水轮机调速器参数对电力系统超低频振荡的影响
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摘要
实际电网中多次发生超低频振荡事件,研究发现调速系统产生的负阻尼是引起超低频振荡的重要原因。该文分别推导了水轮机调速系统在考虑PID参数下的阻尼转矩系数,并且通过分界频率和实际振荡频率分析了水轮机调速系统的阻尼特性。基于单机系统,采用粒子群优化算法对调速器PID参数进行优化,优化目标函数同时考虑了水轮机的转速偏差和调速系统的阻尼转矩,并通过阻尼转矩法比较了优化前后系统的阻尼变化,同时利用附加控制器的方法增加了系统的正阻尼,达到抑制超低频振荡的目的。最后,在4机2区域系统和云南电网中某实际直流孤岛系统中验证了超低频振荡是由调速系统产生的负阻尼所引起的。
In actual power grids, ultra-low frequency oscillations occur many times, and the negative damping generated by speed control system is an important cause of frequency oscillation. In this paper, the damping torque coefficients of hydraulic turbine speed regulating systems with and without consideration of PID parameters are derived; and the damping characteristics of hydraulic turbine governing system are analyzed with dividing frequency and actual oscillation frequency. Based on single machine system, PSO algorithm is used to optimize the PID parameters of the governor. The objective function takes into account the speed deviation of the turbine and the damping torque of the speed regulating system at the same time. The damping torque method is used to compare the damping changes before and after the optimization, and the positive damping of the system is increased with additional controller to suppress the ultra-low frequency oscillation. Finally, in a 4-machine 2-area system and a practical DC islanded system in Yunnan power grid, it is verified that the ultra-low frequency oscillation is caused by the negative damping produced by the speed control system.
In actual power grids, ultra-low frequency oscillations occur many times, and the negative damping generated by speed control system is an important cause of frequency oscillation. In this paper, the damping torque coefficients of hydraulic turbine speed regulating systems with and without consideration of PID parameters are derived; and the damping characteristics of hydraulic turbine governing system are analyzed with dividing frequency and actual oscillation frequency. Based on single machine system, PSO algorithm is used to optimize the PID parameters of the governor. The objective function takes into account the speed deviation of the turbine and the damping torque of the speed regulating system at the same time. The damping torque method is used to compare the damping changes before and after the optimization, and the positive damping of the system is increased with additional controller to suppress the ultra-low frequency oscillation. Finally, in a 4-machine 2-area system and a practical DC islanded system in Yunnan power grid, it is verified that the ultra-low frequency oscillation is caused by the negative damping produced by the speed control system.
引文
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[15]贺静波,张剑云,李明节,等.直流孤岛系统调速器稳定问题的频域分析与控制方法[J].中国电机工程学报,2013,33(16):137-143.He Jingbo,Zhang Jianyun,Li Mingjie,et al.Frequency domain analysis and control for governor stability problem in islanded HVDCsending system[J].Proceedings of the CSEE,2013,33(16):137-143(in Chinese).
[16]Kundur P.Power system stability and control[M].New York,USA:McGraw-Hill,1994:548-551.
[17]倪以信,陈寿孙,张宝霖.动态电力系统的理论和分析[M].北京:清华大学出版社,2002:235-258.
[18]汤涌,卜广全,候俊贤,等.PSD-ST暂态稳定程序用户手册[M].5.0版.北京:中国电力科学研究院系统所,2015.
[2]刘春晓,张俊峰,陈亦平,等.异步联网方式下云南电网超低频振荡的机理分析与仿真[J].南方电网技术,2016,10(7):29-34.Liu Chunxiao,Zhang Junfeng,Chen Yiping,et al.Mechanism analysis and simulation on ultra-low frequency oscillation of Yunnan power grid in asynchronous interconnection mode[J].Southern Power System Technology,2016,10(7):29-34(in Chinese).
[3]Pico H V,Mccalley J D,Angel A,et al.Analysis of very low frequency oscillations in hydro-dominant power systems using multi-unit modeling[J].IEEE Transactions on Power Systems,2012,27(4):1906-1915.
[4]路晓敏,陈磊,陈亦平,等.电力系统一次调频过程的超低频振荡分析[J].电力系统自动化,2017,41(16):64-70.Lu Xiaomin,Chen Lei,Chen Yiping,et al.Ultra-low-frequency oscillation of power system primary frequency regulation[J].Automation of Electric Power Systems,2017,41(16):64-70(in Chinese).
[5]王官宏,于钊,张怡,等.电力系统超低频率振荡模式排查及分析[J].电网技术,2016,40(8):2324-2330.Wang Guanhong,Yu Zhao,Zhang Yi,et al.Troubleshooting and analysis of ultra-low frequency oscillation mode in power system[J].Power System Technology,2016,40(8):2324-2330(in Chinese).
[6]陈磊,路晓敏,陈亦平,等.利用暂态能量流的超低频振荡在线分析与紧急控制方法[J].电力系统自动化,2017,41(17):9-14.Chen Lei,Lu Xiaomin,Chen Yiping,et al.Online analysis and emergency control of ultra-low-frequency oscillations using transient energy flow[J].Automation of Electric Power Systems,2017,41(17):9-14(in Chinese).
[7]王官宏,陶向宇,李文峰,等.原动机调节系统对电力系统动态稳定的影响[J].中国电机工程学报,2008,28(34):80-86.Wang Guanhong,Tao Xiangyu,Li Wenfeng,et al.Influence of turbine governor on power system dynamic stability[J].Proceedings of the CSEE,2008,28(34):80-86(in Chinese).
[8]王官宏,黄兴.汽轮机调速系统参数对电力系统阻尼特性的影响[J].电力自动化设备,2011,31(4):87-90.Wang Guanhong,Huang Xing.Influence of turbine governor parameters on power system damping[J].Electric Power Automation Equipment,2011,31(4):87-90(in Chinese).
[9]刘春晓,张俊峰,李鹏,等.调速系统对南方电网动态稳定性的影响研究[J].中国电机工程学报,2013,33(S1):74-78.Liu Chunxiao,Zhang Junfeng,Li Peng,et al.Influence of turbine governor on dynamic stability in China southern grid[J].Proceedings of the CSEE,2013,33(S1):74-78(in Chinese).
[10]刘子全,姚伟,文劲宇,等.调速系统频率模态对电网低频振荡的影响[J].中国电机工程学报,2016,36(11):2978-2986.Liu Ziquan,Yao Wei,Wen Jinsong,et al.Influence of governor system and its frequency mode on low frequency oscillations of power grid[J].Proceedings of the CSEE,2016,33(11):2978-2986(in Chinese).
[11]Villegas H N.Electromechanical oscillations in hydro-dominant power systems:an application to the Colombian power system[D].Ames,USA:Iowa State University,2011.
[12]Lu Xiaomin,Chen Lei,Zhang Yiwei,et al.Limit cycle in the ultralow-frequency oscillation of islanded power systems[C]//IEEEInternational Conference on Control&Automation.Ohrid,Macedonia:IEEE,2017:648-653.
[13]Hagihara S,Yokota H,Goda K.Stability of a hydraulic turbine generating unit controlled by PID governor[J].IEEE Transactions on Power Apparatus and Systems,1979,PAS-98(6):2294-2298.
[14]Sanathanan C K.A frequency domain method for tuning hydro governors[J].IEEE Transactions on Energy Conversion,1998,3(1):14-17.
[15]贺静波,张剑云,李明节,等.直流孤岛系统调速器稳定问题的频域分析与控制方法[J].中国电机工程学报,2013,33(16):137-143.He Jingbo,Zhang Jianyun,Li Mingjie,et al.Frequency domain analysis and control for governor stability problem in islanded HVDCsending system[J].Proceedings of the CSEE,2013,33(16):137-143(in Chinese).
[16]Kundur P.Power system stability and control[M].New York,USA:McGraw-Hill,1994:548-551.
[17]倪以信,陈寿孙,张宝霖.动态电力系统的理论和分析[M].北京:清华大学出版社,2002:235-258.
[18]汤涌,卜广全,候俊贤,等.PSD-ST暂态稳定程序用户手册[M].5.0版.北京:中国电力科学研究院系统所,2015.