CN102624013B - Phase compensation principle-based design method for energy storage damping controller - Google Patents

Abstract

Translated fromChinese

本发明涉及基于相位补偿原理的储能阻尼控制器设计方法，实现以联络线实时监测信息控制并联型储能装置，抑制联络线上的功率振荡，该方法利用现有WAMS/EMS（广域测量系统/能量管理系统）所提供的联络线两端节点电流和电压信息，合成储能阻尼控制器的反馈控制信号，经过测量放大环节、隔直环节、移相环节直接形成储能装置的输出功率指令值。储能装置的变频器通过给定的功率值产生指定的有功功率注入到电网，从而抑制联络线上的功率振荡。本发明充分利用联络线的实时监测信息，基于相位补偿的原理进行控制器的参数整定，控制器结构简单、可靠，能够提高储能装置抑制联络线功率振荡的效率。

The invention relates to an energy storage damping controller design method based on the principle of phase compensation, which realizes the real-time monitoring information of the tie line to control the parallel energy storage device, and suppresses the power oscillation on the tie line. The method utilizes the existing WAMS/EMS (Wide Area Measurement System/Energy Management System) provides the current and voltage information of the nodes at both ends of the tie line, synthesizes the feedback control signal of the energy storage damping controller, and directly forms the output power of the energy storage device through the measurement amplification link, DC blocking link, and phase shifting link instruction value. The frequency converter of the energy storage device generates the specified active power through the given power value and injects it into the grid, thereby suppressing the power oscillation on the tie line. The invention makes full use of the real-time monitoring information of the tie line, and adjusts the parameters of the controller based on the principle of phase compensation. The controller has a simple and reliable structure, and can improve the efficiency of the energy storage device in suppressing the power oscillation of the tie line.

Description

Translated fromChinese

基于相位补偿原理的储能阻尼控制器的设计方法Design Method of Energy Storage Damping Controller Based on Phase Compensation Principle

技术领域technical field

本发明涉及电力系统稳定控制技术领域，尤其是涉及一种储能装置在电力系统功率振荡抑制中的应用技术。The invention relates to the technical field of power system stability control, in particular to an application technology of an energy storage device in power system power oscillation suppression.

背景技术Background technique

国际大电网会议第38研究委员会曾组织专门工作组(Task Force 38.01.07)对电网低频振荡问题进行研究，其结论指出：为消除振荡的威胁，首先应仔细考虑研究整定系统中主要发电机的电力系统稳定器（PSS）；其次应研究系统中现有高压直流输电（HVDC）、静止无功补偿器（SVC）附加控制器的参数整定，使之提供附加阻尼效果；然后考虑利用TCSC等FACTS装置提供平滑的阻尼控制；最后可考虑在系统中增加完全用于阻尼振荡的新装置。The 38th Research Committee of the International Large Power Grid Conference once organized a special working group (Task Force 38.01.07) to study the low-frequency oscillation problem of the power grid. Power system stabilizer (PSS); secondly, the parameter setting of the additional controller of the existing high-voltage direct current transmission (HVDC) and static var compensator (SVC) in the system should be studied, so that it can provide additional damping effect; then consider using FACTS such as TCSC The device provides smooth damping control; finally consider adding a new device to the system entirely for damping oscillations.

由于联络线上的功率振荡通常涉及了大量的发电机组，PSS仅以发电机自身的转速偏差                                               、频率偏差和功率偏差中的一种或两种信号实现励磁系统附加控制，不能有效抑制涉及全局的联络线上的功率振荡。安装于联络线的储能装置，可用作一种完全用于阻尼联络线功率振荡的新装置。Since power oscillations on tie-lines usually involve a large number of generator sets, the PSS only uses the speed deviation of the generators themselves , frequency deviation and power deviation One or two of the signals in the excitation system can achieve additional control, which cannot effectively suppress the power oscillation on the tie line involving the overall situation. The energy storage device installed on the tie line can be used as a new device completely used to damp the power oscillation of the tie line.

储能装置用于联络线功率振荡尚处于初步研究阶段，实际应用中，安装在联络线上的储能装置一般以联络线的有功功率等就地量作为控制输入信号。为使储能有功功率输出规律达到最优的平抑联络线功率振荡的效果，已有文献采用留数法、粒子群算法、模糊算法等整定控制器的移相环节参数。文献“基于超导储能装置的联络线功率控制”（王康，兰洲，甘德强，石立宝，倪以信。电力系统自动化，2008,32(8):pp5-9），以联络线有功功率和无功功率为输入控制信号，利用反步法设计了用超导磁储能装置抑制联络线功率振荡的控制器。文献“Transient Stability Enhancement by Fuzzy Logic-Controlled SMES Considering Coordination With Optimal Reclosing of Circuit Breakers”（Mohd. Hasan Ali，Toshiaki Murata，and Junji Tamura. IEEE Trans. Power System，2008, 23 (2) :631-640），以发电机综合动能偏差量作为输入控制信号，将模糊控制理论应用于超导磁储能装置控制设计中，以提高电力系统暂态稳定性。The use of energy storage devices for tie-line power oscillation is still in the preliminary research stage. In practical applications, energy storage devices installed on tie-lines generally use local quantities such as the active power of tie-lines as control input signals. In order to make the energy storage active power output law achieve the optimal effect of stabilizing the power oscillation of the tie line, the existing literature uses the residue method, particle swarm optimization algorithm, fuzzy algorithm, etc. to tune the parameters of the phase shifting link of the controller. Literature "Tie-line power control based on superconducting energy storage device" (Wang Kang, Lanzhou, Gan Deqiang, Shi Libao, Ni Yixin. Automation of Electric Power Systems, 2008,32(8):pp5-9), with active power and Reactive power is the input control signal, and a controller using superconducting magnetic energy storage device to suppress the power oscillation of the tie-line is designed by using the backstepping method. Literature "Transient Stability Enhancement by Fuzzy Logic-Controlled SMES Considering Coordination With Optimal Reclosing of Circuit Breakers" (Mohd. Hasan Ali, Toshiaki Murata, and Junji Tamura. IEEE Trans. Power System, 2008, 23 (2) 403 :6) , taking the generator's comprehensive kinetic energy deviation as the input control signal, applying the fuzzy control theory to the control design of superconducting magnetic energy storage device to improve the transient stability of the power system.

上述的研究分别以平抑振荡或提高系统暂态稳定性为目标，主要开展控制器的参数优化工作，在输入信号的优化选择以及控制效率上的研究较少，反而增大了控制器参数整定的复杂性。本发明所提出的储能阻尼控制器的设计方法，以联络线的实时监测信息合成控制器的输入控制信号，基于相位补偿原理简化控制参数整定过程，提高储能装置抑制联络线功率振荡的效率。The above research aims to stabilize the oscillation or improve the transient stability of the system, and mainly carry out the parameter optimization of the controller. There are few studies on the optimal selection of the input signal and the control efficiency. Complexity. The design method of the energy storage damping controller proposed by the present invention synthesizes the input control signal of the controller with the real-time monitoring information of the tie line, simplifies the control parameter setting process based on the phase compensation principle, and improves the efficiency of the energy storage device in suppressing the power oscillation of the tie line .

发明内容Contents of the invention

本发明所要解决的技术问题是：提供一种简单有效的、用于抑制互联电力系统联络线功率振荡的储能阻尼控制器的设计方法，以解决互联电力系统重要联络线上的功率振荡问题。The technical problem to be solved by the present invention is to provide a simple and effective design method of an energy storage damping controller for suppressing the power oscillation of the tie line of the interconnected power system, so as to solve the power oscillation problem of the important tie line of the interconnected power system.

本发明解决其技术问题采用以下的技术方案：The present invention solves its technical problem and adopts the following technical solutions:

本发明提供的基于相位补偿原理的储能阻尼控制器设计方法，是一种抑制联络线功率振荡的储能阻尼控制器的设计方法，该方法是：利用联络线实时监测信息合成并联型储能装置的控制输入信号，控制储能装置的输出功率以抑制联络线上的功率振荡；所设计的储能阻尼控制器以合成功角差信号作为输入控制信号，合成功角差的合成过程需要对通过联络线联系的两区域电网进行两机系统等值，通过粒子群算法辨识两机等值系统待定参数，由最优待定参数以及现有广域测量系统和能量管理系统所提供的联络线两端节点电流和电压信息计算得到的合成功角差，作为储能阻尼控制器反馈控制的输入信号；经过测量放大环节、隔直环节、移相环节直接形成储能装置的输出功率指令值，所述储能装置的变频器通过给定的功率值产生指定的有功功率注入到电网，从而抑制所述储能装置所在联络线上的功率振荡。The design method of the energy storage damping controller based on the principle of phase compensation provided by the present invention is a design method of the energy storage damping controller that suppresses the power oscillation of the tie line. The method is: using the real-time monitoring information of the tie line to synthesize parallel energy storage The control input signal of the device controls the output power of the energy storage device to suppress the power oscillation on the tie line; the designed energy storage damping controller uses the synthesized angle difference signal as the input control signal, and the synthesis process of the synthesized angle difference needs to be The two-machine system equivalence is carried out on the two regional power grids connected through the tie line, and the undetermined parameters of the two-machine equivalent system are identified through the particle swarm algorithm. The resultant angle difference calculated from the terminal node current and voltage information is used as the input signal for the feedback control of the energy storage damping controller; the output power command value of the energy storage device is directly formed through the measurement amplification link, the DC blocking link, and the phase shifting link. The frequency converter of the energy storage device generates specified active power through a given power value and injects it into the grid, thereby suppressing the power oscillation on the connection line where the energy storage device is located.

本发明提供的上述储能阻尼控制器的设计的方法，具体是采用包括以下步骤的方法：The method for designing the above-mentioned energy storage damping controller provided by the present invention specifically adopts a method comprising the following steps:

（1）确定储能装置的安装地点；(1) Determine the installation location of the energy storage device;

两区域电网通过联络线建立电气联系，该联络线的一端节点处安装储能装置，该储能装置由所述储能阻尼控制器控制其输出的有功功率；The two regional power grids are electrically connected through a tie line, and an energy storage device is installed at one end node of the tie line, and the active power output of the energy storage device is controlled by the energy storage damping controller;

（2）将所述两区域电网分别等值成同步发电机，构成一个两机系统即两机等值系统，并明确该两机等值系统的待定参数；(2) The two regional power grids are respectively equivalent to synchronous generators to form a two-machine system, that is, a two-machine equivalent system, and the undetermined parameters of the two-machine equivalent system are specified;

（3）利用所述联络线功率波动信息，采用粒子群算法辨识所述两机等值系统的待定参数；(3) Using the power fluctuation information of the tie line, using the particle swarm optimization algorithm to identify the undetermined parameters of the two-machine equivalent system;

（4）将所述联络线实时测量数据，合成所述储能装置的储能阻尼控制器的控制输入信号；(4) Synthesizing the control input signal of the energy storage damping controller of the energy storage device with the real-time measurement data of the contact line;

（5）利用相位补偿法确定所述储能阻尼控制器的参数；(5) Using the phase compensation method to determine the parameters of the energy storage damping controller;

经过上述步骤，实现基于相位补偿原理的储能阻尼控制器的设计。After the above steps, the design of the energy storage damping controller based on the principle of phase compensation is realized.

上述步骤（2）所述等值同步发电机可以采用恒定模型描述，具体是：同步发电机用其内电势电动势与q轴同步电抗串联来表示，同步发电机的结构参数包括有惯性时间常数、q轴同步电抗和d轴暂态电抗。The equivalent synchronous generator described in the above step (2) can adopt The constant model description, specifically: the synchronous generator uses its internal potential electromotive force Synchronous reactance with q-axis Expressed in series, the structural parameters of the synchronous generator include the inertial time constant , q-axis synchronous reactance and d-axis transient reactance .

上述步骤（3）具体包括以下子步骤；The above step (3) specifically includes the following sub-steps;

（3-1）在两区域电网的模型上，储能装置退出运行，进行联络线施加瞬时短路故障的仿真，并记录联络线功率波动信息；(3-1) On the model of the two-area power grid, the energy storage device is out of operation, the simulation of the instantaneous short-circuit fault applied to the tie line is carried out, and the power fluctuation information of the tie line is recorded ;

（3-2）设置等值系统待定参数的组数和迭代次数的上限值；(3-2) Set the upper limit of the number of groups and the number of iterations of the undetermined parameters of the equivalent system;

（3-3）设置等值系统待定参数的变化范围，置参数组号i=1，迭代所处次数标号k=1；(3-3) Set the change range of the undetermined parameters of the equivalent system, set the parameter group number i=1, and the number of iterations at k=1;

（3-4）设置一组等值系统待定参数的初始值，该初始值由在等值系统待定参数的取值范围内随机产生；(3-4) Set a group of initial values of the undetermined parameters of the equivalent system, which are randomly generated within the value range of the undetermined parameters of the equivalent system;

（3-5）将第i组等值系统待定参数的值代入等值系统的仿真模型，设置与步骤（3-1）相同的联络线故障进行时域仿真；(3-5) Substitute the value of the undetermined parameters of the i-th equivalent system into the simulation model of the equivalent system, and set the same tie line fault as in step (3-1) for time domain simulation;

（3-6）仿真计算结束后，读取联络线有功功率波动信息，并计算适应度：(3-6) After the simulation calculation is completed, read the active power fluctuation information of the tie line , and calculate the fitness :

， ,

其中，T为仿真时间长度；Among them, T is the simulation time length;

（3-7）若i与设定的参数组数相等，表示当前次迭代完成，转入第（3-8）步，否则置i=i+1,重新转入第（3-5）步；(3-7) If i is equal to the number of set parameter groups, it means that the current iteration is completed, and then go to step (3-8), otherwise set i=i+1, and go to step (3-5) again ;

（3-8）将具有最小适应度的参数组作为本次迭代得到的最优等值系统待定参数；(3-8) Use the parameter group with the minimum fitness as the undetermined parameters of the optimal equivalent system obtained in this iteration;

（3-9）更新其他参数位置，置i=1，若满足迭代收敛条件，则退出迭代并输出计算的到的最优的等值系统待定参数，或者若迭代次数已达到设定的迭代次数上限也退出迭代并输出计算得到的最优的等值系统待定参数，否则转入（3-5）进行新一轮的迭代。(3-9) Update the position of other parameters, set i=1, if the iteration convergence condition is met, exit the iteration and output the calculated optimal equivalent system undetermined parameters, or if the number of iterations has reached the set number of iterations The upper limit also exits the iteration and outputs the calculated optimal equivalent system undetermined parameters, otherwise transfer to (3-5) for a new round of iteration.

上述步骤（3-2）中，典型地，可以取控制器参数的组数为20，迭代次数上限值为20。In the above step (3-2), typically, the number of sets of controller parameters can be set to 20, and the upper limit of the number of iterations is 20.

上述步骤（3-3）中，可以采用经验值方法设置等值系统待定参数的变化范围，具体是：取惯性时间常数的范围为3s~60s，q轴同步电抗的范围为0.54~2.4pu，d轴暂态电抗的范围为0.15~0.42pu，电气距离x1、x2的取值范围均为0~0.5pu。In the above step (3-3), the empirical value method can be used to set the variation range of the undetermined parameters of the equivalent system, specifically: take the inertial time constant The range is 3s~60s, the q-axis synchronous reactance The range is 0.54~2.4pu, d-axis transient reactance The range of the electrical distance x1, x2 is 0.15~0.42pu, and the value range of x2 is 0~0.5pu.

上述步骤（4）所述合成储能阻尼控制器的控制输入信号，可以采用以下公式计算：The control input signal of the synthesized energy storage damping controller described in the above step (4) can be calculated by the following formula:

， ,

， ,

， ,

式中，分别为联络线两端节点的电压及注入电流，分别为等值发电的机端电压，分别为区域电网1和2的等效发电机内电势，分别为两台等值发电机的q轴同步电抗；分别为等值发电机的机端母线与联络线节点间的电气距离；以作为安装于原系统中的储能阻尼控制器的输入。In the formula, are the voltage and injection current of the nodes at both ends of the tie line, respectively, are the machine terminal voltages of equivalent power generation, respectively, are the equivalent generator internal potentials of regional grids 1 and 2, respectively, are the q-axis synchronous reactances of two equivalent generators; Respectively, the electrical distance between the machine-end busbar of the equivalent generator and the node of the tie line; As the input of the energy storage damping controller installed in the original system.

上述步骤（5）所述的储能阻尼控制器，其可以包括6个环节，按连接关系依次以环节1～环节6指代：环节1将实测联络线两端节点的电压和电流合成控制器的输入信号；环节2是测量放大环节，用于改变前级输入的大小，环节3为隔直环节，用于滤除输入信号中的直流分量，环节4和环节5是为控制信号提供补偿相位的移相环节，环节6用于模拟储能装置的变频器。The energy storage damping controller described in the above step (5) may include 6 links, which are sequentially referred to as link 1 to link 6 according to the connection relationship: link 1 synthesizes the voltage and current of the nodes at both ends of the measured connection line into a controller The input signal of the input signal; the link 2 is the measurement amplification link, which is used to change the size of the front-stage input, the link 3 is the DC blocking link, which is used to filter the DC component in the input signal, the link 4 and the link 5 are to provide compensation phase for the control signal The phase-shifting link of , link 6 is used to simulate the frequency converter of the energy storage device.

本发明可以采用以下方法获取步骤（5）所述利用相位补偿法确定储能阻尼控制器的参数：The present invention can adopt the following method to obtain the parameters of the energy storage damping controller determined by using the phase compensation method in step (5):

（5-1）确定最佳补偿相位：(5-1) Determine the best compensation phase:

在发电机以恒定模型描述的两区域电网的两机等值系统中，联络线传输有功功率由联络线两端的等值发电机内电势和功角差决定，当发电机能够维持内电势恒定时，联络线功率的线性化模型为：in generator with In the two-machine equivalent system of the two-area power grid described by the constant model, the tie-line transmits active power Determined by the equivalent generator internal potential and power angle difference at both ends of the tie line, when the generator can maintain a constant internal potential, the linearization model of the tie line power is:

式中：表示物理量的微增量，为等值发电机G1、G2相对同步参考轴的功角，分别为G1、G2的内电势，即G1和G2的功角差，，为联络线电抗；In the formula: Represents the micro-increment of the physical quantity, is the power angle of the equivalent generators G1 and G2 relative to the synchronous reference axis, are the internal potentials of G1 and G2, respectively, That is, the power angle difference between G1 and G2, , is the contact line reactance;

式中，为等效的发电机同步转矩系数；In the formula, is the equivalent generator synchronous torque coefficient;

设、分别为等值发电机G1和G2的惯性时间常数，为同步角速度；令，不考虑等值机自身的阻尼系数，令该两机系统的运动方程如下： set up , are the inertial time constants of the equivalent generators G1 and G2, respectively, is the synchronous angular velocity; let , regardless of the damping coefficient of the equivalent machine itself, let The equation of motion of the two-machine system is as follows:

设由功角差产生的两等值机的转速偏差为，则有：Set by power angle difference The resulting rotational speed deviation of the two equivalent machines is , then there are:

若安装在等值发电机G2机端的储能装置，按照（控制系数）的规律发出有功功率，两机系统的运动方程变为：If the energy storage device installed at the end of the equivalent generator G2, according to (control coefficient ) to emit active power, the motion equation of the two-machine system becomes:

此时系统的特征根为：；可见，储能装置为两等值机间的振荡提供阻尼转矩；此时，当时，系统有一对共轭特征根，系统振荡的阻尼比为；若足够大使得时，系统将有两个小于零的实特征值；At this time, the characteristic root of the system is: ; It can be seen that the energy storage device provides damping torque for the oscillation between two equivalent machines; at this time, when When , the system has a pair of conjugate characteristic roots, and the damping ratio of the system oscillation is ;like big enough to make , the system will have two real eigenvalues less than zero;

功角差滞后转速偏差近似为90°，因此当以发电机合成功角差作为输入储能阻尼控制器的输入信号时，需要对输入信号进行相位补偿，且最佳补偿相位为90°；power angle difference Hysteresis speed deviation It is approximately 90°, so when the synthetic angle difference of the generator is used as the input signal of the energy storage damping controller, it is necessary to perform phase compensation on the input signal, and the optimal compensation phase is 90°;

（5-2）确定移相环节时间常数与放大环节增益的取值：(5-2) Determine the time constant of the phase shifting link with amplification link gain The value of:

移相环节时间常数的取值应使得在关注的低频振荡频率范围内输入信号产生的移相相位接近90°，以每个环节的补偿相位不超过60°为宜；Phase shifting link time constant The value of should make the phase shift phase generated by the input signal close to 90° within the low-frequency oscillation frequency range of concern, and it is advisable that the compensation phase of each link does not exceed 60°;

（5-3）储能阻尼控制器其他环节的取值：(5-3) Values of other links of the energy storage damping controller:

在测量环节及变频限幅环节的时间常数取值范围为0.01~0.05s时，取典型值0.02s；在隔直环节时间常数取值范围5s~10s时，取典型值10s；变频限幅环节的限幅取值±0.3pu，其中pu表示标幺值，这里以储能装置的额定容量作为标幺基准值。Time constant in the measurement link and the frequency conversion limiting link When the value range is 0.01~0.05s, the typical value is 0.02s; When the value ranges from 5s to 10s, the typical value is 10s; the limiting value of the frequency conversion limiting link is ±0.3pu, where pu represents the per unit value, and the rated capacity of the energy storage device is used as the per unit reference value here.

所述步骤（5-2）中，可以采用以下方法确定放大环节增益的取值：In the step (5-2), the following method can be used to determine the gain of the amplification link The value of:

根据储能装置安装前联络线的功率波动信息，确定储能装置需要平抑的主要低频振荡模式，或者采用指定的低频振荡频率范围内；当仅需要储能装置针对某一低频振荡频率平抑其功率振荡时，应借鉴留数法的公式来确定：According to the power fluctuation information of the tie line before the energy storage device is installed, determine the main low-frequency oscillation mode that the energy storage device needs to stabilize, or use the specified low-frequency oscillation frequency range; when only the energy storage device is required for a certain low-frequency oscillation frequency When stabilizing its power oscillation, the formula of the residue method should be used for reference to make sure:

上式中取；Take from the above formula ;

放大环节增益的取值范围为5~10；或者，所述的取值范围通过仿真试验法确定。amplification link gain The value range of is 5~10; or, the The value range of is determined by the simulation test method.

本发明与现有技术相比，具有以下的主要有益效果：Compared with the prior art, the present invention has the following main beneficial effects:

1.机理明确：基于两机系统的相平面给出储能装置提供振荡阻尼的控制规律，并提出了基于相位补偿原理设计储能阻尼控制器；1. The mechanism is clear: based on the two-machine system The phase plane gives the control law of the energy storage device to provide oscillation damping, and proposes the design of the energy storage damping controller based on the principle of phase compensation;

2.控制器主要参数的整定简单：以合成功角差信号作为储能阻尼控制器的输入控制信号，基于相位补偿原理进行储能阻尼控制器的参数整定，最佳补偿相位确定（90°），需补偿的频率范围确定后，不必求取整个系统的状态空间即可进行移相环节参数的整定；2. The tuning of the main parameters of the controller is simple: the synthetic angle difference signal is used as the input control signal of the energy storage damping controller, and the parameters of the energy storage damping controller are set based on the principle of phase compensation, and the optimal compensation phase is determined (90°) , after the frequency range to be compensated is determined, the parameters of the phase shifting link can be adjusted without obtaining the state space of the entire system;

3.在实际电网中易实现：合成功角差是本发明所涉及的储能阻尼控制器的输入控制信号，它可利用现有的广域测量系统或能量管理系统合成； 3. It is easy to realize in the actual power grid: the synthetic angle difference is the input control signal of the energy storage damping controller involved in the present invention, and it can be synthesized by using the existing wide-area measurement system or energy management system;

4.符合实际电网的需求：联络线功率振荡是实际电网遇到的主要稳定问题之一，储能装置作为专门的阻尼联络线功率振荡的装置，急需机理明确、操作性强、易为工程人员接受的阻尼控制器设计方案，本发明可作为参考。4. Meet the needs of the actual power grid: power oscillation of the tie line is one of the main stability problems encountered in the actual power grid. As a special device for damping the power oscillation of the tie line, the energy storage device urgently needs a clear mechanism, strong operability, and easy for engineers. The accepted damping controller design scheme, the present invention can be used as a reference.

附图说明Description of drawings

图1是储能阻尼控制器设计流程图。Figure 1 is a flow chart of the design of the energy storage damping controller.

图2是两区域电网示意图。Figure 2 is a schematic diagram of the two-region power grid.

图3是两区域电网等值示意图。Figure 3 is the equivalent schematic diagram of the two-area power grid.

图4是储能阻尼控制器的结构框图。Figure 4 is a structural block diagram of the energy storage damping controller.

图5是IEEE四机两区域系统单线图。Figure 5 is a single-line diagram of the IEEE four-machine two-area system.

图6是四机两区域系统的等值系统单线图。Figure 6 is the equivalent system single-line diagram of the four-machine two-area system.

图7是IEEE四机两区域系统基本工况下联络线有功功率波动图。Figure 7 is the active power fluctuation diagram of the tie line under the basic working conditions of the IEEE four-machine two-area system.

图8是IEEE四机两区域系统潮流反转工况下联络线有功功率波动图。Fig. 8 is the active power fluctuation diagram of the tie line under the power flow reversal condition of the IEEE four-machine two-area system.

图9是IEEE四机两区域系统零联络线功率工况下联络线有功功率波动图。Fig. 9 is the active power fluctuation diagram of the tie line under the zero tie line power condition of the IEEE four-machine two-area system.

具体实施方式Detailed ways

本发明提供一种基于联络线实时监测信息的、并联型储能装置抑制联络线功率振荡的储能阻尼控制器设计方法。该方法利用现有WAMS/EMS（广域测量系统/能量管理系统）所提供的联络线两端节点电流和电压信息，合成储能阻尼控制器的反馈控制信号，经过测量放大环节、隔直环节、移相环节直接形成储能装置的输出功率指令值。储能装置的变频器通过给定的功率值产生指定的有功功率注入到电网，从而抑制联络线上的功率振荡。The invention provides an energy storage damping controller design method for a parallel energy storage device to suppress the power oscillation of the tie line based on the real-time monitoring information of the tie line. This method uses the current and voltage information of the nodes at both ends of the tie line provided by the existing WAMS/EMS (Wide Area Measurement System/Energy Management System) to synthesize the feedback control signal of the energy storage damping controller, and passes through the measurement amplification link and the DC isolation link. 1. The phase shifting link directly forms the output power command value of the energy storage device. The frequency converter of the energy storage device generates the specified active power through the given power value and injects it into the grid, thereby suppressing the power oscillation on the tie line.

下面结合实施例及附图对本发明作进一步说明。The present invention will be further described below in conjunction with the embodiments and accompanying drawings.

本发明提供的基于相位补偿原理的储能阻尼控制器的设计方法，是一种抑制联络线功率振荡的储能阻尼控制器的设计方法，所设计的储能阻尼控制器以合成功角差信号作为输入控制信号，合成功角差的合成过程需要对两区域电网进行两机系统等值，通过粒子群算法辨识等值系统待定参数，由最优待定参数和联络线实测信息计算得到合成功角差，以合成功角差信号作为储能阻尼控制器的输入控制信号，基于相位补偿原理整定储能阻尼控制器的参数。如图1所示，该方法包括以下步骤：The design method of the energy storage damping controller based on the principle of phase compensation provided by the present invention is a design method of the energy storage damping controller that suppresses the power oscillation of the tie line. The designed energy storage damping controller uses the synthetic angle difference signal As the input control signal, the synthesis process of the combined angle difference needs to carry out the equivalent value of the two-machine system for the two regional power grids. The undetermined parameters of the equivalent system are identified by the particle swarm optimization algorithm, and the combined angle is calculated from the optimal undetermined parameters and the measured information of the tie line. The difference, the synthetic angle difference signal is used as the input control signal of the energy storage damping controller, and the parameters of the energy storage damping controller are adjusted based on the principle of phase compensation. As shown in Figure 1, the method includes the following steps:

1.确定储能装置的安装地点：1. Determine the installation location of the energy storage device:

图2为两区域电网示意图。节点Bus1和Bus2之间的线路即为联络线，将储能装置安装在联络线一端节点处。图2中为联络线电抗，和分别为联络线两节点Bus1和Bus2的电流。Figure 2 is a schematic diagram of the two-region power grid. The line between the nodes Bus1 and Bus2 is the tie line, and the energy storage device is installed at one end node of the tie line. Figure 2 is the tie line reactance, and are the currents of the two nodes Bus1 and Bus2 of the tie line respectively.

2.将联络线两端的电网分别等值成同步发电机，构成一个两机等值系统，并明确待定参数。2. The power grids at both ends of the tie line are respectively equivalent to synchronous generators to form a two-machine equivalent system, and the parameters to be determined are specified.

如图3所示，以联络线为中心的两区域电网等值示意图，G1和G2代表两台等值发电机。等值发电机采用恒定模型，即每台等值机包括惯性时间常数、q轴同步电抗，d轴暂态电抗三个参数；等值发电机的机端母线BusA和BusB与联络线节点Bus1和Bus2的电气距离分别为x1、x2，反映两端电网的惯量中心与联络线节点的电气距离；所以，等值后系统共有8个待定参数，其中电抗参数用标幺值表示，即以pu表示； As shown in Figure 3, the equivalent schematic diagram of the two-area power grid centered on the tie line, G1 and G2 represent two equivalent generators. The equivalent generator uses Constant model, i.e. each equivalent machine includes an inertial time constant , q-axis synchronous reactance , the d-axis transient reactance Three parameters; the electrical distances between the busbars BusA and BusB of the equivalent generator and the tie line nodes Bus1 and Bus2 are x1 and x2 respectively, reflecting the electrical distance between the inertia center of the power grid at both ends and the tie line nodes; therefore, the equivalent There are 8 undetermined parameters in the latter system, among which the reactance parameter is expressed in per unit value, that is, in pu;

等值发电机运行状态设置时，要保证等值前后联络线的潮流不变。When setting the running state of the equivalent generator, it is necessary to ensure that the power flow of the tie line before and after the equivalent value remains unchanged.

3.利用联络线功率波动信息，采用粒子群算法辨识等值系统的待定参数，主要包括以下子步骤：3. Using the power fluctuation information of the tie line, the particle swarm optimization algorithm is used to identify the undetermined parameters of the equivalent system, which mainly includes the following sub-steps:

（1）在两区域电网的模型上，储能装置退出运行，进行联络线施加瞬时短路故障的仿真，并记录联络线功率波动信息；(1) On the model of the two-area power grid, the energy storage device is out of operation, the simulation of the instantaneous short-circuit fault applied to the tie line is carried out, and the power fluctuation information of the tie line is recorded ;

（2）设置等值系统待定参数的组数和迭代次数的上限值。典型地，可取控制器参数的组数为20，迭代次数上限值为20；(2) Set the upper limit of the number of groups and the number of iterations of the undetermined parameters of the equivalent system. Typically, the number of sets of desirable controller parameters is 20, and the upper limit of the number of iterations is 20;

（3）设置等值系统待定参数的变化范围，置参数组号i=1，迭代所处次数标号k=1。根据经验值，取惯性时间常数的范围为3s~60（s），q轴同步电抗的范围为0.54~2.4（pu），d轴暂态电抗的范围为0.15~0.42（pu），电气距离x1、x2的取值范围均为0~0.5（pu）；(3) Set the variation range of the undetermined parameters of the equivalent system, set the parameter group number i=1, and the number of iterations k=1. According to the empirical value, take the inertial time constant The range is 3s~60(s), the q-axis synchronous reactance The range is 0.54~2.4 (pu), d-axis transient reactance The range of 0.15~0.42 (pu), the value range of electrical distance x1, x2 is 0~0.5 (pu);

（4）设置一组等值系统待定参数的初始值，该初始值由在等值系统待定参数的取值范围内随机产生；(4) Set a set of initial values of the undetermined parameters of the equivalent system, which are randomly generated within the value range of the undetermined parameters of the equivalent system;

（5）将第i组等值系统待定参数的值代入等值系统的仿真模型，设置与步骤（1）相同的联络线故障进行时域仿真；(5) Substitute the value of the undetermined parameters of the i-th equivalent system into the simulation model of the equivalent system, and set the same connection line fault as in step (1) for time domain simulation;

（6）仿真计算结束后，读取联络线有功功率波动信息，并计算适应度：(6) After the simulation calculation is completed, read the active power fluctuation information of the tie line , and calculate the fitness :

其中，T为仿真时间长度；Among them, T is the simulation time length;

（7）若i与设定的参数组数相等，表示当前次迭代完成，转入第（8）步，否则置i=i+1,重新转入第（5）步；(7) If i is equal to the number of set parameter groups, it means that the current iteration is completed, and then go to step (8), otherwise set i=i+1, and go to step (5) again;

（8）将具有最小适应度的参数组作为本次迭代得到的最优等值系统待定参数；(8) Use the parameter group with the minimum fitness as the undetermined parameters of the optimal equivalent system obtained in this iteration;

（9）更新其他参数位置，置i=1，若满足迭代收敛条件，则退出迭代并输出计算的到的最优的等值系统待定参数，或者若迭代次数已达到设定的迭代次数上限也退出迭代并输出计算得到的最优的等值系统待定参数，否则转入第（5）步进行新一轮的迭代。(9) Update the position of other parameters, set i=1, if the iteration convergence condition is satisfied, exit the iteration and output the calculated optimal equivalent system undetermined parameters, or if the number of iterations has reached the upper limit of the number of iterations set Exit the iteration and output the calculated optimal equivalent system undetermined parameters, otherwise go to step (5) for a new round of iteration.

4.将联络线实时测量数据，合成储能阻尼控制器的控制输入信号：4. The real-time measurement data of the contact line is synthesized into the control input signal of the energy storage damping controller:

得到最优的等值系统待定参数后，在图2所示的两区域系统中，实时测量得到的联络线两端节点的电流相量及电压相量，按下式计算可得到合成功角差：After obtaining the optimal undetermined parameters of the equivalent system, in the two-area system shown in Figure 2, the current phasors of the nodes at both ends of the tie line are measured in real time and voltage phasor , can be calculated according to the following formula to obtain the synthetic angle difference :

式中：分别为联络线两端节点的电压及注入电流；分别为等值发电的机端电压；分别为等值发电机G1和G2的内电势；分别为等值发电机G1和G2的q轴同步电抗；In the formula: are the voltage and injection current of the nodes at both ends of the tie line, respectively; Respectively, the machine terminal voltage of the equivalent power generation; are the internal potentials of the equivalent generators G1 and G2, respectively; are the q-axis synchronous reactances of equivalent generators G1 and G2, respectively;

以作为安装于原系统中的储能阻尼控制器的输入。by As the input of the energy storage damping controller installed in the original system.

5.利用相位补偿法确定储能阻尼控制器的参数：5. Use the phase compensation method to determine the parameters of the energy storage damping controller:

储能阻尼控制器的结构如图4所示，其结构共包括6个环节，按连接关系依次以环节1～环节6指代：环节1将实测联络线两端节点的电压和电流合成控制器的输入信号，图4中以m代指；环节2是测量放大环节，用于改变前级输入的大小；环节3为隔直环节，用于滤除输入信号中的直流分量；环节4和环节5是为控制信号提供补偿相位的移相环节；环节6用于模拟储能装置变频器的变频限幅环节，、分别代表储能阻尼控制器控制储能装置所输出有功功率的上限值和下限值。The structure of the energy storage damping controller is shown in Figure 4. Its structure includes 6 links in total, which are referred to as link 1 to link 6 according to the connection relationship: link 1 combines the voltage and current of the nodes at both ends of the measured connection line into a controller The input signal is represented by m in Figure 4; link 2 is the measurement amplification link, which is used to change the size of the front-stage input; link 3 is the DC blocking link, which is used to filter out the DC component in the input signal; link 4 and link 5 is the phase shifting link that provides compensation phase for the control signal; link 6 is used to simulate the frequency conversion and limiting link of the frequency converter of the energy storage device, , respectively represent the active power output by the energy storage damping controller to control the energy storage device upper and lower limits of .

在用相位补偿法确定储能阻尼控制器的参数的过程中，包括以下步骤：In the process of determining the parameters of the energy storage damping controller with the phase compensation method, the following steps are included:

（1）确定最佳补偿相位：(1) Determine the best compensation phase:

如图3所示，发电机以恒定模型描述的两机等值系统，联络线功率由联络线两端区域电网的等值发电机内电势、和功角差决定，即：As shown in Figure 3, the generator takes A two-machine equivalent system described by a constant model, tie-line power From the equivalent generator internal potential of the regional grid at both ends of the tie line , and power angle difference, that is:

式中：为等值发电机G1、G2相对同步参考轴的功角，即G1和G2的功角差，，为联络线电抗；In the formula: is the power angle of the equivalent generators G1 and G2 relative to the synchronous reference axis, That is, the power angle difference between G1 and G2, , is the contact line reactance;

当发电机能够维持内电势恒定时，联络线功率的线性化模型为：When the generator can maintain a constant internal potential, the linearization model of tie line power is:

式中，为等效的发电机同步转矩系数。In the formula, is the equivalent generator synchronous torque coefficient.

设、分别为等值发电机G1和G2的惯性时间常数，为同步角速度；令，不考虑等值机自身的阻尼系数，该两机系统的运动方程如下：set up , are the inertial time constants of the equivalent generators G1 and G2, respectively, is the synchronous angular velocity; let , regardless of the damping coefficient of the equivalent machine itself, the motion equation of the two-machine system is as follows:

令，由以上两式进一步可得：，设由功角差产生的两等值机的转速偏差为，则有：make , it can be further obtained from the above two formulas: , let the power angle difference The resulting rotational speed deviation of the two equivalent machines is , then there are:

若安装在等值发电机G2机端的储能装置，按照（控制系数）的规律发出有功功率，两机系统的运动方程变为：If the energy storage device installed at the end of the equivalent generator G2, according to (control coefficient ) to emit active power, the motion equation of the two-machine system becomes:

两式联立有：The two formulas are combined:

此时系统的特征根为：；可见，储能装置为两等值机间的振荡提供阻尼转矩；此时，当时，系统有一对共轭特征根，系统振荡的阻尼比为；若足够大使得时，系统将有两个小于零的实特征值；At this time, the characteristic root of the system is: ; It can be seen that the energy storage device provides damping torque for the oscillation between two equivalent machines; at this time, when When , the system has a pair of conjugate characteristic roots, and the damping ratio of the system oscillation is ;like big enough to make , the system will have two real eigenvalues less than zero;

功角差滞后转速偏差近似90°，因此当以发电机合成功角差作为输入储能阻尼控制器的输入信号时，需要对输入信号进行相位补偿，且最佳补偿相位为90°。power angle difference Hysteresis speed deviation It is approximately 90°, so when the combined angle difference of the generator is used as the input signal of the energy storage damping controller, it is necessary to perform phase compensation on the input signal, and the optimal compensation phase is 90°.

（2）确定移相环节时间常数与放大环节增益的取值：(2) Determine the time constant of the phase shifting link with amplification link gain The value of:

移相环节时间常数的取值应使得在关注的低频振荡频率范围内输入信号产生的移相相位接近90°，以每个环节的补偿相位不超过60°为宜；可根据储能装置安装前联络线的功率波动信息，确定储能装置需要平抑的主要低频振荡模式，也可以在指定的低频振荡频率范围内（如0.1~2.0Hz）；当仅需要储能装置针对某一低频振荡频率平抑其功率振荡，可借鉴留数法的公式的确定：Phase shifting link time constant The value of the value should make the phase shift phase generated by the input signal close to 90° within the low-frequency oscillation frequency range of concern, and it is advisable that the compensation phase of each link does not exceed 60°; Information, to determine the main low-frequency oscillation mode that the energy storage device needs to stabilize, and it can also be within the specified low-frequency oscillation frequency range (such as 0.1~2.0Hz); when only the energy storage device is required for a certain low-frequency oscillation frequency To stabilize its power oscillation, the formula of residue method can be used for reference OK for:

式中： 表示对向上取整，所以上式中；In the formula: express yes round up, so in the above formula ;

放大环节增益的推荐取值范围为5~10，也可通过仿真试验法确定。amplification link gain The recommended value range of is 5~10, which can also be determined by simulation test.

（3）控制器其他环节参数的取值：(3) Values of parameters in other links of the controller:

测量环节及变频限幅环节的时间常数取值范围为0.01~0.05s，可取典型值0.02s；隔直环节时间常数取值范围5s~10s，可取典型值10s；变频限幅环节的限幅取值±0.3pu，这里以储能装置的额定容量作为标幺基准值。The time constant of the measurement link and the frequency conversion limiting link The value range is 0.01~0.05s, and the typical value is 0.02s; the time constant of the DC blocking link The value range is 5s~10s, and the typical value is 10s; the limiting value of the frequency conversion limiting link is ±0.3pu, and the rated capacity of the energy storage device is used as the reference value per unit.

6.控制器设计方法的有效性验证：6. Validation of controller design method:

以IEEE四机两区域系统为例，图5是四机两区域系统系统单线图，两区域间的联络线稳态时由区域1向区域2输送400MW功率。储能装置采用飞轮储能，额定容量为100MVA，安装于区域2的母线B11上；图6是四机两区域系统的等值系统单线图。按上述设计步骤，通过粒子群算法辨识得到等值系统待定参数的最优参数组，用于合成储能阻尼控制器的输入信号；储能阻尼控制器的主要参数为K=5，T1=T3=0.7123，T2=T4=0.1228。Taking the IEEE four-machine two-area system as an example, Figure 5 is a single-line diagram of the four-machine two-area system. The connection line between the two areas transmits 400MW power from area 1 to area 2 in a steady state. The energy storage device adopts flywheel energy storage with a rated capacity of 100MVA and is installed on the bus B11 in area 2; Figure 6 is the equivalent system single-line diagram of the four-machine two-area system. According to the above design steps, the optimal parameter group of the undetermined parameters of the equivalent system is obtained through particle swarm algorithm identification, which is used to synthesize the input signal of the energy storage damping controller; the main parameters of the energy storage damping controller are K=5, T1=T3 =0.7123, T2=T4=0.1228.

在图5所示的系统中做时域仿真分析，图7所示的联络线功率波动图形，展示了基本工况下联络线节点B7处发生瞬时故障，储能装置平抑联络线功率振荡的效果。图7中，A曲线是无储能阻尼控制器的情况，B曲线是有以合成功角差信号为输入的储能阻尼控制器的情况，C曲线是以实际测量发电机G1与G3的功角差为输入的储能阻尼控制器的情况；B、C曲线基本重合，说明了合成功角差作为储能阻尼控制器的控制输入信号的有效性。In the system shown in Figure 5, the time-domain simulation analysis is performed, and the power fluctuation graph of the tie-line shown in Figure 7 shows the effect of the energy storage device on suppressing the power oscillation of the tie-line when an instantaneous fault occurs at node B7 of the tie-line under the basic working conditions . In Fig. 7, the A curve is the situation without the energy storage damping controller, the B curve is the situation with the energy storage damping controller whose input is the synthesized angle difference signal, and the C curve is the actual measurement of the power of the generators G1 and G3. In the case of the energy storage damping controller with the angle difference as the input; the curves B and C basically coincide, which shows the effectiveness of the synthetic angle difference as the control input signal of the energy storage damping controller.

图8、图9分别为潮流反转工况下、零联络线功率工况下，联络线节点B7处发生瞬时三相短路故障，有无储能阻尼控制器时联络线输送功率的波动波形，A曲线是无储能阻尼控制器的情况，B曲线是有储能阻尼控制器的情况。横轴为时间轴，单位秒；纵轴为联络线传输的有功功率Pline（标幺值，标幺基准值S_B=100MVA）。由图8、图9可知，以合成功角差作为储能装置的反馈控制输入设计的储能阻尼控制器，能够明显抑制联络线功率振荡，扰动后联络线功率可以快速地恢复到扰动前的稳态值。由图7至图9可见，基于相位补偿原理的储能阻尼控制器的有效性及鲁棒性。Fig. 8 and Fig. 9 respectively show the fluctuation waveforms of the transmission power of the tie-line when there is an instantaneous three-phase short-circuit fault at node B7 of the tie-line under the condition of reverse flow and zero tie-line power, with or without an energy storage damping controller. Curve A is the situation without energy storage damping controller, and curve B is the situation with energy storage damping controller. The horizontal axis is the time axis, and the unit is second; the vertical axis is the active power Pline transmitted by the tie-line (per unit value, per unit reference value S_B =100MVA). It can be seen from Fig. 8 and Fig. 9 that the energy storage damping controller designed with the resultant angle difference as the feedback control input of the energy storage device can obviously suppress the power oscillation of the tie line, and the power of the tie line after the disturbance can quickly recover to the value before the disturbance. steady state value. From Fig. 7 to Fig. 9, it can be seen that the effectiveness and robustness of the energy storage damping controller based on the principle of phase compensation.

Claims (8)

1. the method for designing based on the energy storage damping controller of phase compensation principle, it is characterized in that a kind of method for designing of the energy storage damping controller suppressing dominant eigenvalues to vibrate, the method is: utilize interconnection Real-Time Monitoring information to synthesize the control inputs signal of parallel connection type energy storage device, controls the power output of energy storage device to suppress the power oscillation on interconnection; Designed energy storage damping controller is to synthesize merit angle difference signal as input control signal, the building-up process of synthesis merit angular difference needs to carry out two machine system equivalents to two regional power grids contacted by interconnection, by valve system undetermined parameters such as particle cluster algorithm identification two machines, the synthesis merit angular difference that the interconnection two ends node current provided by optimum undetermined parameter and existing WAMS and EMS and information of voltage calculate, as the input signal of energy storage damping controller FEEDBACK CONTROL; Through measuring and amplifying link, the power output command value directly forming energy storage device every straight link, phase shift link, the frequency converter of described energy storage device produces the active power of specifying by given performance number and is injected into electrical network, thus suppresses the power oscillation on the interconnection of described energy storage device place;

The method comprises the following steps:

(1) infield of energy storage device is determined;

Two regional power grids set up electrical link by interconnection, and one end Nodes of this interconnection installs energy storage device, and this energy storage device controls its active power exported by described energy storage damping controller;

(2) by described two regional power grids respectively equivalent become synchronous generators, form the valve systems such as two machine systems i.e. two machines, and the undetermined parameter of the clear and definite valve system such as this two machine; Described equivalent synchronous generator adopts E'_qconstant second-order model describes, specifically: synchronous generator its built-in potential electromotive force E_qwith q axle synchronous reactance x_qseries connection represents, the structural parameters of synchronous generator include inertia time constant T_j, q axle synchronous reactance x_qwith d axle transient state reactance x '_d;

(3) utilize described interconnection tie power fluctuation information, adopt the undetermined parameter of the valve systems such as two machines described in particle cluster algorithm identification;

(4) by described interconnection real-time measuring data, the control inputs signal of the energy storage damping controller of described energy storage device is synthesized;

(5) phase compensation method is utilized to determine the parameter of described energy storage damping controller;

Through above-mentioned steps, realize the design of the energy storage damping controller based on phase compensation principle.

2. the method for designing of the energy storage damping controller based on phase compensation principle according to claim 1, is characterized in that described step (3) specifically comprises following sub-step;

(3-1) on the model of two regional power grids, energy storage device is out of service, carries out the emulation that interconnection applies instantaneous short-circuit fault, and records interconnection tie power fluctuation information P_ori(t);

(3-2) the group number of valve system undetermined parameter and the higher limit of iterations are set etc.;

(3-3) excursion of valve system undetermined parameter to be set etc., to put parameter group number i=1, number of times label k=1 residing for iteration;

(3-4) arrange the initial value of the valve system undetermined parameter such as a group, this initial value is by producing at random in the span waiting valve system undetermined parameter;

(3-5) by the simulation model of the valve systems such as the value substitution of the valve system undetermined parameter such as i-th group, the fault of interconnected transmission line identical with step (3-1) is set and carries out time-domain-simulation;

(3-6), after simulation calculation terminates, interconnection active power fluctuation information P is read_eq(t), and calculate fitness J:

$J=\frac{1}{T}{\∫}_0^T\left(\right|P_{\mathrm{eq}}\left(t\right)-P_{\mathrm{ori}}\left(t\right)\left|\right)\mathrm{dt},$

Wherein, T is simulation time length;

If (3-7) i is equal with the parameter group number of setting, represents when previous iteration completes, proceed to (3-8) step, otherwise put i=i+1, again proceed to (3-5) step;

(3-8) the valve system undetermined parameters such as the optimum parameter group with minimum fitness obtained as current iteration;

(3-9) other parameter positions are upgraded, put i=1, if meet iteration convergence condition, then exit iteration and the undetermined parameter such as valve system such as grade of the optimum arrived of output calculating, if or the iterations iterations upper limit that reached setting also exit iteration also export the optimum calculated etc. valve system undetermined parameter, otherwise proceed to the iteration that (3-5) carries out a new round.

3. the method for designing of the energy storage damping controller based on phase compensation principle according to claim 2, is characterized in that in step (3-2), and typically, the group number getting controller parameter is 20, and iterations higher limit is 20.

4. the method for designing of the energy storage damping controller based on phase compensation principle according to claim 2, it is characterized in that in step (3-3), the excursion of the valve system undetermined parameter such as adopt empirical value method to arrange, specifically: get inertia time constant T_jscope be 3s ~ 60s, q axle synchronous reactance x_qscope be 0.54 ~ 2.4pu, d axle transient state reactance x '_dscope be 0.15 ~ 0.42pu, the span of electrical distance x1, x2 is 0 ~ 0.5pu.

5. the method for designing of the energy storage damping controller based on phase compensation principle according to claim 2, is characterized in that the control inputs signal of step (4) described synthesis energy storage damping controller, adopts following formulae discovery:

${\stackrel{\·}{V}}_A={\stackrel{\·}{V}}_1+j{x}_1{\stackrel{\·}{I}}_1;{\stackrel{\·}{V}}_B={\stackrel{\·}{V}}_2+{\mathrm{jx}}_2{\stackrel{\·}{I}}_2,$

${\stackrel{\·}{E}}_{Q1}={\stackrel{\·}{V}}_A+j{x}_{q1}{\stackrel{\·}{I}}_1;{\stackrel{\·}{E}}_{Q2}={\stackrel{\·}{V}}_B+{\mathrm{jx}}_{q2}{\stackrel{\·}{I}}_2,$

$\mathrm{\Δ}{\mathrm{\δ}}_{\mathrm{eq}}=\mathrm{angle}\left({\stackrel{\·}{E}}_{Q1}\right)-\mathrm{angle}\left({\stackrel{\·}{E}}_{Q2}\right),$

In formula,be respectively voltage and the Injection Current of interconnection two end node,be respectively the set end voltage of equivalent generating,be respectively the equivalent generator built-in potential of regional power grid 1 and 2, x_q1, x_q2be respectively the q axle synchronous reactance of two equivalent generators; x₁, x₂be respectively machine end bus and the internodal electrical distance of interconnection of equivalent generator; With Δ δ_eqas the input of the energy storage damping controller be installed in original system.

6. the method for designing of the energy storage damping controller based on phase compensation principle according to claim 1, it is characterized in that the energy storage damping controller described in step (5), it comprises 6 links, refers to successively by annexation with link 1 ~ link 6: link 1 is by the input signal of the voltage and current synthetic controller of actual measurement interconnection two end node; Link 2 is measuring and amplifying links, for changing the size of prime input, link 3 is every straight link, for the DC component in filtering input signal, link 4 and link 5 to afford redress the phase shift link of phase place for control signal, and link 6 is for simulating the frequency converter of energy storage device.

7. the method for designing of the energy storage damping controller based on phase compensation principle according to claim 1, is characterized in that adopting following methods obtaining step (5) the described parameter utilizing phase compensation method determination energy storage damping controller:

(5-1) the optimal compensation phase place is determined:

At generator with E_qin the valve systems such as two machines of two regional power grids of ' constant model description, interconnection transmitting active power P_linedetermined by the equivalent generator built-in potential at interconnection two ends and merit angular difference, when generator can maintain built-in potential constant time, the inearized model of dominant eigenvalues is:

$\mathrm{\Δ}{P}_{\mathrm{line}}=\frac{E_{Q1}{E}_{Q2}}{X_{12}}\cos {\mathrm{\δ}}_{12}\·\mathrm{\Δ}{\mathrm{\δ}}_{12}=K_{12}\·\mathrm{\Δ}{\mathrm{\δ}}_{12}$

In formula: Δ represents the Tiny increment dt of physical quantity, δ₁, δ₂for the merit angle of equivalent generator G1, G2 relative synchronization reference axis, E_q1, E_q2be respectively the built-in potential of G1, G2, δ₁₂the i.e. merit angular difference of G1 and G2, X₁₂=x₁+ x_q1+ x+x₂+ x_q2, x is interconnection reactance;

In formula,for the generator synchronous torque coefficient of equivalence;

If T_j1, T_j2be respectively the inertia time constant of equivalent generator G1 and G2, ω₀for synchronous angular velocity; Make M_i=T_ji/ ω₀i=1,2, do not consider the damping coefficient of equivalent machine self, make Δ δ=δ₁₂the equation of motion of this two machines system is as follows:

$M_1\frac{d^2}{{\mathrm{dt}}^2}\mathrm{\Δ\δ}+K_{12}\frac{M_1+M_2}{M_2}\mathrm{\Δ\δ}=0$

If the rotating speed deviation of the two equivalent machines produced by merit angular difference Δ δ is Δ ω, then have:

$\left\{\begin{array}{c}\frac{\mathrm{d\Δ\δ}}{\mathrm{dt}}={\mathrm{\ω}}_0\mathrm{\Δ\ω}\\ T_{j1}\frac{\mathrm{d\Δ\ω}}{\mathrm{dt}}={-K}_{12}\frac{M_1+M_2}{M_2}\mathrm{\Δ\δ}\end{array}\right.$

If be arranged on the energy storage device of equivalent generator G2 machine end, according to P_s=-K_sΔ ω, control coefrficient K_sthe rule of > 0 sends active power, and the equation of motion of two machine systems becomes:

$M_1\frac{d^2}{{\mathrm{dt}}^2}\mathrm{\Δ\δ}+K_s\frac{M_1+M_2}{{\mathrm{\ω}}_0{M}_2}\frac{d}{\mathrm{dt}}\mathrm{\Δ\δ}+K_{12}\frac{M_1+M_2}{M_2}\mathrm{\Δ\δ}=0$

Now the characteristic root of system is:${\mathrm{\λ}}_{\mathrm{1,2}}=-\frac{M_1+M_2}{2{\mathrm{\ω}}_0{M}_1{M}_2}{K}_s\±j\sqrt{\frac{M_1+M_2}{M_1{M}_2}{K}_{12}}\sqrt{1-\frac{K_s^2(M_1+M_2)}{4K_{12}{\mathrm{\ω}}_0^2{M}_1{M}_2}};$Visible, energy storage device provides damping torque for the vibration between two equivalent machines; Now, whentime, system has a pair conjugate character root, and the damping ratio of system oscillation isif K_sbe wide enough so thattime, system will have two minus factual investigation;

The delayed rotating speed deviation delta ω of merit angular difference Δ δ is approximately 90 °, therefore when using generator synthesis merit angular difference as the input signal of input energy storage damping controller, need to carry out phase compensation to input signal, and the optimal compensation phase place is 90 °;

(5-2) phase shift link time constant T is determined₁, T₂, T₃, T₄with amplifying element gain K_pODvalue:

Phase shift link time constant T₁, T₂value should make pay close attention to low-frequency oscillation frequency range in input signal produce phase shift phase place close to 90 °, with compensation of phase≤60 ° of each link;

(5-3) value of other links of energy storage damping controller:

At the time constant T of measurement links and frequency conversion amplitude limit link_r, T_swhen span is 0.01 ~ 0.05s, get representative value 0.02s; Every straight link time constant T_wduring span 5s ~ 10s, get representative value 10s; Amplitude limit value ± the 0.3pu of frequency conversion amplitude limit link, wherein pu represents perunit value, here using the rated capacity of energy storage device as mark one fiducial value.

8. the method for designing of the energy storage damping controller based on phase compensation principle according to claim 7, is characterized in that in described step (5-2), adopts following methods determination amplifying element gain K_pODvalue:

The power fluctuation information of interconnection before installing according to energy storage device, determines that energy storage device needs the main low frequency oscillation mode stabilized, or in the employing low-frequency oscillation frequency range of specifying; When only needing energy storage device for a certain low-frequency oscillation frequency f_oscwhen stabilizing its power oscillation, the formula T of method of residues should be used for reference₁, T₂determine:

$\begin{array}{cc}{T}_1=T_3=\frac{1}{2\mathrm{\π}{f}_{\mathrm{osc}}\sqrt{\mathrm{\α}}}& T_2=T_4={\mathrm{\αT}}_1\end{array}$

α=0.1716 is got in above formula;

Amplifying element gain K_pODspan be 5 ~ 10; Or, described K_pODspan determined by l-G simulation test method.