be expressed in a matrix form, and the state matrix of the whole system of the hydroelectric generating set can be obtained by solving a state equation of the whole network.
And step S102, determining an ultralow frequency oscillation mode of the hydroelectric generating set system according to the full-system state information.
The ultra-low frequency oscillation mode refers to an oscillation mode with an extremely low oscillation frequency, and compared with a conventional low frequency oscillation mode, the frequency of the low frequency oscillation mode is generally 0.1Hz to 2.5Hz, and the oscillation frequency of the ultra-low frequency oscillation mode can be lower than 0.1 Hz. Specifically, the method for determining the ultra-low frequency oscillation mode can be based on a modal analysis method to screen eigenvalues of a state matrix of the whole system, and can accurately screen the ultra-low frequency oscillation mode from thousands of orders of eigenvalues by analyzing key characteristic differences of the ultra-low frequency oscillation mode and the low frequency oscillation mode in a frequency domain,
and step S103, acquiring a target damping ratio of the hydroelectric generating set system in the ultralow frequency oscillation mode.
The target damping ratio of the hydroelectric generating set system refers to the damping ratio of the hydroelectric generating set system in an ultralow frequency oscillation mode, and can be obtained by calculating a characteristic value of a full-system state matrix of the hydroelectric generating set. Specifically, the eigenvalue λ of the full-system state matrix satisfying the ultra-low frequency oscillation mode can be screened out according to a modal analysis methodsWherein λ iss＝σs+jωsWhere σ issRepresenting a characteristic value λsReal part of, ωsRepresenting a characteristic value λsThe imaginary part of (a), then the target damping ratio of the hydroelectric system at this time can be calculated by the following equation:
in which ξsRepresenting a target damping ratio for the hydroelectric power-generating set system.
And step S104, if the target damping ratio is smaller than the set damping ratio threshold, acquiring a plurality of power angle variable participation factors of the hydroelectric generating set system in the ultralow frequency oscillation mode.
After the target damping ratio is obtained in step S103, the target damping ratio is compared with a preset damping ratio threshold, wherein the preset damping ratio threshold can be arbitrarily set according to actual needs, and can be set to 0.1. If the target damping ratio is larger than the preset damping ratio threshold or equal to the preset damping ratio threshold, the control parameters of the speed regulator are not required to be adjusted, and only when the target damping ratio is smaller than the preset damping ratio threshold, a plurality of power angle variable participation factors of the hydroelectric generating set system in the ultralow frequency oscillation mode are obtained.
Specifically, a system characteristic value λ corresponding to the ultra-low frequency oscillation mode is obtained firstsAnd obtaining a system characteristic value lambda from the full-system state matrixsCorresponding left eigenvector psisAnd a right eigenvector phisWherein ψs＝[ψ1s ψ2s … ψns]T，φs＝[φ1s φ2s … φns]TThen the participation matrix P is now availablesWherein P iss＝[P1s P2s … Pns]T＝[φ1sψs1 φ2s ψs2 … φns ψsn]TAnd the power angle variable participation factors are respectively used as corresponding power angle variable participation factors of the 1 st to the nth hydroelectric generating sets in the hydroelectric generating set system.
Step S105, determining a target power angle variable participation factor; the target power angle variable participation factor is a power angle variable participation factor which is larger than or equal to a set factor threshold value in the plurality of power angle variable participation factors.
The target power angle variable participation factor is a power angle variable participation factor which is greater than or equal to the set factor threshold value among the plurality of power angle variable participation factors obtained in step S104, the determination of the factor threshold value may be manually specified according to actual needs, or a power angle variable participation factor of a certain proportion may be selected according to the number of the power angle variable participation factors to serve as the target power angle variable participation factor.
And S106, acquiring a target control parameter of the speed regulator of the hydroelectric generating set system according to the target power angle variable participation factor, and adjusting an initial control parameter of the speed regulator by using the target control parameter.
The target control parameter refers to a control parameter of the regulated speed regulator of the hydroelectric generating set, the initial control parameter refers to a control parameter of the speed regulator of the hydroelectric generating set before regulation, and the target control parameter can be calculated through the target power angle variable participation factor obtained in the step S105 and the initial control parameter through a sensitivity analysis method. After the target control parameter is obtained, the initial control parameter of the speed regulator can be replaced by the target control parameter, so that the control parameter adjustment of the speed regulator of the hydroelectric generating set is completed.
The control parameter adjusting method of the hydroelectric generating set speed regulator obtains the full system state information of the hydroelectric generating set system; determining an ultralow frequency oscillation mode of the hydroelectric generating set system according to the full-system state information; acquiring a target damping ratio of a hydroelectric generating set system in an ultralow frequency oscillation mode; if the target damping ratio is smaller than the set damping ratio threshold, acquiring a plurality of power angle variable participation factors of the hydroelectric generating set system in the ultralow frequency oscillation mode; determining a target power angle variable participation factor; the target power angle variable participation factor is a power angle variable participation factor which is larger than or equal to a set factor threshold value in the plurality of power angle variable participation factors; and acquiring target control parameters of a speed regulator of the hydroelectric generating set system according to the target power angle variable participation factors, and adjusting initial control parameters of the speed regulator by using the target control parameters. According to the method, the ultralow frequency oscillation mode is accurately screened from thousands of characteristic values of a large system through modal analysis, the ultralow frequency oscillation mode negative damping unit is globally positioned through the participation factor, the control parameter of the speed regulator is globally optimized, the ultralow frequency oscillation mode damping ratio of the system is effectively improved, and the accuracy of the regulating parameter of the speed regulator of the hydroelectric generating set is improved.
In one embodiment, the obtaining system-wide state information of the hydroelectric power system in step S101 may include: acquiring a full-network state equation of a hydroelectric generating set system; and obtaining the full system state information of the hydroelectric generating set system according to the full network state equation through the small interference analysis model of the power system.
The small interference analysis model of the power system can be realized by using small interference analysis software SSAP of the power system, specifically, a state equation of the whole network can be calculated by using the small interference analysis software SSAP of the power system, and a state matrix of the whole system of the hydroelectric generating set is formed.
In an embodiment, the determining the ultra low frequency oscillation mode of the hydroelectric power generation system according to the system-wide status information in step S102 may include the following steps, as shown in fig. 2, where fig. 2 is a schematic flow chart of a method for determining the ultra low frequency oscillation mode of the hydroelectric power generation system according to the system-wide status information in an embodiment, and specifically includes:
step S201, obtaining a plurality of system characteristic values of a hydroelectric generating set system according to the full-system state information; the hydroelectric generating set system comprises a plurality of hydroelectric generating sets.
Specifically, the eigenvalue of the whole-system state matrix of the hydroelectric generating set obtained in step S101 may be solved, so as to obtain a plurality of system eigenvalues of the hydroelectric generating set system. Furthermore, the solution of the characteristic value of the hydroelectric generating set system can be performed by an orthogonal trigonometric decomposition method, or by an implicit restart Arnoldi method, and specifically the solution mode can be selected according to actual needs. In general, the selection may be made according to the number of system eigenvalues, and the specific calculation method may be selected according to whether the number of system eigenvalues is less than a number threshold. For example, the threshold value of the number of system characteristic values may be set to 1000, when the number of system characteristic values is less than the set number threshold value, that is, less than 1000, the system characteristic values may be solved for the entire system state matrix of the hydroelectric generating set by an orthogonal trigonometric decomposition method, and when the number of system characteristic values is greater than the set number threshold value or equal to the set number threshold value, that is, greater than or equal to 1000, the system characteristic values may be solved for the entire system state matrix of the hydroelectric generating set by implicitly restarting an Arnoldi method.
Step S202, obtaining phase angles corresponding to the power angle state variables of the hydroelectric generating sets from the characteristic values of the systems.
Specifically, after the system eigenvalue of the whole-system state matrix of the hydroelectric generating sets is obtained in step S201, a right eigenvector corresponding to any one of the system eigenvalues is first obtained, and then the phase angle of the power angle state variable of each hydroelectric generating set can be obtained according to each element of the right eigenvector. For example: for any eigenvalue λiIts corresponding right eigenvector can be represented by phiiIs shown in which phii＝[φ1i φ2i … φni]TWhere the elements of each feature vector may be represented by phijiWhere a denotes the real part of the feature vector element and b denotes the imaginary part of the feature vector element, then b may be considered to be the value of λ when the feature value is represented by a + biiAnd the phase angle of the power angle state variable of the jth hydroelectric generating set.
Step S203, determining an ultralow frequency oscillation mode of the hydroelectric generating set system according to the phase angle corresponding to the power angle state variable of each hydroelectric generating set.
Each system characteristic value respectively represents an oscillation mode of the hydroelectric generating set system, and the system characteristic value meeting the ultralow frequency oscillation mode can be found out through the relation of phase angles of power angle state variables of all hydroelectric generating sets. And because the time domain characteristic that the ultralow frequency oscillation is different from other oscillation modes is that the frequencies of all nodes of the system are basically identical, the frequency domain of the ultralow frequency oscillation shows that the phase angles of all the power angle state variables of the unit are basically identical in the oscillation mode.
Further, the ultralow frequency oscillation mode can be determined through the following formula, and the phase angle of the power angle state variable of the unit is used
Showing when any one system characteristic value lambdaiCorresponding phase angle
Satisfy the requirement of
Then the system characteristic value lambda is setiThe represented oscillation mode is set as an ultralow frequency oscillation mode of the hydroelectric generating set system; wherein,
representing a system characteristic value λiNamely, the phase angle of the power angle state variable corresponding to the jth hydroelectric generating set in the ith characteristic value.
The method for determining the ultralow frequency oscillation mode provided by the embodiment can accurately screen the ultralow frequency oscillation mode based on a modal analysis method according to the characteristics of the ultralow frequency oscillation mode, thereby further improving the precision of the control parameters of the speed regulator.
In one embodiment, the determining the target power angle variable participation factor in step S105 may include: sorting according to the magnitude sequence of the multiple power angle variable participation factors; the plurality of power angle variable participation factors correspond to a plurality of serial numbers; determining a target sequence number; the power angle variable participation factor corresponding to the target sequence number is used as a factor threshold; and determining the target power angle variable participation factor according to the relative sizes of the plurality of sequence numbers and the target sequence number.
Specifically, after the multiple power angle variable participation factors corresponding to each hydroelectric generating set are obtained in step S104, the magnitudes of the multiple power angle variable participation factors may be sorted, and the sequence number corresponding to each power angle variable participation factor is obtained, and then the target sequence number is determined, and the power angle variable participation factor corresponding to the target sequence number is used as the factor threshold, so that the target power angle variable participation factor may be determined according to the relative magnitude of each sequence number and the target sequence number.
If the selected sorting method is the descending sorting from big to small, the target sequence number can be determined first and the power angle variable participation factor corresponding to the target sequence number is used as a factor threshold value in order to find the target participation factor. The selection of the target sequence number can be selected according to actual needs, and generally, the selection can be performed according to the number of the hydroelectric generating sets of the hydroelectric generating set system. For example: n represents the number of the hydroelectric generating sets of the hydroelectric generating set system, when n is less than 10, the generating set with the power angle variable participation degree ranking of 2 is selected, namely the target serial number is determined to be 2; when n is more than or equal to 10 and less than 50, selecting the unit with the power angle variable participation degree ranked at the top 5, namely determining the target sequence number as 5; and when n is more than or equal to 50, selecting the unit with the power angle variable participation degree ranking of top 10, namely determining the target serial number as 10.
After the determination of the target sequence number is completed, the power angle variable participation factor with the sequence number smaller than or equal to the target sequence number may be used as the target power angle variable participation factor. For example, after the target sequence number is determined to be 2, the power angle variable participation factors with sequence numbers 1 and 2 may be used as the target power angle variable participation factors, and the power angle variable participation factor with sequence number 2 may be used as the factor threshold.
Similarly, if the selected sorting method is ascending sorting from small to large, the selection of the target power angle variable participation factor may be to determine the target sequence number first, and at this time, the power angle variable participation factor with the sequence number greater than or equal to the target sequence number may be used as the target power angle variable participation factor.
In one embodiment, the obtaining of the target control parameter of the speed regulator of the hydroelectric power system according to the target power angle variable participation factor in step S106 may include: determining a corresponding target hydroelectric generating set according to the target power angle variable participation factor; acquiring initial control parameters of a target hydroelectric generating set; acquiring sensitivity of an ultralow frequency oscillation characteristic value corresponding to an initial control parameter of a target hydroelectric generating set; obtaining an optimized step length; and acquiring target control parameters according to the initial control parameters, the sensitivity of the ultralow frequency oscillation characteristic value and the optimization step length of the target hydroelectric generating set.
Specifically, after the target power angle variable participation factor is obtained in step S105, the target hydroelectric generating set corresponding to the target power angle variable participation factor may be found. For example: the method comprises the steps that 4 hydroelectric generating sets G1, G2, G3 and G4 are arranged in a hydroelectric generating set system, wherein the power angle variable participation factors are G1> G2> G3> G4, if the power angle variable participation factor corresponding to G2 is selected as a factor threshold value, the power angle variable participation factors of G1 and G2 serve as target power angle variable participation factors, and G1 and G2 serve as target hydroelectric generating sets.
And after the target hydroelectric generating set is obtained, acquiring initial control parameters of the target hydroelectric generating set and the sensitivity of the ultralow frequency oscillation characteristic value corresponding to the initial control parameters. Wherein the initial control parameter may be a PID parameter KP1、KI1And KD1And respectively represent the proportional, integral and differential coefficients of the hydro-power generating unit speed regulator. Then respectively calculating K by formulasP1、KI1、KD1Ultra-low frequency oscillation eigenvalue sensitivity of (2):
wherein
Represents KP1The sensitivity of the ultra-low frequency oscillation characteristic value of (2),
represents KI1The sensitivity of the ultra-low frequency oscillation characteristic value of (2),
represents KD1The sensitivity of ultralow frequency oscillation characteristic value of (1) is shown in the specification, s represents the characteristic value of the s-th system, m represents the mth hydroelectric generating set, psi and phi respectively represent lambdasLeft and right feature vectors of (a), (b)1,j1) Is KP1The horizontal and vertical coordinates of the state matrix of the whole system; (k)2,j2) Is KI1In a full system stateThe horizontal and vertical coordinates of the matrix; (k)3,j3) Is KD1In the abscissa and ordinate of the state matrix of the whole system.
And then obtaining an optimized step length L, wherein the optimized step length can be selected according to actual needs, for example, L is 1, and then the target control parameter is obtained according to the initial control parameter, the sensitivity of the ultralow frequency oscillation characteristic value and the optimized step length of the target hydroelectric generating set. For example, the target control parameter may be found according to the following formula:
wherein,
and optimizing the updated proportional, integral and differential coefficients of the speed regulator, namely target control parameters, for the mth unit respectively.
In an embodiment, a method for adjusting a control parameter of a hydro-power generating unit speed regulator is further provided, referring to fig. 3, where fig. 3 is a schematic flow chart of the method for adjusting a control parameter of a hydro-power generating unit speed regulator in an embodiment, and the method for adjusting a control parameter of a hydro-power generating unit speed regulator may include the following steps:
step S301, determining initial control parameters of a speed regulator of a hydroelectric generating set system;
step S302, b, replacing the initial control parameter of the speed regulator with a target control parameter based on the method in any one of the above embodiments;
and S303, c, if the adjusted target damping ratio is smaller than the damping ratio threshold, repeating the steps a and b until the target damping ratio is larger than or equal to the damping ratio threshold.
Specifically, in the method for adjusting control parameters of the speed regulator of the hydroelectric generating set provided by this embodiment, first, initial control parameters of the speed regulator of the hydroelectric generating set system are determined; and then according to the method described in any of the above embodiments, obtaining a target control parameter, replacing the initial control parameter with the calculated target control parameter, recalculating the full system state matrix and the target damping ratio in the ultra-low frequency oscillation mode, obtaining the target control parameter again if the target damping ratio is still less than the damping ratio threshold, and replacing the initial control parameter with the calculated target control parameter again until the target damping ratio is greater than the damping ratio threshold or equal to the damping ratio threshold.
According to the control parameter adjusting method of the hydroelectric generating set speed regulator, the initial control parameter of the speed regulator is repeatedly replaced by the target control parameter until the target damping ratio is larger than or equal to the damping ratio threshold value, so that the precision of the control parameter of the controller is further improved.
In an embodiment, a method for adjusting a control parameter of a hydro-power generating unit speed regulator is further provided, as shown in fig. 4, fig. 4 is a schematic flow chart of the method for adjusting a control parameter of a hydro-power generating unit speed regulator in an embodiment, and the method for adjusting a control parameter of a hydro-power generating unit speed regulator may include the following steps:
step S401, determining initial control parameters of a speed regulator of a hydroelectric generating set system;
step S402, acquiring a full-network state equation of the hydroelectric generating set system; obtaining the full system state information of the hydroelectric generating set system according to a full network state equation through a small interference analysis model of the power system;
step S403, determining the number of a plurality of system characteristic values according to the full-system state information; if the number is smaller than the set number threshold, obtaining a plurality of system characteristic values of the hydroelectric generating set system according to the state information of the whole system by an orthogonal triangular decomposition method; if the number is larger than or equal to the number threshold, obtaining a plurality of system characteristic values of the hydroelectric generating set system according to the full-system state information by an implicit restart method;
step S404, obtaining phase angles corresponding to power angle state variables of all hydroelectric generating sets from all system characteristic values;
step S405, determining an ultralow frequency oscillation mode of the hydroelectric generating set system according to the phase angle corresponding to the power angle state variable of each hydroelectric generating set;
step S406, acquiring a target damping ratio of the hydroelectric generating set system in the ultralow frequency oscillation mode;
step S407, determining whether the target damping ratio is smaller than a set damping ratio threshold, if so, entering step S408, otherwise, entering step S415;
step S408, acquiring a plurality of power angle variable participation factors of the hydroelectric generating set system in the ultralow frequency oscillation mode;
step S409, sorting according to the magnitude sequence of the multiple power angle variable participation factors; wherein the plurality of power angle variable participation factors correspond to a plurality of sequence numbers;
step S410, determining a target serial number; determining a target power angle variable participation factor according to the relative sizes of the plurality of sequence numbers and the target sequence number;
step S411, determining a corresponding target hydroelectric generating set according to the target power angle variable participation factor;
step S412, acquiring initial control parameters of the target hydroelectric generating set; acquiring sensitivity of an ultralow frequency oscillation characteristic value corresponding to an initial control parameter of a target hydroelectric generating set; obtaining an optimized step length;
step 413, acquiring a target control parameter according to the initial control parameter, the sensitivity of the ultralow frequency oscillation characteristic value and the optimization step length of the target hydroelectric generating set;
step S414, replacing the initial control parameters of the speed regulator with target control parameters, and returning to the step S401;
and step S415, taking the initial control parameters as control parameters of the hydroelectric generating set speed regulator, and finishing the control parameter adjustment of the hydroelectric generating set speed regulator.
The method for adjusting the control parameter of the hydro-power generating unit speed regulator is described below by an application example, fig. 5 is a flow chart of the method for adjusting the control parameter of the hydro-power generating unit speed regulator in the application example, as shown in fig. 5, and the method is applied to a four-engine two-region model including direct current delivery as shown in fig. 6. The system comprises 4 water turbines, every two hydroelectric generating sets form an area, the two areas are connected through an alternating current connecting line, and the generator adopts a 6-order mode and comprises a water turbine speed regulation prime system, an excitation system and a PSS. The speed regulator parameters of the unit G1 and the unit G2 in the area 1 are KP 1-6, KI 1-1.2, Kd 1-1.0, KP 2-6, KI 2-0.9 and Kd 2-1.0 respectively; the speed regulator parameters of the unit G3 and the unit G4 in the area 2 are KP 3-6, KI 3-1.0, Kd 3-1.0, KP 4-6, KI 4-0.8, Kd 4-1.0, and the rest parameters are classical parameters.
The method for adjusting the control parameters of the speed regulator of the hydroelectric generating set in the application example mainly comprises the following steps:
step s 1: and calculating a full-network state equation based on the small interference analysis software SSAP of the power system, and forming a state matrix.
And forming a state matrix A by calculating a state equation of the whole network.
Step s 2: in combination with the ultra-low frequency oscillation feature, the ultra-low frequency oscillation mode is screened based on modal analysis, and the damping ratio of the ultra-low frequency oscillation is calculated, as shown in fig. 7, fig. 7 is a schematic flow chart of a method for screening the ultra-low frequency oscillation mode based on modal analysis in an application example, and the specific flow chart is as follows:
solving the eigenvalue:
since n is<1000, calculating a system characteristic root by using a QR method to obtain a characteristic value lambda ═ lambda1,λ2,…λn。
And (3) modal analysis:
for any eigenvalue λiWhen n column vectors phiiSatisfies the equation: phi of Ai＝λφi(i＝1,2,…,n)，φiAs a characteristic value λiOf right eigenvector, i.e., phii＝[φ1i φ2i … φni]T。φiThe element amplitudes of (a) give the activity level of the n state variables of the ith oscillation mode. Calculating each eigenvalue lambdaiRight module value and phase angle of power angle state variable of each unit
(i is the ith eigenvalue, j is the jth unit). If the phase angles and phases of all the unit power angle variables in a certain characteristic value are approximately equal, that is to say, the phase angles and phases of all the unit power angle variables are approximately equal
The oscillation mode is an ultra low frequency oscillation with the characteristic root set to λs＝σs+jωs。
Two oscillation modes of table 1 are taken as an example for explanation, as shown in table 1:
TABLE 1 Modal analysis-calculation of Right eigenvectors for each eigenvalue
At this time, two mode diagrams of the oscillation mode can be obtained, as shown in fig. 8 and fig. 9, respectively, fig. 8 is a mode diagram of a characteristic value corresponding to the oscillation mode 1 in an application example, fig. 9 is a mode diagram of a characteristic value corresponding to the oscillation mode 2 in an application example, it can be seen that the power angles of the units in the mode 1 are coherent, and the power angles of the units in the mode 2 are inversely coherent, so that the mode 1 satisfies the requirement
The whole system frequency is coherent, and the ultra-low frequency oscillation mode is unique. Therefore, mode 1 is an ultra-low frequency oscillation mode, and mode 2 is a low frequency oscillation mode.
Thus calculated, λsThe damping ratio is 5.64 percent when the damping ratio is-0.0178 +0.3149<And 10%, the system operation requirement is not met, and the step s3 is entered.
Step s 3: calculating the participation factors of the power angle state variables of each unit, and sequencing, as shown in table 2:
TABLE 2 participation factor of each unit power angle state variable
As can be seen from the factor calculations of Table 2, G1 and G3 provide large negative damping.
Step s 4: and (3) carrying out ultra-low frequency oscillation characteristic value sensitivity calculation on the PID parameters of the speed regulator of the power angle variable participation front-end unit, and analyzing and optimizing the speed regulator parameters according to the sensitivity until the full-system ultra-low frequency oscillation mode damping ratio meets the actual engineering requirements after iteration.
For the power angle variable participation degree in the first 2 units, the speed regulator PID parameter is subjected to ultra-low frequency oscillation characteristic value sensitivity calculation, as shown in Table 3:
TABLE 3 ultra-low frequency oscillation eigenvalue sensitivity calculation
Wherein,
respectively optimizing the updated proportional, integral and differential coefficients of the speed regulator for the mth unit; l is the optimized step length, and L is 1. Returning to step s 1.
After repeated iterative calculation, the ultralow frequency oscillation damping ratio of the system is 10.3 percent, the operation requirement of the system is met, and at the moment, the PID parameters of the speed regulators of each unit are shown in a table 4.
| KP | KI | KD | |
| G1 | 4.2 | 0.81 | 1.53 |
| G2 | 4.1 | 0.75 | 1.56 |
| G3 | 4.5 | 0.83 | 1.36 |
| G4 | 3.8 | 0.75 | 1.74 |
TABLE 4 optimized governor PID parameters
In an embodiment, a control parameter adjusting device of a hydro-power generating unit speed regulator is provided, referring to fig. 10, fig. 10 is a block diagram of a control parameter adjusting device of a hydro-power generating unit speed regulator in an embodiment, and the control parameter adjusting device of the hydro-power generating unit speed regulator may include:
the system information acquisition module 1001 is used for acquiring the full system state information of the hydroelectric generating set system;
the oscillation mode determining module 1002 is configured to determine an ultra-low frequency oscillation mode of the hydroelectric power generating set system according to the system-wide state information;
a damping ratio determining module 1003, configured to obtain a target damping ratio of the hydroelectric generating set system in the ultra-low frequency oscillation mode;
a participation factor determining module 1004, configured to obtain a plurality of power angle variable participation factors of the hydroelectric generating set system in the ultra-low frequency oscillation mode if the target damping ratio is smaller than a set damping ratio threshold;
a target factor determining module 1005, configured to determine a target power angle variable participation factor; the target power angle variable participation factor is a power angle variable participation factor which is larger than or equal to a set factor threshold value in the plurality of power angle variable participation factors;
and the target parameter obtaining module 1006 is configured to obtain a target control parameter of a speed regulator of the hydroelectric generating set system according to the target power angle variable participation factor, and adjust an initial control parameter of the speed regulator by using the target control parameter.
In one embodiment, the system information obtaining module 1001 is further configured to obtain a full network state equation of the hydroelectric power generating set system; and obtaining the full system state information of the hydroelectric generating set system according to the full network state equation through the small interference analysis model of the power system.
In one embodiment, the oscillation mode determining module 1002 is further configured to obtain a plurality of system characteristic values of the hydroelectric power generation system according to the system-wide state information; the hydroelectric generating set system comprises a plurality of hydroelectric generating sets; obtaining phase angles corresponding to power angle state variables of the hydroelectric generating sets from the characteristic values of the systems; and determining the ultralow frequency oscillation mode of the hydroelectric generating set system according to the phase angle corresponding to the power angle state variable of each hydroelectric generating set.
Wherein if the phase angle
The following conditions are satisfied:
setting the oscillation mode corresponding to the corresponding system characteristic value as the ultralow frequency oscillation mode of the hydroelectric generating set system; wherein,
and representing the phase angle of the power angle state variable corresponding to the j hydroelectric generating set in the ith system characteristic value.
In one embodiment, the oscillation mode determining module 1002 is further configured to determine a number of the plurality of system feature values according to the system-wide state information; if the number is smaller than a set number threshold value, obtaining a plurality of system characteristic values of the hydroelectric generating set system according to the state information of the whole system by an orthogonal triangular decomposition method; and if the number is larger than or equal to the number threshold, obtaining a plurality of system characteristic values of the hydroelectric generating set system according to the full-system state information by an implicit restart method.
In an embodiment, the target factor determining module 1005 is further configured to sort according to a size order of the plurality of power angle variable participation factors; the plurality of power angle variable participation factors correspond to a plurality of serial numbers; determining a target sequence number; wherein, the power angle variable participation factor corresponding to the target serial number is used as a factor threshold; and determining the target power angle variable participation factor according to the relative sizes of the plurality of sequence numbers and the target sequence number.
In one embodiment, the target parameter obtaining module 1006 is further configured to determine a corresponding target hydroelectric generating set according to the target power angle variable participation factor; acquiring initial control parameters of a target hydroelectric generating set; acquiring sensitivity of an ultralow frequency oscillation characteristic value corresponding to an initial control parameter of a target hydroelectric generating set; obtaining an optimized step length; and acquiring target control parameters according to the initial control parameters, the sensitivity of the ultralow frequency oscillation characteristic value and the optimization step length of the target hydroelectric generating set.
In an embodiment, there is further provided a control parameter adjusting device of a hydro-power generating unit speed regulator, and referring to fig. 11, fig. 11 is a block diagram of a control parameter adjusting device of a hydro-power generating unit speed regulator in an embodiment, where the control parameter adjusting device of the hydro-power generating unit speed regulator may include:
a control parameter determination module 1101 for performing step a. determining initial control parameters of a speed regulator of a hydroelectric power-generating system;
a control parameter replacement module 1102, configured to perform step b, replace an initial control parameter of the speed regulator with a target control parameter based on the method for adjusting a control parameter of a hydro-power generating unit speed regulator according to any one of the embodiments;
and a control parameter adjusting module 1103 for executing step c, if the adjusted target damping ratio is smaller than the damping ratio threshold, repeating the steps a and b until the target damping ratio is larger than or equal to the damping ratio threshold.
The control parameter adjusting device of the hydro-power generating unit speed regulator corresponds to the control parameter adjusting method of the hydro-power generating unit speed regulator one to one, specific limitations on the control parameter adjusting device of the hydro-power generating unit speed regulator can be referred to the limitations on the control parameter adjusting method of the hydro-power generating unit speed regulator, and technical characteristics and beneficial effects explained in an embodiment of the control parameter adjusting method of the hydro-power generating unit speed regulator are all applicable to an embodiment of the control parameter adjusting device of the hydro-power generating unit speed regulator, and are not described herein again. All modules in the control parameter adjusting device of the hydroelectric generating set speed regulator can be completely or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, an internal structure diagram of which may be as shown in fig. 12, fig. 12 being an internal structure diagram of the computer device in one embodiment. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method for adjusting control parameters of a hydro-power unit speed regulator.
Those skilled in the art will appreciate that the architecture shown in fig. 12 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a processor and a memory, the memory storing a computer program which, when executed by the processor, implements a method of adjusting a control parameter of a hydro-power unit governor as defined in any of the above embodiments.
According to the computer equipment, through a computer program running on the processor, thousands of characteristic values of a large system are accurately screened out in an ultralow frequency oscillation mode through modal analysis, the ultralow frequency oscillation mode negative damping unit is globally positioned through the participation factor, and the control parameter of the speed regulator is globally optimized, so that the damping ratio of the ultralow frequency oscillation mode of the system is effectively improved, and the precision of the regulating parameter of the speed regulator of the hydroelectric generating set is improved.
It will be understood by those skilled in the art that all or part of the processes of implementing the control parameter adjustment method of the hydro-power generating unit speed regulator according to any one of the above embodiments may be implemented by instructing the relevant hardware through a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the above embodiments of the methods. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Accordingly, in an embodiment there is also provided a computer readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements a method of adjusting a control parameter of a hydro-power unit governor as described in any of the above embodiments.
The computer readable storage medium accurately screens thousands of characteristic values of an ultra-low frequency oscillation mode in a large system through modal analysis through a stored computer program, globally positions an ultra-low frequency oscillation mode negative damping unit through participation factors, and globally optimizes speed regulator control parameters of the ultra-low frequency oscillation mode negative damping unit, so that the damping ratio of the ultra-low frequency oscillation mode of the system is effectively improved, and the precision of the speed regulator adjustment parameters of the hydroelectric generating unit is improved.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A control parameter adjusting method of a hydro-power generating unit speed regulator is characterized by comprising the following steps:
acquiring the full system state information of a hydroelectric generating set system;
determining an ultralow frequency oscillation mode of the hydroelectric generating set system according to the full-system state information;
acquiring a target damping ratio of the hydroelectric generating set system in the ultralow frequency oscillation mode;
if the target damping ratio is smaller than a set damping ratio threshold, acquiring a plurality of power angle variable participation factors of the hydroelectric generating set system in the ultralow frequency oscillation mode;
determining a target power angle variable participation factor; the target power angle variable participation factor is a power angle variable participation factor which is larger than or equal to a set factor threshold value in the plurality of power angle variable participation factors;
and acquiring a target control parameter of a speed regulator of the hydroelectric generating set system according to the target power angle variable participation factor, and adjusting an initial control parameter of the speed regulator by using the target control parameter.
2. The method of claim 1, wherein determining the ultra-low frequency oscillation mode of the hydroelectric generating set system based on the system-wide status information comprises:
acquiring a plurality of system characteristic values of the hydroelectric generating set system according to the full-system state information; the hydroelectric generating set system comprises a plurality of hydroelectric generating sets;
obtaining phase angles corresponding to power angle state variables of the hydroelectric generating sets from the characteristic values of the systems;
and determining the ultralow frequency oscillation mode of the hydroelectric generating set system according to the phase angle corresponding to the power angle state variable of each hydroelectric generating set.
3. The method of claim 2, wherein obtaining a plurality of system characteristic values for the hydroelectric generating set system based on the system-wide state information comprises:
determining the number of the plurality of system characteristic values according to the full-system state information;
if the number is smaller than a set number threshold value, obtaining a plurality of system characteristic values of the hydroelectric generating set system according to the full-system state information through an orthogonal triangular decomposition method;
and if the number is larger than or equal to the number threshold, obtaining a plurality of system characteristic values of the hydroelectric generating set system according to the full-system state information by an implicit restart method.
4. The method of claim 2, wherein determining the ultra-low frequency oscillation mode of the hydro-power unit system based on the phase angle corresponding to the power angle state variable of each hydro-power unit comprises:
if the phase angle satisfies the following condition:
setting the oscillation mode corresponding to the corresponding system characteristic value as the ultralow frequency oscillation mode of the hydroelectric generating set system; wherein,
and representing the phase angle of the power angle state variable corresponding to the j hydroelectric generating set in the ith system characteristic value.
5. The method of claim 1, wherein the obtaining system-wide state information of a hydroelectric power system comprises:
acquiring a full-network state equation of the hydroelectric generating set system;
and obtaining the full system state information of the hydroelectric generating set system according to the full network state equation through a small interference analysis model of the power system.
6. The method of claim 1, wherein determining a target work angle variable participation factor comprises:
sequencing according to the magnitude sequence of the multiple power angle variable participation factors; the plurality of power angle variable participation factors correspond to a plurality of sequence numbers;
determining a target sequence number; the power angle variable participation factor corresponding to the target sequence number is used as the factor threshold;
and determining the target power angle variable participation factor according to the relative sizes of the plurality of sequence numbers and the target sequence number.
7. The method of claim 1, wherein obtaining a target control parameter for a speed regulator of the hydroelectric power-generating system based on the target work angle variable participation factor comprises:
determining a corresponding target hydroelectric generating set according to the target power angle variable participation factor;
acquiring initial control parameters of the target hydroelectric generating set;
acquiring sensitivity of an ultralow frequency oscillation characteristic value corresponding to an initial control parameter of the target hydroelectric generating set;
obtaining an optimized step length;
and acquiring the target control parameter according to the initial control parameter of the target hydroelectric generating set, the sensitivity of the ultralow frequency oscillation characteristic value and the optimization step length.
8. A control parameter adjusting method of a hydro-power generating unit speed regulator is characterized by comprising the following steps:
a. determining initial control parameters of a speed regulator of a hydroelectric generating set system;
b. replacing an initial control parameter of the speed governor with the target control parameter based on the method of any one of claims 1 to 7;
c. if the adjusted target damping ratio is smaller than the damping ratio threshold, repeating the steps a and b until the target damping ratio is larger than or equal to the damping ratio threshold.
9. A control parameter adjusting device of a hydro-power generating unit speed regulator is characterized by comprising:
the system information acquisition module is used for acquiring the full system state information of the hydroelectric generating set system;
the oscillation mode determining module is used for determining an ultralow frequency oscillation mode of the hydroelectric generating set system according to the full-system state information;
the damping ratio determining module is used for acquiring a target damping ratio of the hydroelectric generating set system in the ultralow frequency oscillation mode;
a participation factor determining module, configured to obtain a plurality of power angle variable participation factors of the hydroelectric generating set system in the ultra-low frequency oscillation mode if the target damping ratio is smaller than a set damping ratio threshold;
the target factor determining module is used for determining a target power angle variable participation factor; the target power angle variable participation factor is a power angle variable participation factor which is larger than or equal to a set factor threshold value in the plurality of power angle variable participation factors;
and the target parameter acquisition module is used for acquiring a target control parameter of the speed regulator of the hydroelectric generating set system according to the target power angle variable participation factor and adjusting an initial control parameter of the speed regulator by using the target control parameter.
10. A control parameter adjusting device of a hydro-power generating unit speed regulator is characterized by comprising:
a control parameter determination module for performing step a. determining initial control parameters of a speed regulator of a hydroelectric generating set system;
a control parameter replacement module for performing step b-replacing an initial control parameter of the governor with the target control parameter based on the method of any one of claims 1 to 7;
and c, if the adjusted target damping ratio is smaller than the damping ratio threshold, repeating the steps a and b until the target damping ratio is larger than or equal to the damping ratio threshold.
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