提高电力系统动态稳定性的UPFC模糊控制器研究
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摘要
大量新型设备与控制策略的涌现,为提高电力系统动态稳定性这个传统课题提供了新的选择。柔性交流输电系统(FACTS)可针对线路功率作快速、连续地调节,因此借助FACTS装置,既可以维持指定的功率交换,还可阻尼系统振荡,提高系统动态稳定性。统一潮流控制器(UPFC)便是其中功能最多、控制规律也最为复杂的一种装置。本文通过对UPFC实施合理控制,以期望快速显著地平息扰动后系统的功率振荡。
本文从振荡能量函数的角度分析了电力系统功率振荡的特点和机理,提出一种简单有效的控制策略——即振荡能量下降原理使系统暂态振荡能量总能单调地保持消减,进而使指定线路上的功率振荡得到抑制。
为在UPFC的控制器上实现上述控制策略,本文提出为UPFC主控制附加一套自适应模糊阻尼控制器的方案,利用模糊逻辑以简单的规则实现对非线性系统的鲁棒性控制。此附加控制器采用模糊控制技术对控制参数进行在线调节,完成简单逻辑推理,自适应地根据控制效果逐渐加大或减小控制量,对不同的系统运行方式和振荡模式具有较强的鲁棒性,能协调控制器在剧烈振荡时的有效阻尼和在振荡趋于平缓时的单调收敛之间的矛盾。
对上述控制器方案在10机39节点新英格兰试验系统上进行了数字仿真测试,算例分析表明设计的稳定控制器能够有效抑制电力系统各种功率振荡,改善系统的动态稳定性,并且对系统工况的变化和不同的扰动具有较良好的鲁棒性和适应性。
With various new appliances and control strategies being springing up, the traditional issue of enhancing the dynamic stability of power systems is offered novel choices. Flexible AC Transmission System (FACTS) can regulate the line power rapidly, continuously, and thus becomes a popular tool to maintain the rated power exchange, to damp the system oscillation, and to improve dynamic stability. The Unified Power Flow Controller (UPFC) is such an equipment among FACTS, being especially rich in functioning and complex in controlling rules. The thesis aims to apply an appropriate control on UPFC to achieve a fast suppression for power system oscillation after some disturbance. From the standpoint of Oscillation Energy Function (OEF), the thesis proposes a
simple but effective control strategy called Oscillation Energy Descent, which describes the monotonous decreasing transient oscillatory energy for a power system. It offers an effective approach for damping the line power oscillations.
To implement the new control strategy on controllers of UPFC, the thesis designs a scheme of adaptive fuzzy-logic damping controllers for the main controller of UPFC. The simple rules of fuzzy-logic rules ensure a robustness control even on a nonlinear system. This supplementary controller has the advantages such as tuning the controlling parameters on-line, and changing the amount of controlling output by comparing the output to a reference. The robustness means that the same control scheme is effective for different operation modes and oscillatory modes. The usually contradiction between fast damping a violent oscillation and monotonously reducing a descent signal is thus solved by the new controller.
Such a supplementary controller is validated on the 10-machine 39-bus New England test power system. The digital simulation proves the strengths claimed above, with different operation modes and disturbances employed. The dynamic stability of the power system is greatly enhanced.
本文从振荡能量函数的角度分析了电力系统功率振荡的特点和机理,提出一种简单有效的控制策略——即振荡能量下降原理使系统暂态振荡能量总能单调地保持消减,进而使指定线路上的功率振荡得到抑制。
为在UPFC的控制器上实现上述控制策略,本文提出为UPFC主控制附加一套自适应模糊阻尼控制器的方案,利用模糊逻辑以简单的规则实现对非线性系统的鲁棒性控制。此附加控制器采用模糊控制技术对控制参数进行在线调节,完成简单逻辑推理,自适应地根据控制效果逐渐加大或减小控制量,对不同的系统运行方式和振荡模式具有较强的鲁棒性,能协调控制器在剧烈振荡时的有效阻尼和在振荡趋于平缓时的单调收敛之间的矛盾。
对上述控制器方案在10机39节点新英格兰试验系统上进行了数字仿真测试,算例分析表明设计的稳定控制器能够有效抑制电力系统各种功率振荡,改善系统的动态稳定性,并且对系统工况的变化和不同的扰动具有较良好的鲁棒性和适应性。
With various new appliances and control strategies being springing up, the traditional issue of enhancing the dynamic stability of power systems is offered novel choices. Flexible AC Transmission System (FACTS) can regulate the line power rapidly, continuously, and thus becomes a popular tool to maintain the rated power exchange, to damp the system oscillation, and to improve dynamic stability. The Unified Power Flow Controller (UPFC) is such an equipment among FACTS, being especially rich in functioning and complex in controlling rules. The thesis aims to apply an appropriate control on UPFC to achieve a fast suppression for power system oscillation after some disturbance. From the standpoint of Oscillation Energy Function (OEF), the thesis proposes a
simple but effective control strategy called Oscillation Energy Descent, which describes the monotonous decreasing transient oscillatory energy for a power system. It offers an effective approach for damping the line power oscillations.
To implement the new control strategy on controllers of UPFC, the thesis designs a scheme of adaptive fuzzy-logic damping controllers for the main controller of UPFC. The simple rules of fuzzy-logic rules ensure a robustness control even on a nonlinear system. This supplementary controller has the advantages such as tuning the controlling parameters on-line, and changing the amount of controlling output by comparing the output to a reference. The robustness means that the same control scheme is effective for different operation modes and oscillatory modes. The usually contradiction between fast damping a violent oscillation and monotonously reducing a descent signal is thus solved by the new controller.
Such a supplementary controller is validated on the 10-machine 39-bus New England test power system. The digital simulation proves the strengths claimed above, with different operation modes and disturbances employed. The dynamic stability of the power system is greatly enhanced.
引文
[1] 王俊普,智能控制,中国科技大学出版社,1996
[2] P. Kundur, Power System Stability and Control. MCGraw-Hill, 1993
[3] Yu Yaonan, Electric Power System Dynamics, Academic Press,1983
[4] 马大强,电力系统机电暂态过程,水利电力出版社,1988
[5] 鞠平,电力系统低频振荡研究概观,河海大学科技情报,1990,12(2):20-28
[6] 张晓明,庞晚艳,陈苑文,刘增煌,田芳,四川电网低频振荡及控制措施,中国电力,2000,33(5):36-39
[7] 肖申生等,湖南柘潭线低频功率摇摆测试与分析,电网技术,1984(3-4):44-50
[8] 李渝,新疆主电网低频功率振荡分析,电网技术,2001, 25(5):46-482
[9] 罗国俊等,广东—香港联网系统的低频振荡,中国电机工程学报,1986,6 (1):29-35
[10] 夏道止,电力系统分析(下),中国电力出版社,1995
[11] Limal, Bezerral, Tomel C, New Methods For Fast Small Signal Stability Assessment Of Large-Scale Power Systems, IEEE Transactions on PWRS, 1995,1(9):1979-1985
[12] Byerly R T, Renon R J, Eigenvalue Analysis Of Synchronizing Power Flow Oscillation In Large Electric Power System, IEEE Transactions on PAS, 1982,101 (1):235-243
[13] Perez Arriage I J , Verghese F C, Selective Modal Analysis With Application To Electric Power System, IEEE Transactions on PAS, 1982,101 (9):3117-3125
[14] Uchida N, Nagao T, A New Eigen-Analysis Method Of Steady State Stability Studies for Large Power Systems, IEEE Transactions on PWRS, 1988,3(2): 706-714
[15] Vanness J E, Boratynska et al, A Partitioning Algorithm For Finding Eigenvalue And Eigenvectors, Proc. Of 10th PSCC, 1990.91-98
[16] 刘晓鹏,小干扰稳定性部分特征值分析的多重变换法,电力系统自动化,1998, 22(9):38-42
[17] 刘晓鹏,电力系统低频振荡稳定极限的直接算法,电力系统自动化,1999, 23(10):5-7
[18] 刘劲,吴小辰,孙扬声等,电力系统静态失稳和周期振荡的局部分叉分析,电力系统自动化,1995, 19(12):25-28
[19] 何南强,王新跃,电力系统随机振荡的频谱分析,电力系统自动化,1988, 12(5):3-8
[20] 邵俊松,李庚银,电力系统低频振荡分析及振荡解列策略研究综述,电力情报,2000, No.2:1-5
[21] 方思立,朱方,电力系统稳定器的原理及其应用,北京:中国电力出版社,1996
[22] T Smed, G Anderson, Utilising HVDC To Damp Power Oscillations, IEEE Trans PWRD, 1993 ,8(1-2):620-627
[23] E.V. Larsen, J.J. Sanchez-gasca and J.H. Chow, Concepts for Design of FACTS Controllers to Damp Power Swings, IEEE Trans PWRS, 1995, 10(2): 948-955
[24] Swift.F.J, and Wang.H.F, A Unified Model for the Analysis of FACTS Devices in Damping Power System Oscillations PartⅠ:Single-machine Infinite-bus Power System, IEEE Trans PWRD, 1997, 12(2):941-946
[25] G.J. Li, T.T. Lie, G.B. S., K.L. Lo, Real-time coordinated optimal FACTS controllers, Electric Power Systems Research 52 (1999), pp.273–286
[26] F.J. Swift and H.F, Wang. Application of the controllable series compensator in damping power system oscillation, IEE Proc. C, Gener. Transm. Distrib. , 1996, 143,(4), pp. 359-364
[27] Xianzhang Lei, Edwin N. Lerch, et al, Optimization and Coordination of Damping Controls for Improving System Dynamic Performance, IEEE Trans PWRS, 2001 ,16(3):473-481
[28] 卢强,孙元章,电力系统非线性控制,北京:科学出版社,1993
[29] T. Hiyama, Takash, Development Of Fuzzy Logic Power System Stabilizer And Further Studies, Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 1999
[30] 谭西梅,周双喜,新型模糊逻辑控制器的研究,电力系统自动化,1998,22(8):8-11
[31] Payman Shamsollahi, Om P Malik, Application Of Neural Adaptive Power System Stabilizer In A Multi-Machine Power System, IEEE Trans., on Energy Conversion, 1999,14(3):731-740
[32] Hiyama, T, Application of Neural Network To Real Time Tuning Of Fuzzy Logic PSS, Proceedings of the 2nd International Forum on Applications of Neural Networks to Power System, pp. 421-42, 1993
[33] A. M. Sharaf, et al, A Hybrid Neuro-Fuzzy Power System Stabilizer, IEEE International Conference on Neural Networks, vol. 3, pp. 1760-1765, 1994
[34] Choi J G, Hwang G. H, Kang H T, Park J H, Design of fuzzy logic controller for HVDC using an adaptive evolutionary algorithm, IEEE International Symposium on Industrial Electronics, Vol 3, Jun 12-16, 2001 : 1816-1821
[35] 鞠平,付蓉,倪辉,可控串联补偿的模糊神经网络控制,电力系统自动化,2000,24(2):28-30
[36] Xiao B T, N Y Zhang, L Y Tong, Fuzzy control of thyristor-controlled series compensator in power system transients, Fuzzy Sets and Systems, 110(2 000), Mar ,pp. 429-436
[37] B. Changaroon, S C Srivastava, Neural Network Based Power System Damping Controller for SVC, IEE Proc. Gener. Transm. Distrib., 146(4): 370-377 , 1999
[38] T. Hiyama, M. Mishiro, H. Kihara, T.H. Ortmeyer, Fuzzy logic switching of thyristor controlled braking resistor considering coordination with SVC, IEEE Trans PWRD, 1995,10(4):2020 –2026
[39] Hiyama, T., Kihara, H. , et al, Fuzzy logic switching of FACTS devices for stability enhancement, IEEE International Symposium on Circuits and Systems 1 May 12-15 1996, pp. 605-608
[40] Schoder K., Azra Hasanovic , et al, Enhancing transient stability using a fuzzy control scheme for the unified power flow controller (UPFC), Proceedings of the 43rd IEEE Midwest Symposium on Circuits and Systems, 2000, Volume 3:1382 –1385
[41] Limyingcharoen S., U D Annakkage et al, Fuzzy logic based UPFC for transient stability improvement, IEE Proc. Gener. Transm. Distrib., 1998 ,145(3): 225-232
[42] 黄振宇,刁勤华,孙岩等,UPFC 的模糊调制控制研究,电力系统自动化,2000,24(2)
[43] 陈众,基于仿人智能控制理论的 UPFC 智能控制器结构设计研究,[重庆大学 博士学位论文], 2003 年 9 月
[44] 李岩松,郭家骥,刘君,UPFC 暂态数学模型及其应用,电力系统自动化,2000,24(21):31-35
[45] 鞠儒生,陈宝贤,邱晓刚,UPFC 控制方法研究,中国电机工程学报,2003,23(6):60-65
[46] 张芳,房大中,宋文南,多变量统一潮流控制器最佳变量配对选择的研究,郑州大学学报(工学版),2005,26(2):43-46
[47] 王海风,李敏,陈珩,统一潮流控制器的多变量控制设计,中国电机工程学报,2000,20(8):51-55
[48] 颜伟,朱继忠,孙洪波等,UPFC 的模型与控制器研究,电力系统自动化,1999,23(6):36-40
[49] 黄振宇,倪以信,陈寿孙等,UPFC 动态模型在电力系统动态分析中的实现,电力系统自动化,1999,23(6):26-30
[50] 颜伟,朱继忠,孙洪波等,含 UPFC 的电力系统暂态稳定数字仿真,电力系统及其自动化学报,1999,11(5-6):1-7
[51] 章良栋,岑文辉,刘为,UPFC 的模型及控制器研究,电力系统自动化,1998,22(1):36-39
[52] Wang H.F., Damping function of unified power flow controller, IEE Proceedings: Generation, Transmission, Distribution, 1999, 146(1):81-87
[53] 倪以信,陈寿孙,张宝霖,动态电力系统的理论和分析,北京:清华大学出版社,2002
[54] 傅书逷,倪以信,薛禹胜,直接法稳定分析,北京:中国电力出版社,1999
[55] Huang Z Y, Ni Y X, Shen C M, et al, Application of unified power flow controller in interconnected power systems—modeling, interface, control strategy, and case study, IEEE Trans on Power Systems, 2000, 15 (2):817 – 824
[56] 易继锴,侯媛彬,智能控制技术,北京工业大学出版社,1999 年
[57] 李士勇,模糊控制·神经控制和智能控制论,哈尔滨工业大学出版社,1998年
[58] Pai M A, Energy function analysis for power system stability, Boston: Kluwer Academic Publisher, 1989
[2] P. Kundur, Power System Stability and Control. MCGraw-Hill, 1993
[3] Yu Yaonan, Electric Power System Dynamics, Academic Press,1983
[4] 马大强,电力系统机电暂态过程,水利电力出版社,1988
[5] 鞠平,电力系统低频振荡研究概观,河海大学科技情报,1990,12(2):20-28
[6] 张晓明,庞晚艳,陈苑文,刘增煌,田芳,四川电网低频振荡及控制措施,中国电力,2000,33(5):36-39
[7] 肖申生等,湖南柘潭线低频功率摇摆测试与分析,电网技术,1984(3-4):44-50
[8] 李渝,新疆主电网低频功率振荡分析,电网技术,2001, 25(5):46-482
[9] 罗国俊等,广东—香港联网系统的低频振荡,中国电机工程学报,1986,6 (1):29-35
[10] 夏道止,电力系统分析(下),中国电力出版社,1995
[11] Limal, Bezerral, Tomel C, New Methods For Fast Small Signal Stability Assessment Of Large-Scale Power Systems, IEEE Transactions on PWRS, 1995,1(9):1979-1985
[12] Byerly R T, Renon R J, Eigenvalue Analysis Of Synchronizing Power Flow Oscillation In Large Electric Power System, IEEE Transactions on PAS, 1982,101 (1):235-243
[13] Perez Arriage I J , Verghese F C, Selective Modal Analysis With Application To Electric Power System, IEEE Transactions on PAS, 1982,101 (9):3117-3125
[14] Uchida N, Nagao T, A New Eigen-Analysis Method Of Steady State Stability Studies for Large Power Systems, IEEE Transactions on PWRS, 1988,3(2): 706-714
[15] Vanness J E, Boratynska et al, A Partitioning Algorithm For Finding Eigenvalue And Eigenvectors, Proc. Of 10th PSCC, 1990.91-98
[16] 刘晓鹏,小干扰稳定性部分特征值分析的多重变换法,电力系统自动化,1998, 22(9):38-42
[17] 刘晓鹏,电力系统低频振荡稳定极限的直接算法,电力系统自动化,1999, 23(10):5-7
[18] 刘劲,吴小辰,孙扬声等,电力系统静态失稳和周期振荡的局部分叉分析,电力系统自动化,1995, 19(12):25-28
[19] 何南强,王新跃,电力系统随机振荡的频谱分析,电力系统自动化,1988, 12(5):3-8
[20] 邵俊松,李庚银,电力系统低频振荡分析及振荡解列策略研究综述,电力情报,2000, No.2:1-5
[21] 方思立,朱方,电力系统稳定器的原理及其应用,北京:中国电力出版社,1996
[22] T Smed, G Anderson, Utilising HVDC To Damp Power Oscillations, IEEE Trans PWRD, 1993 ,8(1-2):620-627
[23] E.V. Larsen, J.J. Sanchez-gasca and J.H. Chow, Concepts for Design of FACTS Controllers to Damp Power Swings, IEEE Trans PWRS, 1995, 10(2): 948-955
[24] Swift.F.J, and Wang.H.F, A Unified Model for the Analysis of FACTS Devices in Damping Power System Oscillations PartⅠ:Single-machine Infinite-bus Power System, IEEE Trans PWRD, 1997, 12(2):941-946
[25] G.J. Li, T.T. Lie, G.B. S., K.L. Lo, Real-time coordinated optimal FACTS controllers, Electric Power Systems Research 52 (1999), pp.273–286
[26] F.J. Swift and H.F, Wang. Application of the controllable series compensator in damping power system oscillation, IEE Proc. C, Gener. Transm. Distrib. , 1996, 143,(4), pp. 359-364
[27] Xianzhang Lei, Edwin N. Lerch, et al, Optimization and Coordination of Damping Controls for Improving System Dynamic Performance, IEEE Trans PWRS, 2001 ,16(3):473-481
[28] 卢强,孙元章,电力系统非线性控制,北京:科学出版社,1993
[29] T. Hiyama, Takash, Development Of Fuzzy Logic Power System Stabilizer And Further Studies, Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 1999
[30] 谭西梅,周双喜,新型模糊逻辑控制器的研究,电力系统自动化,1998,22(8):8-11
[31] Payman Shamsollahi, Om P Malik, Application Of Neural Adaptive Power System Stabilizer In A Multi-Machine Power System, IEEE Trans., on Energy Conversion, 1999,14(3):731-740
[32] Hiyama, T, Application of Neural Network To Real Time Tuning Of Fuzzy Logic PSS, Proceedings of the 2nd International Forum on Applications of Neural Networks to Power System, pp. 421-42, 1993
[33] A. M. Sharaf, et al, A Hybrid Neuro-Fuzzy Power System Stabilizer, IEEE International Conference on Neural Networks, vol. 3, pp. 1760-1765, 1994
[34] Choi J G, Hwang G. H, Kang H T, Park J H, Design of fuzzy logic controller for HVDC using an adaptive evolutionary algorithm, IEEE International Symposium on Industrial Electronics, Vol 3, Jun 12-16, 2001 : 1816-1821
[35] 鞠平,付蓉,倪辉,可控串联补偿的模糊神经网络控制,电力系统自动化,2000,24(2):28-30
[36] Xiao B T, N Y Zhang, L Y Tong, Fuzzy control of thyristor-controlled series compensator in power system transients, Fuzzy Sets and Systems, 110(2 000), Mar ,pp. 429-436
[37] B. Changaroon, S C Srivastava, Neural Network Based Power System Damping Controller for SVC, IEE Proc. Gener. Transm. Distrib., 146(4): 370-377 , 1999
[38] T. Hiyama, M. Mishiro, H. Kihara, T.H. Ortmeyer, Fuzzy logic switching of thyristor controlled braking resistor considering coordination with SVC, IEEE Trans PWRD, 1995,10(4):2020 –2026
[39] Hiyama, T., Kihara, H. , et al, Fuzzy logic switching of FACTS devices for stability enhancement, IEEE International Symposium on Circuits and Systems 1 May 12-15 1996, pp. 605-608
[40] Schoder K., Azra Hasanovic , et al, Enhancing transient stability using a fuzzy control scheme for the unified power flow controller (UPFC), Proceedings of the 43rd IEEE Midwest Symposium on Circuits and Systems, 2000, Volume 3:1382 –1385
[41] Limyingcharoen S., U D Annakkage et al, Fuzzy logic based UPFC for transient stability improvement, IEE Proc. Gener. Transm. Distrib., 1998 ,145(3): 225-232
[42] 黄振宇,刁勤华,孙岩等,UPFC 的模糊调制控制研究,电力系统自动化,2000,24(2)
[43] 陈众,基于仿人智能控制理论的 UPFC 智能控制器结构设计研究,[重庆大学 博士学位论文], 2003 年 9 月
[44] 李岩松,郭家骥,刘君,UPFC 暂态数学模型及其应用,电力系统自动化,2000,24(21):31-35
[45] 鞠儒生,陈宝贤,邱晓刚,UPFC 控制方法研究,中国电机工程学报,2003,23(6):60-65
[46] 张芳,房大中,宋文南,多变量统一潮流控制器最佳变量配对选择的研究,郑州大学学报(工学版),2005,26(2):43-46
[47] 王海风,李敏,陈珩,统一潮流控制器的多变量控制设计,中国电机工程学报,2000,20(8):51-55
[48] 颜伟,朱继忠,孙洪波等,UPFC 的模型与控制器研究,电力系统自动化,1999,23(6):36-40
[49] 黄振宇,倪以信,陈寿孙等,UPFC 动态模型在电力系统动态分析中的实现,电力系统自动化,1999,23(6):26-30
[50] 颜伟,朱继忠,孙洪波等,含 UPFC 的电力系统暂态稳定数字仿真,电力系统及其自动化学报,1999,11(5-6):1-7
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