CN112526283A - Fault positioning method for high-voltage direct-current transmission line - Google Patents
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Abstract
The invention discloses a fault positioning method of a high-voltage direct-current transmission line, which comprises the following steps: step 1: respectively acquiring time-frequency characteristics of initial fault traveling wave heads at two ends of a line; step 2: respectively acquiring the arrival time of fault traveling wave heads at two ends of a line, and determining the frequency of the fault traveling wave head corresponding to the arrival time of the fault traveling wave head at each end according to the time-frequency characteristic of each end; and step 3: determining the wave speed of the fault traveling wave at each end based on the frequency-dependent characteristic of the wave speed and the frequency of the wave head of the fault traveling wave; and 4, step 4: and determining the fault position according to the wave speed of the fault traveling wave at each end and the arrival time of the fault traveling wave head. By applying the method and the device, the fault traveling wave speed is determined according to the frequency characteristic based on the traveling wave, and the accuracy of fault positioning based on the fault traveling wave speed is improved.
Description
Technical Field
The invention belongs to the technical field of electric power, and particularly relates to a fault positioning method of an electric power system, and more particularly relates to a fault positioning method of a high-voltage direct-current transmission line.
Background
Compared with a traditional alternating current transmission system, a High Voltage Direct Current (HVDC) transmission system has long transmission distance, large transmission capacity and high transmission efficiency. However, after the high voltage direct current transmission line fails, severe voltage and current sudden changes can be caused, so that direct current blocking is further caused, and even direct current shutdown is caused. Therefore, after the line fault, the fault position is quickly and accurately identified, and the method has important effects of accelerating the maintenance progress and shortening the recovery of normal operation after the line fault.
At present, a fault positioning method for a high-voltage direct-current transmission line based on fault traveling waves is widely applied, and the positioning accuracy of the fault positioning method depends heavily on the wave speed value of the fault traveling waves. In the existing fault traveling wave positioning method, a fixed fault traveling wave speed value is usually adopted to determine the fault position. For the actual transmission line, the traveling wave speed is not a fixed value, so that the fault location is determined by adopting the fixed fault traveling wave speed value, the fault location error is large, the accuracy is low, and the fault maintenance and recovery are influenced.
Disclosure of Invention
The invention aims to provide a fault positioning method of a high-voltage direct-current transmission line, which determines the wave speed of fault traveling waves based on the frequency-dependent characteristic of the traveling waves and improves the accuracy of fault positioning based on the wave speed of the fault traveling waves.
In order to realize the purpose of the invention, the invention is realized by adopting the following technical scheme:
a fault positioning method for a high-voltage direct-current transmission line comprises the following steps:
step 1: respectively acquiring time-frequency characteristics of initial fault traveling wave heads at two ends of a line;
step 2: respectively acquiring the arrival time of fault traveling wave heads at two ends of a line, and determining the frequency of the fault traveling wave head corresponding to the arrival time of the fault traveling wave head at each end according to the time-frequency characteristic of each end;
and step 3: determining the wave speed of the fault traveling wave at each end based on the frequency-dependent characteristic of the wave speed and the frequency of the wave head of the fault traveling wave;
and 4, step 4: determining the fault position according to the wave speed of the fault traveling wave at each end and the arrival time of the fault traveling wave head;
the frequency-dependent characteristic of the wave velocity is obtained by adopting the following method:
calculating complex penetration depth
Wherein rho is earth resistivity, mu is vacuum magnetic conductivity which are known values, j is an imaginary unit, and f is traveling wave frequency;
calculating the self-impedance coefficient Z of the wire1：
Wherein R iscThe direct current resistance of the lead in unit length is used, h is the height of the lead from the ground, and the direct current resistance and the height are all known values; GMR is the wire equivalent radius, rcThe radius of the split sub-conductor and the distance d of the split sub-conductor are known values;
calculating the mutual impedance coefficient Z of the wires2：
Wherein d is2The spacing between adjacent wires is a known value;
calculating the self-impedance coefficient Z of the ground wire3：
Wherein R isgIs the direct current resistance per unit length of the ground wire, d3Is the perpendicular distance of the ground wire and the conducting wire, rgThe radii of the ground wire are known values;
calculating the mutual impedance coefficient Z of the ground wire and the lead wire4：
Wherein d is1The distance between the ground wire and the ground wire;
calculating the mutual impedance coefficient Z of the ground wire and the ground wire5：
Determining an impedance coefficient matrix Z:
wherein the content of the first and second substances,
calculating the self-potential coefficient P of the wire1：
Wherein ε is a vacuum dielectric constant, which is a known value;
calculating the mutual potential coefficient P of the wires2：
Calculating the self-potential coefficient P of the ground wire3：
Calculating mutual potential coefficient P of the ground wire and the lead wire4：
Calculating mutual potential coefficient P of the ground wire and the ground wire5：
Determining a potential coefficient matrix P:
wherein the content of the first and second substances,
determining a capacitance coefficient matrix Y:
Y＝j2πf×P-1；
determining a transmission parameter gamma of the power transmission line according to the impedance coefficient matrix Z and the capacitance coefficient matrix Y:
wherein α and β are both real numbers;
determining the frequency-dependent characteristic of the wave speed according to the transmission parameter gamma of the power transmission line:
wherein v is the traveling wave velocity.
Compared with the prior art, the invention has the advantages and positive effects that: the invention combines the characteristics of the high-voltage direct-current transmission line and provides the frequency-dependent characteristic of the transmission speed of the fault traveling wave according with the actual transmission condition of the fault traveling wave on the high-voltage direct-current transmission line; further acquiring a fault traveling wave velocity depending on the frequency according to the frequency-dependent characteristic of the fault traveling wave velocity and the frequency of a fault traveling wave head, wherein the acquired fault traveling wave velocity is closer to the actual value of the fault traveling wave velocity on the high-voltage direct-current power transmission circuit; the fault is positioned based on the more accurate fault traveling wave speed, the fault positioning error is reduced, the positioning accuracy is improved, and the fault maintenance and recovery speed is further improved.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flow chart of an embodiment of a fault location method for an hvdc transmission line according to the present invention;
fig. 2 is a schematic diagram of an exemplary hvdc transmission system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a typical hvdc transmission line according to an embodiment of the present invention;
FIG. 4 is a simulated waveform diagram of current traveling wave signals at two ends of a line when a typical intra-area fault occurs in an embodiment of the present invention;
fig. 5 is a diagram illustrating the result of S conversion of current traveling wave signals at two ends of a line when a typical intra-area fault occurs in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to solve the problem of low positioning accuracy in fault positioning of the existing high-voltage direct-current transmission circuit based on fault traveling waves, the invention provides a fault positioning method considering the frequency-dependent characteristic of traveling wave speed from the influence factor of the fault traveling wave speed, so that the accuracy of fault positioning is effectively improved.
Fig. 1 shows a flow chart of an embodiment of a fault location method for an hvdc transmission line according to the present invention. In conjunction with a schematic diagram of a typical hvdc transmission system shown in fig. 2 and a schematic diagram of a typical hvdc transmission line structure shown in fig. 3, the embodiment uses the following process to achieve fault location of the hvdc transmission line.
Step 11: and respectively acquiring the time-frequency characteristics of initial fault traveling wave heads at two ends of the line.
As shown in the schematic diagram of the hvdc transmission system in fig. 2, two ends of the line respectively refer to an M end serving as a rectifying station and an N end serving as an inverting station, and a fault occurs at an F position of the line.
In order to determine the propagation speed of the fault traveling wave according to the frequency, the wave head frequency of the fault traveling wave needs to be obtained; and the frequency of the fault traveling wave head can be determined according to the time-frequency characteristic of the initial fault traveling wave head. Therefore, the time-frequency characteristics of the initial fault traveling wave heads at the two ends of the line are respectively obtained.
The time-frequency characteristic of the initial fault traveling wave head can be obtained by adopting the method in the prior art, such as HHT conversion or other frequency extraction methods.
In a preferred embodiment, the time-frequency characteristics of the initial fault traveling wave head at each end are obtained by adopting S transformation. The specific implementation method comprises the following steps:
firstly, performing S conversion on an initial fault traveling wave head:
then, calculating the time-frequency characteristic of the initial fault traveling wave head based on S transformation:
wherein, T is the sampling step length, N is the frequency discrimination, and all are known values. As a specific example, T ═ 1 μ s, N ═ 1000. Psi is the serial number of the sampling point, and n is the serial number of the sampling frequency; e is a natural constant, a known value, e.g., e ≈ 2.718. k is a real number, k is 0, 1, and N-1, and X is a fourier transform of an original fault signal; f. ofTWFrequency of wave head of traveling wave for initial failure, fsIs a reference frequency, fs＝1/NT，τarrThe arrival time of the wave head of the initial fault traveling wave is shown. As a specific example, fs＝1/NT＝1kHz。
Step 12: the arrival time of fault traveling wave heads at two ends of the line is respectively obtained, and the frequency of the fault traveling wave head corresponding to the arrival time of the fault traveling wave head at each end is determined according to the time-frequency characteristics of each end.
The arrival time of the fault traveling wave head can be obtained by adopting the prior art. In a preferred embodiment, the arrival time of the fault traveling wave head is determined according to the amplitude of the fault traveling wave. The specific implementation method comprises the following steps:
calculating and determining whether a criterion is satisfied: x (t) > c xmax。
And determining the sampling time corresponding to the first sampling point t meeting the criterion as the arrival time of the fault traveling wave head.
Wherein, x (t) is the fault traveling wave amplitude of the t-th sampling point, which is a known value, and after the fault traveling wave signal is determined, the corresponding instantaneous value is the fault traveling wave amplitude. x is the number ofmaxIs the peak value of the amplitude of the fault traveling wave in the data window, and is also a known value. c is a known proportionality coefficient, 0 < c < 1. In one specific embodiment, c is 0.5.
The method is adopted to determine the arrival time of the fault traveling wave head at each end of the line, and then the fault traveling wave head frequency corresponding to the arrival time of the fault traveling wave head at each end can be determined according to the time-frequency characteristics of each end.
Step 13: and determining the wave speed of the fault traveling wave at each end based on the frequency-dependent characteristic of the wave speed and the frequency of the fault traveling wave head.
The frequency-dependent characteristic of the wave speed is determined according to the structural parameters and the electrical parameters of the high-voltage direct-current transmission line. The specific determination method comprises the following steps:
calculating complex penetration depth
Where ρ is the earth resistivity, μ is the vacuum permeability, both of known values, j is the imaginary unit, and f is the traveling wave frequency. For earth resistivity, different soils, rocks, etc. have different resistivities, which can generally be approximated by a typical value, for example, ρ ═ 100 Ω m. In one embodiment, the vacuum permeability is selected to be 4 π × 10-7H/m。
Calculating the self-impedance coefficient Z of the wire1：
Wherein R iscThe direct current resistance of the lead per unit length is shown, and h is the height of the lead from the ground, and the direct current resistance and the height are all known values. For RcAnd the parameters are determined by the structural parameters and the electrical parameters of the circuit. As a specific example, R is shown in FIG. 3c0.0286 Ω/km. For h, it can be determined after the line is constructed. As a specific example, h is 34 m. GMR is the wire equivalent radius, rcThe radius of the split sub-conductor and d the pitch of the split sub-conductor are known values. For rcAnd d, depending on the specific wiring configuration, can be determined after the wiring is built. As a specific example, rc＝0.0213m，d＝0.450m。
Calculating the mutual impedance coefficient Z of the wires2：
Wherein d is2The spacing between adjacent conductors being of known value, which is determined after the line has been constructedAnd (4) determining. As a specific example, d is shown in fig. 32＝22m。
Calculating the self-impedance coefficient Z of the ground wire3：
Wherein R isgIs the direct current resistance per unit length of the ground wire, d3Is the perpendicular distance of the ground wire and the conducting wire, rgThe radius of the ground wire is a known value and can be determined after the line is built. As a specific example, R is shown in FIG. 3g＝2.8645Ω/km，d3＝15m，rg＝0.0055m。
Calculating the mutual impedance coefficient Z of the ground wire and the lead wire4：
Wherein d is1The distance between the ground wire and the ground wire is a known value and can be determined after the line is built. As a specific example, d is shown in fig. 31＝15m。
Calculating the mutual impedance coefficient Z of the ground wire and the ground wire5：
Then, an impedance coefficient matrix Z is determined:
wherein the content of the first and second substances,
calculating the self-potential coefficient P of the wire1：
Wherein ε represents a vacuum dielectric constant and is a known value. As a specific example, epsilon is 8.854 × 10-12H/m。
Calculating the mutual potential coefficient P of the wires2：
Calculating the self-potential coefficient P of the ground wire3：
Calculating mutual potential coefficient P of the ground wire and the lead wire4：
Calculating mutual potential coefficient P of the ground wire and the ground wire5：
Determining a potential coefficient matrix P:
wherein the content of the first and second substances,
then, determining a capacitance coefficient matrix Y according to the potential coefficient matrix:
Y＝j2πf×P-1。
then, determining a transmission parameter gamma of the power transmission line according to the impedance coefficient matrix Z and the capacitance coefficient matrix Y:
where α and β are both real numbers.
Determining the frequency-dependent characteristic of the wave speed according to the transmission parameter gamma of the power transmission line:
wherein v is the traveling wave speed on the power transmission circuit. In the above frequency-dependent characteristic, β is a definite real value, so that after the frequency f is determined, the corresponding wave velocity can be determined.
When the frequency-dependent characteristic of the wave speed of the fault traveling wave is determined, the characteristic of the high-voltage direct-current transmission line is combined, an impedance coefficient matrix, a capacitance coefficient matrix and a circuit transmission parameter which are consistent with the line structure and the electrical parameter of the high-voltage direct-current transmission line are provided, and the frequency-dependent characteristic of the transmission speed of the fault traveling wave on the high-voltage direct-current transmission line is further determined. Theoretical analysis and simulation research prove that the error of fault positioning based on the frequency-dependent characteristic is small, and the positioning accuracy is high.
Step 14: and determining the fault position according to the wave speed of the fault traveling wave at each end and the arrival time of the fault traveling wave head.
The specific method for determining the fault position according to the traveling wave speed and the arrival time of the traveling wave head can be realized by adopting the prior art. As a preferred embodiment, the distance between the fault point and one end of the off-line is determined according to the traveling wave speed and the arrival time of the traveling wave head, so as to realize the positioning of the fault. Specifically, the fault location is calculated according to the following formula:
wherein l is the fault distance line M endV is a distance ofmAnd vnThe fault traveling wave speed t of the M end and the N end of the line respectivelymAnd tnRespectively the arrival time of fault traveling wave heads at the M end and the N end of the line; and L is the total length of the transmission line between the M end and the N end of the transmission line and is a known value. As a specific example, L ═ 300 km.
In the embodiment, the frequency-dependent characteristic of the transmission speed of the fault traveling wave according with the actual transmission condition of the fault traveling wave on the high-voltage direct-current transmission line is provided; further acquiring a fault traveling wave velocity depending on the frequency according to the frequency-dependent characteristic of the fault traveling wave velocity and the frequency of a fault traveling wave head, wherein the acquired fault traveling wave velocity is closer to the actual value of the fault traveling wave velocity on the high-voltage direct-current power transmission circuit; the fault is positioned based on the more accurate fault traveling wave speed, the fault positioning error is reduced, the positioning accuracy is improved, and the fault maintenance and recovery speed is further improved.
Fig. 4 is a simulated waveform diagram of a current traveling wave signal at two ends of a line when a typical in-zone fault occurs in the embodiment of the present invention. Wherein irec，twAnd iinv，twThe fault current traveling wave signals of the rectifying end and the inverting end are respectively. Monitoring the transmission lines of the high-voltage direct-current transmission systems shown in fig. 2 and 3, and analyzing by using the method of the embodiment of fig. 1 and the method of the preferred embodiment, the arrival times of the fault traveling wave heads at the two ends are respectively: t is tm＝0.270ms，tn＝0.940ms。
Fig. 5 is a diagram illustrating the result of S conversion of current traveling wave signals at two ends of a line when a typical intra-area fault occurs in the embodiment of the present invention. Wherein, (a) is the current wave S conversion result of the rectifying end, and (b) is the current traveling wave S conversion result of the inverting end.
Monitoring the transmission lines of the high-voltage direct-current transmission systems shown in fig. 2 and 3, and analyzing by using the method of the embodiment of fig. 1 and the method of the preferred embodiment, determining that the wave head frequencies of the fault traveling waves at the two ends are respectively: f. ofm＝228.843kHz，fn214.069 kHz. Further calculating according to the frequency-dependent characteristic to obtain the wave speeds of fault traveling waves at two ends respectively as follows: v. ofm＝297.154km/ms，vn＝297.069km/mAnd s. Further according to the formula
And calculating to obtain the distance l between the fault point and the end M as 50.871 km.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (4)
1. A fault positioning method for a high-voltage direct-current transmission line is characterized by comprising the following steps:
step 1: respectively acquiring time-frequency characteristics of initial fault traveling wave heads at two ends of a line;
step 2: respectively acquiring the arrival time of fault traveling wave heads at two ends of a line, and determining the frequency of the fault traveling wave head corresponding to the arrival time of the fault traveling wave head at each end according to the time-frequency characteristic of each end;
and step 3: determining the wave speed of the fault traveling wave at each end based on the frequency-dependent characteristic of the wave speed and the frequency of the wave head of the fault traveling wave;
and 4, step 4: determining the fault position according to the wave speed of the fault traveling wave at each end and the arrival time of the fault traveling wave head;
the frequency-dependent characteristic of the wave velocity is obtained by adopting the following method:
calculating complex penetration depth
Wherein rho is earth resistivity, mu is vacuum magnetic conductivity which are known values, j is an imaginary unit, and f is traveling wave frequency;
calculating the self-impedance coefficient Z of the wire1：
Wherein R iscThe direct current resistance of the lead in unit length is used, h is the height of the lead from the ground, and the direct current resistance and the height are all known values; GMR is the wire equivalent radius, rcThe radius of the split sub-conductor and the distance d of the split sub-conductor are known values;
calculating the mutual impedance coefficient Z of the wires2：
Wherein d is2The spacing between adjacent wires is a known value;
calculating the self-impedance coefficient Z of the ground wire3：
Wherein R isgIs the direct current resistance per unit length of the ground wire, d3Is the perpendicular distance of the ground wire and the conducting wire, rgThe radii of the ground wire are known values;
calculating the mutual impedance coefficient Z of the ground wire and the lead wire4：
Wherein d is1The distance between the ground wire and the ground wire;
calculating the mutual impedance coefficient Z of the ground wire and the ground wire5：
Determining an impedance coefficient matrix Z:
wherein the content of the first and second substances,
calculating the self-potential coefficient P of the wire1：
Wherein ε is a vacuum dielectric constant, which is a known value;
calculating the mutual potential coefficient P of the wires2：
Calculating the self-potential coefficient P of the ground wire3：
Calculating mutual potential coefficient P of the ground wire and the lead wire4：
Calculating mutual potential coefficient P of the ground wire and the ground wire5：
Determining a potential coefficient matrix P:
wherein the content of the first and second substances,
determining a capacitance coefficient matrix Y:
Y＝j2πf×P-1；
determining a transmission parameter gamma of the power transmission line according to the impedance coefficient matrix Z and the capacitance coefficient matrix Y:
wherein α and β are both real numbers;
determining the frequency-dependent characteristic of the wave speed according to the transmission parameter gamma of the power transmission line:
wherein v is the traveling wave velocity.
2. The method according to claim 1, wherein in step 1, the time-frequency characteristics of the initial fault traveling wave head at each end are obtained by using S-transform, and the method specifically comprises:
and (3) performing S conversion on the initial fault traveling wave head:
calculating the time-frequency characteristic of the initial fault traveling wave head based on S transformation:
wherein T is a sampling step length, N is a frequency discrimination, and the T and the N are all known values; psi is a sampling point serial number, N is a sampling frequency serial number, e is a natural constant, k is a real number, k is 0, 1, N-1, and X is fourier transform of an original fault signal; f. ofTWFrequency of wave head of traveling wave for initial failure, fsIs a reference frequency, fs＝1/NT，τarrThe arrival time of the wave head of the initial fault traveling wave is shown.
3. The method according to claim 1, characterized in that in step 2, the arrival time of the fault traveling wave head at each end is obtained by the following method:
calculating and determining whether a criterion is satisfied: x (t) > c xmax；
Determining the sampling time corresponding to the first sampling point t meeting the criterion as the arrival time of the fault traveling wave head;
wherein, x (t) is the fault traveling wave amplitude of the tth sampling point, and is a known value; x is the number ofmaxThe peak value of the amplitude value of the fault traveling wave in the data window is a known value; c is a known proportionality coefficient, 0 < c < 1.
4. The method according to claim 1, characterized in that in step 4, the fault location is determined according to the wave speed of the fault traveling wave at each end and the arrival time of the wave head of the fault traveling wave, specifically:
the fault location is calculated according to the following formula:
wherein l is the distance between the fault and the end M of the line，vmAnd vnThe fault traveling wave speed t of the M end and the N end of the line respectivelymAnd tnRespectively the arrival time of fault traveling wave heads at the M end and the N end of the line; and L is the total length of the transmission line between the M end and the N end of the transmission line and is a known value.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114325211A (en) * | 2021-11-05 | 2022-04-12 | 青岛科技大学 | Fault positioning method for hybrid multi-terminal direct-current transmission line |
| CN114779002A (en) * | 2022-03-29 | 2022-07-22 | 南方电网电力科技股份有限公司 | Method, device and equipment for positioning fault point of power transmission line and storage medium |
| CN114280418B (en) * | 2021-12-23 | 2024-03-12 | 青岛科技大学 | Transmission line fault positioning method and device based on traveling wave frequency |
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| CN114779002A (en) * | 2022-03-29 | 2022-07-22 | 南方电网电力科技股份有限公司 | Method, device and equipment for positioning fault point of power transmission line and storage medium |
| CN114779002B (en) * | 2022-03-29 | 2024-04-02 | 南方电网电力科技股份有限公司 | Power transmission line fault point positioning method, device, equipment and storage medium |
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