水电机组模糊GPSS优化设计及其控制性能仿真研究
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摘要
随着三峡水电站的逐步建成和“西电东送”计划的实施，我国的水电开发进入了高速发展的时期，大型巨型水电站不断建成投运，超高压远距离输电系统不断增长，水电在我国电力系统中所占比重越来越大。水电的迅速发展使得水电系统稳定控制问题显得更加突出，开展相关研究具有重要和现实的意义。
本文对同步发电机组稳定控制的研究现状进行了综述和分析。认为：与常规PSS相比，调速器侧PSS(GPSS)具有良好的解耦特性，更宜用于多机系统的稳定控制；由于水轮机特性的强非线性、工况的时变性以及引水系统的水击效应所导致的水电系统数学模型的不确定性，采用智能控制理论设计水电机组GPSS较常规设计方法更为合理。本文将模糊控制理论和MATLAB应用于水电机组GPSS的设计，提出了模糊GPSS优化设计的首尾轮换交叉遗传算法，基于Simulink模型对模糊GPSS改善水电机组稳定性的效果进行了仿真研究。
作为设计和评价水电机组模糊GPSS的基础，本文归纳建立了简单水电系统稳定分析与控制的数学模型，它包括：计及弹性水击的水力系统线性化模型、混流式水轮机线性化模型以及在此基础上的水力系统—水轮机线性化模型；单机无穷大系统两种详细程度不同的线性化模型，即k_1-k_6模型和c_1-c_(12)模型；基于同步发电机三阶模型的单机无穷大系统非线性模型；励磁系统和调速器模型等。基于这些模型，建立了水电系统线性化Simulink模型和具有模拟输电网络短路前后不同阶段网络结构变化功能的非线性Simulink模型。
本文将模糊控制理论应用于水电机组GPSS的设计。这种模糊GPSS采用二输入单输出结构，以机组转速误差及其导数为输入量，以三角形函数作为模糊量的隶属函数，根据水电机组稳定控制要求和操作人员的经验制定控制规则，以Mamdani的max-min合成法和重心法分别作为模糊推理方法和清晰化方法。利用MATLAB的模糊逻辑工具箱建立水电机组模糊GPSS的模糊推理系统，实现了模糊GPSS的计算机辅助设计。
本文采用遗传算法进行模糊GPSS量化因子和比例因子的优化设计。针对传统单点交叉遗传算法在处理多参数优化问题时存在的不足，提出了首尾轮换交叉遗传算法。该算法的基本思想是：当遗传代数为奇数时，采用尾部单点交叉；当遗传代数为偶数时，采用头部单点交叉。这种算法保证了被优化参数参与优化过程的概率基本均等，较大幅度地提高了进化速度。以ITAE指标作为设计水电机组模糊GPSS的评价函数，对首尾轮换交叉遗传算法与常规交叉遗传算法进行比较，结
郑州大学工学硕士论文
果表明，对同样的参数精度，前者的进化速度明显高于后者。
本文采用时域仿真法对模糊GPSS的控制效果进行检验。以简单水电系统为对
象，使用基于kl一气模型和c，一cl:模型并计及弹性水击的简单水电系统两种线性化
Simulink模型，对PD、PD+常规GPss和PID+模糊GPSS三种调速控制方式下
的系统小扰动过程进行仿真对比研究;使用具有输电网络短路前后各阶段网络结
构变化模拟功能、计及同步发电机非线性特性和弹性水击的简单水电系统非线性
Simulink模型，对PD、PID+常规GPSS和PID+模糊GPSS三种调速控制方式下
的系统大扰动过程进行仿真对比研究。结果表明，水电机组采用模糊GPSS，无论
对于大小扰动，都能够很好地改善简单水电系统的稳定性能;无论是对于运行工
况变化、对于模糊GPSS自身参数变化、对于扰动强度的大小，还是对于模型类型
以及参数差异都具有较强的鲁棒性。本文还以三机九节点系统为对象，使用基于
发电机E’模型的非线性Simulink模型，对GPSS在多机系统大小扰动下的控制性
能进行了仿真研究，结果表明，与无GPSS和常规GPSS控制方式相比，模糊GPSS
对于改善多机系统的小扰动稳定性和大扰动稳定性都具有明显的作用。
With the gradual built of Three-Gorges Hydraulic Power Station and the execution of the project" electric power transmission from west to east", the hydroelectric resource is being developed at top speed and the hydroelectric occupy more and more specific weight. The continuous completion and commissioning of large hydraulic power station, as well as the continuous increasing of extra-high voltage and long distance power transmission system, deteriorate the stability control problem of hydro-electricity system. The associated study is very important and immediate.
In this thesis, by the summarizing and analyzing about the present stability control study state of synchronous generator unit, it is achieved that the governor PSS (GPSS) is more suitable for the stability control of multi-machine system because of its better decoupled character than conventional PSS; the intelligence control theory is more reasonable than conventional methods to design the hydro-generator unit GPSS because of the uncertainty of mathematical model of hydro-electricity system caused by intense nonlinear character and time-variant operating mode of hydro-turbine and water-hammer effect of hydraulic system. Based on the Fuzzy Control Theory and MATLAB, the hydro-generator unit GPSS is designed. The Head-and-Tail Alternate Crossover Genetic Algorithm is proposed to optimize the parameters of Fuzzy GPSS. The effect of Fuzzy GPSS improving hydro-electricity system stability is studied based on the simulation model.
As the basic work of the designing and evaluating of Fuzzy GPSS, the mathematic models of simple hydro-electricity system stability analyzing and controlling are founded and summarized which include the linearized model of hydraulic system-hydoturbine based on the linearized model of hydraulic system considering elastic water hammer and the linearized model of Francies turbine, two different linearized model of single-machine infinite-bus system( k1 - k6 model and c1 - c12 model), the nonlinear model of single-machine infinite-bus system based on three-order model of synchronous generator, the model of exciting system and the model of governor. Based on these models, two kinds of linearized Simulink models and a nonlinear Simulink model of simple hydro-electricity system are founded and the latter can simulate the variation of power transmission network before and after short-circuit happened.
The Fuzzy Control Theory is used to design GPSS of hydro-generator unit. The GPSS have one output and two inputs which are speed error and its derivative. Selecting triangular function as fuzzy variable's membership function, Mamdani max-min synthetic method as fuzzy inference method and centroid method as denazification method, fuzzy control rules are given according to the control expectation of governor and the experience of operating staff. With MATLAB and its Fuzzy Logic Toolbox, fuzzy inference system (FIS) of hydro-generator unit fuzzy GPSS is founded and so the Fuzzy GPSS is attained with the aid of computer.
Genetic Algorithm (GA) is used to optimize quantification factor and proportion factor of Fuzzy GPSS. An improved GA that is named Head-and-Tail Alternate Crossover GA is proposed to overcome the shortcoming of conventional single-point crossover GA on the optimizing of multi-parameter system. The basic idea of the algorithm is that the bits of binary string behind the crossover point are crossed if the generation number is odd and the bits in the front of crossover point are crossed if the generation number is even. In the improved GA, it is ensured that the optimized probability of every parameter is approximately equal and so the search is speeded to a great extent. Taking ITAE criterion as evaluating function of hydro-generator fuzzy GPSS, the Head-and-Tail Alternate Crossover GA is compared to classical GA. The results show that the evolutionary rate of the former is apparently higher than the latter under a same accuracy.
The effect of Fuzzy GPSS is tested using time-domain simulation method in this thesis. Usin
本文对同步发电机组稳定控制的研究现状进行了综述和分析。认为：与常规PSS相比，调速器侧PSS(GPSS)具有良好的解耦特性，更宜用于多机系统的稳定控制；由于水轮机特性的强非线性、工况的时变性以及引水系统的水击效应所导致的水电系统数学模型的不确定性，采用智能控制理论设计水电机组GPSS较常规设计方法更为合理。本文将模糊控制理论和MATLAB应用于水电机组GPSS的设计，提出了模糊GPSS优化设计的首尾轮换交叉遗传算法，基于Simulink模型对模糊GPSS改善水电机组稳定性的效果进行了仿真研究。
作为设计和评价水电机组模糊GPSS的基础，本文归纳建立了简单水电系统稳定分析与控制的数学模型，它包括：计及弹性水击的水力系统线性化模型、混流式水轮机线性化模型以及在此基础上的水力系统—水轮机线性化模型；单机无穷大系统两种详细程度不同的线性化模型，即k_1-k_6模型和c_1-c_(12)模型；基于同步发电机三阶模型的单机无穷大系统非线性模型；励磁系统和调速器模型等。基于这些模型，建立了水电系统线性化Simulink模型和具有模拟输电网络短路前后不同阶段网络结构变化功能的非线性Simulink模型。
本文将模糊控制理论应用于水电机组GPSS的设计。这种模糊GPSS采用二输入单输出结构，以机组转速误差及其导数为输入量，以三角形函数作为模糊量的隶属函数，根据水电机组稳定控制要求和操作人员的经验制定控制规则，以Mamdani的max-min合成法和重心法分别作为模糊推理方法和清晰化方法。利用MATLAB的模糊逻辑工具箱建立水电机组模糊GPSS的模糊推理系统，实现了模糊GPSS的计算机辅助设计。
本文采用遗传算法进行模糊GPSS量化因子和比例因子的优化设计。针对传统单点交叉遗传算法在处理多参数优化问题时存在的不足，提出了首尾轮换交叉遗传算法。该算法的基本思想是：当遗传代数为奇数时，采用尾部单点交叉；当遗传代数为偶数时，采用头部单点交叉。这种算法保证了被优化参数参与优化过程的概率基本均等，较大幅度地提高了进化速度。以ITAE指标作为设计水电机组模糊GPSS的评价函数，对首尾轮换交叉遗传算法与常规交叉遗传算法进行比较，结
郑州大学工学硕士论文
果表明，对同样的参数精度，前者的进化速度明显高于后者。
本文采用时域仿真法对模糊GPSS的控制效果进行检验。以简单水电系统为对
象，使用基于kl一气模型和c，一cl:模型并计及弹性水击的简单水电系统两种线性化
Simulink模型，对PD、PD+常规GPss和PID+模糊GPSS三种调速控制方式下
的系统小扰动过程进行仿真对比研究;使用具有输电网络短路前后各阶段网络结
构变化模拟功能、计及同步发电机非线性特性和弹性水击的简单水电系统非线性
Simulink模型，对PD、PID+常规GPSS和PID+模糊GPSS三种调速控制方式下
的系统大扰动过程进行仿真对比研究。结果表明，水电机组采用模糊GPSS，无论
对于大小扰动，都能够很好地改善简单水电系统的稳定性能;无论是对于运行工
况变化、对于模糊GPSS自身参数变化、对于扰动强度的大小，还是对于模型类型
以及参数差异都具有较强的鲁棒性。本文还以三机九节点系统为对象，使用基于
发电机E’模型的非线性Simulink模型，对GPSS在多机系统大小扰动下的控制性
能进行了仿真研究，结果表明，与无GPSS和常规GPSS控制方式相比，模糊GPSS
对于改善多机系统的小扰动稳定性和大扰动稳定性都具有明显的作用。
With the gradual built of Three-Gorges Hydraulic Power Station and the execution of the project" electric power transmission from west to east", the hydroelectric resource is being developed at top speed and the hydroelectric occupy more and more specific weight. The continuous completion and commissioning of large hydraulic power station, as well as the continuous increasing of extra-high voltage and long distance power transmission system, deteriorate the stability control problem of hydro-electricity system. The associated study is very important and immediate.
In this thesis, by the summarizing and analyzing about the present stability control study state of synchronous generator unit, it is achieved that the governor PSS (GPSS) is more suitable for the stability control of multi-machine system because of its better decoupled character than conventional PSS; the intelligence control theory is more reasonable than conventional methods to design the hydro-generator unit GPSS because of the uncertainty of mathematical model of hydro-electricity system caused by intense nonlinear character and time-variant operating mode of hydro-turbine and water-hammer effect of hydraulic system. Based on the Fuzzy Control Theory and MATLAB, the hydro-generator unit GPSS is designed. The Head-and-Tail Alternate Crossover Genetic Algorithm is proposed to optimize the parameters of Fuzzy GPSS. The effect of Fuzzy GPSS improving hydro-electricity system stability is studied based on the simulation model.
As the basic work of the designing and evaluating of Fuzzy GPSS, the mathematic models of simple hydro-electricity system stability analyzing and controlling are founded and summarized which include the linearized model of hydraulic system-hydoturbine based on the linearized model of hydraulic system considering elastic water hammer and the linearized model of Francies turbine, two different linearized model of single-machine infinite-bus system( k1 - k6 model and c1 - c12 model), the nonlinear model of single-machine infinite-bus system based on three-order model of synchronous generator, the model of exciting system and the model of governor. Based on these models, two kinds of linearized Simulink models and a nonlinear Simulink model of simple hydro-electricity system are founded and the latter can simulate the variation of power transmission network before and after short-circuit happened.
The Fuzzy Control Theory is used to design GPSS of hydro-generator unit. The GPSS have one output and two inputs which are speed error and its derivative. Selecting triangular function as fuzzy variable's membership function, Mamdani max-min synthetic method as fuzzy inference method and centroid method as denazification method, fuzzy control rules are given according to the control expectation of governor and the experience of operating staff. With MATLAB and its Fuzzy Logic Toolbox, fuzzy inference system (FIS) of hydro-generator unit fuzzy GPSS is founded and so the Fuzzy GPSS is attained with the aid of computer.
Genetic Algorithm (GA) is used to optimize quantification factor and proportion factor of Fuzzy GPSS. An improved GA that is named Head-and-Tail Alternate Crossover GA is proposed to overcome the shortcoming of conventional single-point crossover GA on the optimizing of multi-parameter system. The basic idea of the algorithm is that the bits of binary string behind the crossover point are crossed if the generation number is odd and the bits in the front of crossover point are crossed if the generation number is even. In the improved GA, it is ensured that the optimized probability of every parameter is approximately equal and so the search is speeded to a great extent. Taking ITAE criterion as evaluating function of hydro-generator fuzzy GPSS, the Head-and-Tail Alternate Crossover GA is compared to classical GA. The results show that the evolutionary rate of the former is apparently higher than the latter under a same accuracy.
The effect of Fuzzy GPSS is tested using time-domain simulation method in this thesis. Usin
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