技术领域technical field
本发明属于柔性直流电力系统领域，更具体地，涉及一种自适应广域阻尼控制器及控制方法。The invention belongs to the field of flexible DC power systems, and more specifically relates to an adaptive wide-area damping controller and a control method.
背景技术Background technique
柔性直流输电技术(voltage source converter based high voltage directcurrent，VSC-HVDC)具有控制灵活、无换相失败危险、无功可独立控制等优势，是新能源并网和向无源系统供电的关键技术之一。采用背靠背柔性直流输电技术(BTB-VSC-HVDC)还可以实现两个异步运行的交流电网互联，从而提高电网运行可控性，降低电网安全稳定运行风险。结合广域测量系统(wide-area measure system,WAMS)技术，合理地为背靠背柔性直流电力系统设计广域阻尼控制器(wide area damping controller,WADC)，可以有效抑制电力系统的低频振荡。Flexible DC transmission technology (voltage source converter based high voltage direct current, VSC-HVDC) has the advantages of flexible control, no risk of commutation failure, and independent control of reactive power. It is one of the key technologies for new energy grid connection and power supply to passive systems. one. The back-to-back flexible DC transmission technology (BTB-VSC-HVDC) can also realize the interconnection of two asynchronous AC power grids, thereby improving the controllability of power grid operation and reducing the risk of safe and stable operation of the power grid. Combined with the wide-area measure system (WAMS) technology, a wide area damping controller (WADC) can be designed reasonably for the back-to-back flexible DC power system, which can effectively suppress the low-frequency oscillation of the power system.
目前，基于VSC-HVDC的常规广域阻尼控制器(conventional wide-area dampingcontroller,C-WADC)是在某一典型的运行工况下，利用系统的线性化数学模型设计得来的，对系统变化的运行工况适应性较差，而且实际电力系统的准确数学模型很难获得。At present, the conventional wide-area damping controller (C-WADC) based on VSC-HVDC is designed by using the linearized mathematical model of the system under a typical operating condition. The adaptability of the operating conditions is poor, and the accurate mathematical model of the actual power system is difficult to obtain.
此外，广域测量信号在传输过程中必然存在通讯时滞，以往在设计WADC时没有考虑时滞影响，或认为时滞是固定的，然而系统受到不同扰动时，时滞会发生变化；时变时滞会造成WADC控制性能下降，甚至会威胁到系统的暂态稳定性。In addition, there must be a communication time-lag during the transmission of wide-area measurement signals. In the past, the time-lag effect was not considered when designing WADC, or the time-delay was considered to be fixed. However, when the system is subjected to different disturbances, the time-delay will change; time-varying The time lag will cause the degradation of WADC control performance, and even threaten the transient stability of the system.
因此，有必要采用模型无关的阻尼控制器针对不同运行工况进行自适应控制，抑制系统的低频振荡，同时提供对通信时滞的自适应的补偿能力，以针对不同的通信时滞均作出相应的补偿。Therefore, it is necessary to use a model-independent damping controller to perform adaptive control for different operating conditions, suppress the low-frequency oscillation of the system, and provide an adaptive compensation capability for communication time delays, so as to respond to different communication time delays. compensation.
发明内容Contents of the invention
针对现有技术的缺陷和改进需求，本发明提供了一种自适应广域阻尼控制器及控制方法，其目的在于在不同运行工况和不同通信时滞下，有效抑制系统的低频振荡，改善系统的暂态稳定性。In view of the defects and improvement needs of the prior art, the present invention provides an adaptive wide-area damping controller and a control method, the purpose of which is to effectively suppress the low-frequency oscillation of the system under different operating conditions and different communication time lags, and improve The transient stability of the system.
为实现上述目的，按照本发明的第一方面，提供了一种自适应广域阻尼控制器，包括：自适应时滞补偿器、移相单元以及GrHDP单元；In order to achieve the above object, according to the first aspect of the present invention, an adaptive wide-area damping controller is provided, including: an adaptive time lag compensator, a phase shift unit and a GrHDP unit;
自适应时滞补偿器(adaptive-delay compensator,ADC)的输入端用于接收广域测量信号自适应时滞补偿器用于对电力系统的广域测量信号进行自适应的时滞补偿，得到信号x(t)；The input of the adaptive-delay compensator (ADC) is used to receive the wide-area measurement signal Adaptive time-delay compensator for wide-area measurement signals of power systems Perform adaptive time lag compensation to obtain the signal x(t);
移相单元的输入端连接至自适应时滞补偿器的输出端，移相单元用于对信号x(t)进行放大和移相处理，得到并行移相信号X(t)；The input end of the phase shift unit is connected to the output end of the adaptive time lag compensator, and the phase shift unit is used to amplify and phase shift the signal x(t) to obtain a parallel phase shift signal X(t);
GrHDP单元的输入端连接至移相单元的输出端，GrHDP单元用于根据并行移相信号X(t)得到与电力系统当前运行工况相适应的控制信号u(t)，以实现对电力系统有功功率振荡和无功功率振荡的自适应补偿，从而有效抑制电力系统的低频振荡。The input end of the GrHDP unit is connected to the output end of the phase shifting unit, and the GrHDP unit is used to obtain the control signal u(t) suitable for the current operating conditions of the power system according to the parallel phase shifting signal X(t), so as to realize the control of the power system Adaptive compensation of active power oscillation and reactive power oscillation, thereby effectively suppressing low-frequency oscillation of the power system.
进一步地，自适应时滞补偿器包括n个时滞补偿子模块(sub-delay compensator,SDC)；自适应时滞补偿器的传递函数为n个时滞补偿子模块的传递函数的加权和，并且每一个时滞补偿子模块的权值与广域测量信号的通信时滞τ相关，使得自适应时滞补偿器对不同的通信时滞均能做出相应的补偿，以有效消除通信时滞在广域测量信号中引入的滞后相位；其中，时滞补偿子模块的个数n根据系统的最大通信时滞确定，一般采用试凑法，取4～8个。Further, the adaptive delay compensator includes n delay compensation sub-modules (sub-delay compensator, SDC); the transfer function of the adaptive delay compensator is the weighted sum of the transfer functions of the n delay compensation sub-modules, And the weight of each time delay compensation sub-module is related to the wide-area measurement signal The communication time delay τ is related, so that the adaptive time delay compensator can make corresponding compensation for different communication time delays, so as to effectively eliminate the communication time delay in wide-area measurement signals The lag phase introduced in ; Among them, the number n of the delay compensation sub-modules is determined according to the maximum communication delay of the system, and the trial and error method is generally adopted, and 4 to 8 are used.
进一步地，移相单元包括第一放大器、第二放大器以及移相器；第一放大器用于将信号x(t)放大k1倍得到第一路信号；第二放大器用于将信号x(t)放大k2倍得到中间信号x'(t)；移相器的输入端连接至第二放大器的输出端，移相器用于对中间信号x'(t)进行移相，得到第二路信号；并行移相信号X(t)包括第一路信号和第二路信号；Further, the phase shifting unit includes a first amplifier, a second amplifier and a phase shifter; the first amplifier is used to amplify the signal x(t) by k1 times to obtain the first signal; the second amplifier is used to amplify the signal x(t) ) to amplify k2 times to obtain the intermediate signal x'(t); the input terminal of the phase shifter is connected to the output terminal of the second amplifier, and the phase shifter is used to phase shift the intermediate signal x'(t) to obtain the second signal ; The parallel phase-shift signal X(t) includes the first signal and the second signal;
更进一步地，移相器的数学表达式为其中，Tf为滤波常数，用于防止微分环节放大高频噪声从而影响控制效果，其取值范围为0.01～0.05；Furthermore, the mathematical expression of the phase shifter is Among them, Tf is a filter constant, which is used to prevent the differential link from amplifying high-frequency noise and affecting the control effect, and its value range is 0.01 to 0.05;
更进一步地，k1和k2为归一化系数，用于保证并行的第一路信号与第二路信号的幅值范围一致。Furthermore, k1 and k2 are normalization coefficients, which are used to ensure that the amplitude ranges of the parallel first channel signal and the second channel signal are consistent.
进一步地，GrHDP单元基于自适应动态规划算法实现从并行移相信号X(t)到控制信号u(t)的计算；控制信号u(t)包括附加有功功率指令值ΔPref(t)和附加无功功率指令值ΔQref(t)；附加有功功率指令值ΔPref(t)用于补偿有功功率的振荡，附加无功功率指令值ΔQref(t)用于补偿无功功率的振荡。Further, the GrHDP unit realizes the calculation from the parallel phase shift signal X(t) to the control signal u(t) based on the adaptive dynamic programming algorithm; the control signal u(t) includes the additional active power command value ΔPref (t) and the additional The reactive power command value ΔQref (t); the additional active power command value ΔPref (t) is used to compensate the oscillation of active power, and the additional reactive power command value ΔQref (t) is used to compensate the oscillation of reactive power.
按照本发明的第二方面，提供了一种基于本发明第一方面所提供的自适应广域阻尼控制器的控制方法，包括如下步骤：According to a second aspect of the present invention, there is provided a control method based on the adaptive wide-area damping controller provided in the first aspect of the present invention, comprising the following steps:
(1)对广域测量信号进行自适应时滞补偿，得到信号x(t)；(1) For wide-area measurement signals Perform adaptive time-delay compensation to obtain the signal x(t);
(2)对信号x(t)进行放大与移相，得到并行移相信号X(t)；(2) Amplifying and phase-shifting the signal x(t) to obtain a parallel phase-shifting signal X(t);
(3)根据并行移相信号X(t)得到与电网当前运行环境相适应的控制信号u(t)，以实现对电网有功功率振荡和无功功率振荡的自适应补偿，从而有效抑制电力系统的低频振荡。(3) According to the parallel phase shift signal X(t), the control signal u(t) suitable for the current operating environment of the power grid is obtained, so as to realize the adaptive compensation of the active power oscillation and reactive power oscillation of the power grid, thereby effectively suppressing the power system low-frequency oscillation.
进一步地，步骤(1)包括如下步骤：Further, step (1) includes the following steps:
(11)计算广域测量信号的时滞传递函数Gd(s)；并利用二阶Pade近似变换对传递函数Gd(s)进行化简，得到传递函数GD(s)，传递函数GD(s)的计算公式如下：(11) Calculate the wide-area measurement signal The time-delay transfer function Gd (s); and use the second-order Pade approximate transformation to simplify the transfer function Gd (s) to obtain the transfer function GD (s). The calculation formula of the transfer function GD (s) is as follows :
其中，τ为广域测量信号的通信时滞；where τ is the wide-area measurement signal communication delay;
(12)计算每一个时滞补偿子模块的传递函数及对应的权值；每一个时滞补偿子模块的传递函数计算公式如下：(12) Calculate the transfer function and the corresponding weight of each time lag compensation sub-module; the calculation formula of the transfer function of each time lag compensation sub-module is as follows:
其中，Tc为与系统稳态特性相关的时间常数；考虑系统的稳态特性，Tc的取值范围为[0.01s,0.1s]；Among them, Tc is the time constant related to the steady-state characteristics of the system; considering the steady-state characteristics of the system, the value range of Tc is [0.01s, 0.1s];
时滞补偿子模块的权值计算公式如下：The weight calculation formula of the skew compensation sub-module is as follows:
其中，βi为第i个时滞补偿子模块的权值，Ti为第i个时滞补偿子模块的时间常数；Ti的取值介于系统最大通信时滞与最小通信时滞之间，以获得较好的时滞补偿效果；Among them, βi is the weight of the ith time-delay compensation sub-module, Ti is the time constant of the i-th time-delay compensation sub-module; the value of Ti is between the maximum communication time delay and the minimum communication time delay of the system time to obtain a better lag compensation effect;
(13)根据每一个时滞补偿子模块的传递函数及对应的权值，计算自适应时滞补偿器的传递函数ADC(s)；自适应时滞补偿器的传递函数ADC(s)的计算公式如下：(13) Calculate the transfer function ADC(s) of the adaptive time-delay compensator according to the transfer function and the corresponding weight of each time-delay compensation sub-module; the calculation of the transfer function ADC(s) of the adaptive time-delay compensator The formula is as follows:
根据表达式可知，经过自适应时滞补偿器的补偿后，广域测量信号的相位滞后仅与固定时间常数Tc有关，而与时滞τ无关，因而对于不同的通信时滞，均可作出相应的补偿；According to the expression It can be seen that after being compensated by the adaptive time-delay compensator, the phase lag of the wide-area measurement signal is only related to the fixed time constantTc , but has nothing to do with the time-delay τ. Therefore, corresponding compensation can be made for different communication time-delays ;
(14)根据表达式得到广域测量信号的与通信时滞无关的滞后相位，并进行补偿；(14) According to the expression Obtain and compensate the lag phase of the wide-area measurement signal that has nothing to do with the communication delay;
更进一步地，步骤(14)中，根据系统低频震荡的频率范围，通过超前滞后环节对该频率范围内的滞后相位进行补偿。Furthermore, in step (14), according to the frequency range of the low-frequency oscillation of the system, the lagging phase within the frequency range is compensated through the lead-lag link.
进一步地，步骤(2)包括如下步骤：Further, step (2) includes the following steps:
(21)将信号x(t)放大k1倍得到第一路信号；(21) Amplify the signal x(t) by k1 times to obtain the first signal;
(22)将信号x(t)放大k2倍得到中间信号x'(t)；(22) Amplify the signal x(t) by k2 times to obtain the intermediate signal x'(t);
(23)对中间信号x'(t)进行移相，得到第二路信号；(23) Phase-shifting the intermediate signal x'(t) to obtain the second signal;
(24)将第一路信号与第二路信号所组成的信号向量作为并行移相信号X(t)输出；(24) outputting the signal vector formed by the first road signal and the second road signal as a parallel phase-shifting signal X(t);
更进一步地，步骤(23)中移相的数学表达式为其中，Tf为滤波常数，用于防止微分环节放大高频噪声从而影响控制效果，其取值范围为0.01～0.05；Further, the mathematical expression of phase shift in step (23) is Among them, Tf is a filter constant, which is used to prevent the differential link from amplifying high-frequency noise and affecting the control effect, and its value range is 0.01 to 0.05;
更进一步地，k1和k2为归一化系数，用于保证并行的第一路信号与第二路信号的幅值范围一致。Furthermore, k1 and k2 are normalization coefficients, which are used to ensure that the amplitude ranges of the parallel first channel signal and the second channel signal are consistent.
进一步地，步骤(3)包括如下步骤：Further, step (3) includes the following steps:
(31)设定GrHDP神经网络的参数；(31) setting the parameters of the GrHDP neural network;
(32)随机设定GrHDP神经网络的初始权值，并利用初始权值对GrHDP神经网络进行离线训练；将训练好的神经网络权值作为在线学习的初始权值；(32) Randomly set the initial weight of the GrHDP neural network, and utilize the initial weight to carry out off-line training to the GrHDP neural network; use the trained neural network weight as the initial weight of online learning;
(33)将并行移相信号X(t)作为GrHDP神经网络的输入，将控制信号u(t)作为GrHDP神经网络的输出，并对GrHDP神经网络进行在线应用以获得经过优化的控制信号；其中，控制信号u(t)包括附加有功功率指令值ΔPref(t)和附加无功功率指令值ΔQref(t)，附加有功功率指令值ΔPref(t)用于补偿有功功率的振荡，附加无功功率指令值ΔQref(t)用于补偿无功功率的振荡；(33) The parallel phase-shift signal X(t) is used as the input of the GrHDP neural network, the control signal u(t) is used as the output of the GrHDP neural network, and the GrHDP neural network is applied online to obtain an optimized control signal; where , the control signal u(t) includes the additional active power command value ΔPref (t) and the additional reactive power command value ΔQref (t), the additional active power command value ΔPref (t) is used to compensate the oscillation of active power, the additional The reactive power command value ΔQref (t) is used to compensate the oscillation of reactive power;
更进一步地，步骤(31)中设定的GrHDP神经网络的参数包括：执行网络的输入层节点数、隐含层节点数、输出层节点数、学习速率、迭代次数上限、误差容限以及权值范围；评价网络的输入层节点数、隐含层节点数、输出层节点数、学习速率、迭代次数上限、误差容限以及权值范围；目标网络的输入层节点数、隐含层节点数、输出层节点数、学习速率、迭代次数上限、误差容限以及权值范围。Furthermore, the parameters of the GrHDP neural network set in step (31) include: the number of input layer nodes, the number of hidden layer nodes, the number of output layer nodes, the learning rate, the upper limit of the number of iterations, the error tolerance and the weight of the execution network. Value range; the number of input layer nodes, the number of hidden layer nodes, the number of output layer nodes, the learning rate, the upper limit of iterations, the error tolerance and the weight range of the evaluation network; the number of input layer nodes and the number of hidden layer nodes of the target network , the number of nodes in the output layer, the learning rate, the upper limit of the number of iterations, the error tolerance, and the weight range.
总体而言，通过本发明所构思的以上技术方案，能够取得以下有益效果：Generally speaking, through the above technical solutions conceived by the present invention, the following beneficial effects can be obtained:
(1)以广域测量信号作为输入，并且GrHDP单元基于自适应动态规划算法实现从并行移相信号X(t)到控制信号u(t)的计算，无需构建系统的数学模型，即可对系统当前的运行工况做出相适应的控制，因而在系统不同的运行工况与故障扰动下，均可通过广域阻尼控制有效抑制系统的低频振荡；(1) The wide-area measurement signal is used as the input, and the GrHDP unit realizes the calculation from the parallel phase shift signal X(t) to the control signal u(t) based on the adaptive dynamic programming algorithm. Adaptive control is made to the current operating conditions of the system, so that under different operating conditions and fault disturbances of the system, the low-frequency oscillation of the system can be effectively suppressed through wide-area damping control;
(2)自适应时滞补偿器能有效地补偿广域测量信号的通信时滞，使得在不同的通信时滞下，自适应广域阻尼控制器均能保持良好的低频震荡抑制能力，改善系统的暂态稳定性；(2) The adaptive time-delay compensator can effectively compensate the communication time-delay of the wide-area measurement signal, so that under different communication time-delays, the adaptive wide-area damping controller can maintain a good low-frequency oscillation suppression ability and improve the system transient stability;
(3)输出的控制信号u(t)包括附加有功功率指令值ΔPref(t)和附加无功功率指令值ΔQref(t)，可以同时调节电力系统的有功控制环和无功控制环，明显提升系统受控模块的阻尼比，改善系统暂态稳定性；(3) The output control signal u(t) includes the additional active power command value ΔPref (t) and the additional reactive power command value ΔQref (t), which can simultaneously adjust the active power control loop and reactive power control loop of the power system, Significantly increase the damping ratio of the controlled module of the system and improve the transient stability of the system;
(4)通过移相为GrHDP神经网络提供并行的输入信号，使得通过权值的调整，执行网络能灵活地进行输入信号的相位补偿，使得自适应广域阻尼控制器能更好地抑制系统的低频振荡。(4) Provide parallel input signals for the GrHDP neural network through phase shifting, so that the execution network can flexibly perform phase compensation of the input signals through the adjustment of weights, so that the adaptive wide-area damping controller can better suppress the system Low frequency oscillation.
附图说明Description of drawings
图1为含渝鄂背靠背柔性直流的两端交流系统等值简化模型结构示意图；Figure 1 is a schematic structural diagram of the equivalent simplified model of the two-terminal AC system with Chongqing-E back-to-back flexible DC;
图2为本发明实施例提供的自适应广域阻尼控制器的模块框图；Fig. 2 is the modular block diagram of the adaptive wide-area damping controller provided by the embodiment of the present invention;
图3为本发明实施例提供的控制方法流程图；FIG. 3 is a flowchart of a control method provided by an embodiment of the present invention;
图4为湖北等值电网暂态特性曲线示意图，(a)为情景I下湖北等值电网暂态特性曲线示意图，(b)为情景II下湖北等值电网暂态特性曲线示意图；Figure 4 is a schematic diagram of the transient characteristic curve of the Hubei equivalent power grid, (a) is a schematic diagram of the transient characteristic curve of the Hubei equivalent power grid under scenario I, and (b) is a schematic diagram of the transient characteristic curve of the Hubei equivalent power grid under scenario II;
图5为情景II下的自适应广域阻尼控制器内部变量曲线示意图；(a)为执行网络的误差Ea变化曲线；(b)为外部强化学习函数r(t)变化曲线；(c)为内部强化学习函数S(t)变化曲线；(d)为代价函数J(t)变化曲线；(e)为执行网络输入层到隐含层的权值Wa(1)变化曲线；(f)为执行网络隐含层到输出层的权值Wa(2)变化曲线；Figure 5 is a schematic diagram of the internal variable curve of the adaptive wide-area damping controller under scenario II; (a) is the change curve of the error Ea of the execution network; (b) is the change curve of the external reinforcement learning function r(t); (c) is the change curve of the internal reinforcement learning function S(t); (d) is the change curve of the cost function J(t); (e) is the change curve of the weight Wa(1) from the input layer to the hidden layer of the execution network; (f ) is the change curve of the weight Wa(2) from the hidden layer to the output layer of the execution network;
图6为本发明实施例提供的自适应广域阻尼控制器在固定时滞下的控制性能示意图；(a)固定时滞为100ms；(b)固定时滞为150ms；6 is a schematic diagram of the control performance of the adaptive wide-area damping controller provided by the embodiment of the present invention under a fixed time lag; (a) the fixed time lag is 100 ms; (b) the fixed time lag is 150 ms;
图7为本发明实施例提供的自适应控制器在小范围随机时滞下的控制性能示意图；Fig. 7 is a schematic diagram of the control performance of the adaptive controller provided by the embodiment of the present invention under a small range of random time lag;
图8为本发明实施例提供的自适应时滞补偿器中时滞补偿子模块的权值变化示曲线；(a)随机时滞范围为100±20ms；(b)随机时滞范围为100±40ms；Figure 8 is a curve showing the weight change of the time lag compensation sub-module in the adaptive time lag compensator provided by the embodiment of the present invention; (a) the random time lag range is 100±20ms; (b) the random time lag range is 100±20ms 40ms;
图9为本发明实施例提供的自适应广域阻尼控制器在大范围随机时滞下的控制性能示意图；Fig. 9 is a schematic diagram of the control performance of the adaptive wide-area damping controller provided by the embodiment of the present invention under a large range of random time lag;
图10为随机时滞变化曲线及自适应时滞补偿器中时滞补偿子模块的权值变化示意图；(a)为系统随机时滞的变化曲线；(b)为时滞补偿子模块的权值变化曲线。Fig. 10 is a schematic diagram of the random time-delay change curve and the weight change of the time-delay compensation sub-module in the adaptive time-delay compensator; (a) is the change curve of the random time-delay of the system; (b) is the weight of the time-delay compensation sub-module value change curve.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
图1所示的含渝鄂背靠背柔性直流的两端交流系统中，包括4个±420kV/1250MW的换流单元，总输送功率达到5000MW；逆变侧交流系统是湖北电网等值模型，包含5台等值发电机和4个等值负荷；湖北电网与邻省河南、江西和湖南电网的省间断面潮流等效为负荷，4回至华东电网和1回至广东的三峡直流输电工程也等值为负荷；G5、G6、G7、G8和G9分别为湖北电网中的5台等值发电机，线路11～113为湖北电网中的输电线路；整流侧交流系统是西南电网(四川与重庆电网)等值模型，包含4台发电机和3个负荷；四川电网中3回至华东电网的直流工程也按照负荷等值；G1、G2、G3和G4分别为西南电网中的4台等值发电机，线路1-5为西南电网中的输电线路；实际电网的通信时滞最小值为50ms，最大值为500ms；在MATLAB/Simulink中构建如图1所示的含渝鄂背靠背柔性直流输电系统的西南电网和湖北电网等值简化系统模型，作为本发明实施例的测试系统。As shown in Figure 1, the two-terminal AC system with back-to-back flexible DC in Chongqing and Hubei includes 4 ±420kV/1250MW converter units, and the total transmission power reaches 5000MW; the AC system on the inverter side is the equivalent model of Hubei Power Grid, including 5 Equivalent generators and 4 equivalent loads; Hubei power grid and neighboring provinces Henan, Jiangxi and Hunan power grids are equivalent to loads, and 4 circuits to East China power grid and 1 circuit to Guangdong Three Gorges DC transmission project are also used The value is the load; G5 , G6 , G7 , G8 and G9 are 5 equivalent generators in Hubei power grid respectively, and lines 11-113 are transmission lines in Hubei power grid; the AC system on the rectification side is Southwest power grid (Sichuan and Chongqing power grid) equivalent model, including 4 generators and 3 loads; the DC projects from the 3 loops in Sichuan power grid to East China power grid are also based on load equivalence; G1 , G2 , G3 and G4 are respectively Four equivalent generators in the Southwest Power Grid, lines 1-5 are the transmission lines in the Southwest Power Grid; the minimum value of the communication time lag of the actual power grid is 50ms, and the maximum value is 500ms; the construction in MATLAB/Simulink is shown in Figure 1 The equivalent simplified system models of Southwest Power Grid and Hubei Power Grid including the Chongqing-Hubei Back-to-Back Flexible DC Transmission System are used as the test system of the embodiment of the present invention.
自适应动态规划算法能够通过与系统的实时交互学习到最优的控制策略；GrHDP神经网络基于神经网络实现了自适应动态规划算法，包括：执行网络、目标网络以及评价网络；执行网络用于根据输入信号生成输出信号；评价网络为一个函数逼近器，其输出为代价函数J(t)，代价函数J(t)用于评价当前输出信号的优劣，并指导执行网络进行权值修正，从而优化输出信号；目标网络用于自动生成内部强化信号S(t)，以替代外部强化信号r(t)，从而更好地反映输入信号与输出信号之间的映射关系，使得代价函数J(t)能够更好地评价输出信号的优劣。The adaptive dynamic programming algorithm can learn the optimal control strategy through real-time interaction with the system; the GrHDP neural network realizes the adaptive dynamic programming algorithm based on the neural network, including: execution network, target network and evaluation network; the execution network is used to The input signal generates the output signal; the evaluation network is a function approximator, and its output is the cost function J(t), the cost function J(t) is used to evaluate the quality of the current output signal, and guide the execution network to correct the weight, so that Optimize the output signal; the target network is used to automatically generate the internal reinforcement signal S(t) to replace the external reinforcement signal r(t), so as to better reflect the mapping relationship between the input signal and the output signal, so that the cost function J(t ) can better evaluate the quality of the output signal.
图2所述为本发明实施例提供的自适应广域阻尼控制器，包括：自适应时滞补偿器、移相单元和GrHDP单元；自适应时滞补偿器的输入端用于接收广域测量信号自适应时滞补偿器用于对电力系统的广域测量信号进行自适应的时滞补偿，得到信号x(t)；移相单元的输入端连接至自适应时滞补偿器的输出端，移相单元用于对信号x(t)进行放大和移相处理，得到并行移相信号X(t)；GrHDP单元的输入端连接至移相单元的输出端，GrHDP单元用于根据并行移相信号X(t)得到与电力系统当前运行工况相适应的控制信号u(t)，以实现对电力系统有功功率和无功功率的自适应补偿，从而有效抑制电力系统的低频振荡；Figure 2 describes the adaptive wide-area damping controller provided by the embodiment of the present invention, including: an adaptive time-delay compensator, a phase shift unit and a GrHDP unit; the input end of the adaptive time-delay compensator is used to receive wide-area measurements Signal Adaptive time-delay compensator for wide-area measurement signals of power systems Perform adaptive time lag compensation to obtain the signal x(t); the input end of the phase shift unit is connected to the output end of the adaptive time lag compensator, and the phase shift unit is used to amplify and phase shift the signal x(t) , to obtain the parallel phase-shift signal X(t); the input end of the GrHDP unit is connected to the output end of the phase-shift unit, and the GrHDP unit is used to obtain control adapted to the current operating conditions of the power system according to the parallel phase-shift signal X(t) Signal u(t) to realize the adaptive compensation of the active power and reactive power of the power system, thereby effectively suppressing the low-frequency oscillation of the power system;
自适应补偿器包括n个时滞补偿子模块自适应补偿器的传递函数为n个时滞补偿子模块的传递函数的加权和，并且每一个时滞补偿子模块的权值与广域测量信号的通信时滞τ相关，使得自适应时滞补偿器对不同的通信时滞均能做出相应的补偿，以有效消除通信时滞在广域测量信号中引入的滞后相位；在本实施例中，n的取值为5；The adaptive compensator includes n time lag compensation sub-modules, the transfer function of the adaptive compensator is the weighted sum of the transfer functions of n time lag compensation sub modules, and the weight of each time lag compensation sub module is related to the wide-area measurement signal The communication time delay τ is related, so that the adaptive time delay compensator can make corresponding compensation for different communication time delays, so as to effectively eliminate the communication time delay in wide-area measurement signals The lag phase introduced in; In this embodiment, the value of n is 5;
移相单元包括第一放大器、第二放大器以及移相器；第一放大器用于将信号x(t)放大k1倍得到第一路信号；第二放大器用于将信号x(t)放大k2倍得到中间信号x'(t)；移相器的输入端连接至第二放大器的输出端，移相器用于对中间信号x'(t)进行移相，得到第二路信号；并行移相信号X(t)包括第一路信号和第二路信号；移相器的数学表达式为其中，Tf为滤波常数，用于防止微分环节放大高频噪声从而影响控制效果，其取值范围为0.01～0.05；k1和k2为归一化系数，用于保证并行的第一路信号与第二路信号的幅值范围一致；The phase shifting unit includes a first amplifier, a second amplifier and a phase shifter; the first amplifier is used to amplify the signal x(t) by k1 times to obtain the first signal; the second amplifier is used to amplify the signal x(t) by k2 times to obtain the intermediate signal x'(t); the input terminal of the phase shifter is connected to the output terminal of the second amplifier, and the phase shifter is used to phase shift the intermediate signal x'(t) to obtain the second signal; parallel shift The phase signal X(t) includes the first signal and the second signal; the mathematical expression of the phase shifter is Among them, Tf is a filter constant, which is used to prevent the differential link from amplifying high-frequency noise and affecting the control effect, and its value range is 0.01 to 0.05; k1 and k2 are normalization coefficients, used to ensure The amplitude range of the signal is consistent with that of the second signal;
GrHDP单元基于自适应动态规划算法实现从并行移相信号X(t)到控制信号u(t)的计算；控制信号u(t)包括附加有功功率指令值ΔPref(t)和附加无功功率指令值ΔQref(t)；附加有功功率指令值ΔPref(t)用于补偿有功功率的振荡，附加无功功率指令值ΔQref(t)用于补偿无功功率的振荡。The GrHDP unit realizes the calculation from the parallel phase shift signal X(t) to the control signal u(t) based on the adaptive dynamic programming algorithm; the control signal u(t) includes the additional active power command value ΔPref (t) and the additional reactive power The command value ΔQref (t); the additional active power command value ΔPref (t) is used to compensate the oscillation of active power, and the additional reactive power command value ΔQref (t) is used to compensate the oscillation of reactive power.
广域测量信号由广域测量系统(WAMS)采集，根据电力系统的控制要求，确定具体的信号组成。wide area measurement signal It is collected by the wide area measurement system (WAMS), and the specific signal composition is determined according to the control requirements of the power system.
图3所示为基于图2所示自适应广域阻尼控制器的控制方法，包括如下步骤：Figure 3 shows the control method based on the adaptive wide-area damping controller shown in Figure 2, including the following steps:
(1)对广域测量信号进行自适应时滞补偿，得到信号x(t)；具体包括如下步骤：(1) For wide-area measurement signals Perform adaptive time-delay compensation to obtain the signal x(t); specifically include the following steps:
(11)计算广域控制信号的时滞传递函数Gd(s)；并利用二阶Pade近似变换对传递函数Gd(s)进行化简，得到传递函数GD(s)，传递函数GD(s)的计算公式如下：(11) Calculate the wide area control signal The time-delay transfer function Gd (s); and use the second-order Pade approximate transformation to simplify the transfer function Gd (s) to obtain the transfer function GD (s). The calculation formula of the transfer function GD (s) is as follows :
其中，τ为广域测量信号的通信时滞；where τ is the wide-area measurement signal communication delay;
(12)计算每一个时滞补偿子模块的传递函数及对应的权值；每一个时滞补偿子模块的传递函数计算公式如下：(12) Calculate the transfer function and the corresponding weight of each time lag compensation sub-module; the calculation formula of the transfer function of each time lag compensation sub-module is as follows:
其中，Tc为与系统稳态特性相关的时间常数；考虑系统的稳态特性，Tc的取值为0.02s；Among them,Tc is the time constant related to the steady-state characteristics of the system; considering the steady-state characteristics of the system, the value ofTc is 0.02s;
时滞补偿子模块的权值计算公式如下：The weight calculation formula of the skew compensation sub-module is as follows:
其中，βi为第i个时滞补偿子模块的权值，Ti为第i个时滞补偿子模块的时间常数；Ti的取值介于系统最大通信时滞与最小通信时滞之间，以获取较好的时滞补偿效果；考虑实际电网的通讯时滞最小值为50ms，最大值为500ms，设置T1＝0.1s，T2＝0.2s，T3＝0.3s，T4＝0.4s，T5＝0.5s；Among them, βi is the weight of the ith time-delay compensation sub-module, Ti is the time constant of the i-th time-delay compensation sub-module; the value of Ti is between the maximum communication time delay and the minimum communication time delay of the system To obtain a better effect of time lag compensation; considering the minimum value of communication time lag of the actual power grid is 50ms, the maximum value is 500ms, set T1 = 0.1s, T2 = 0.2s, T3 = 0.3s, T4 =0.4s, T5 =0.5s;
(13)根据每一个时滞补偿子模块的传递函数及对应的权值，计算自适应时滞补偿器的传递函数ADC(s)；自适应时滞补偿器的传递函数ADC(s)的计算公式如下：(13) Calculate the transfer function ADC(s) of the adaptive time-delay compensator according to the transfer function and the corresponding weight of each time-delay compensation sub-module; the calculation of the transfer function ADC(s) of the adaptive time-delay compensator The formula is as follows:
根据表达式可知，经过自适应时滞补偿器的补偿后，广域测量信号的相位滞后仅与固定时间常数Tc有关，而与时滞τ无关，因而对于不同的通信时滞，均可作出相应的补偿；According to the expression It can be seen that after being compensated by the adaptive time-delay compensator, the phase lag of the wide-area measurement signal is only related to the fixed time constantTc , but has nothing to do with the time-delay τ. Therefore, corresponding compensation can be made for different communication time-delays ;
(14)根据表达式得到广域测量信号的与通信时滞无关的相位滞后，并根据系统低频震荡的频率范围，通过超前滞后环节对该频率范围内的相位滞后进行补偿；(14) According to the expression Obtain the phase lag of the wide-area measurement signal that has nothing to do with the communication time lag, and compensate the phase lag in the frequency range through the lead lag link according to the frequency range of the system's low-frequency oscillation;
(2)对信号x(t)进行放大与移相，得到并行移相信号X(t)；具体包括如下步骤：(2) Amplifying and phase-shifting the signal x(t) to obtain a parallel phase-shifting signal X(t); specifically including the following steps:
(21)将信号x(t)放大k1倍得到第一路信号；(21) Amplify the signal x(t) by k1 times to obtain the first signal;
(22)将信号x(t)放大k2倍得到中间信号x'(t)；k1和k2为归一化系数，用于保证并行的第一路信号与第二路信号的幅值范围一致；(22) Amplify the signal x(t) by k2 times to obtain the intermediate signal x'(t); k1 and k2 are normalization coefficients, which are used to ensure the amplitude of the parallel first and second signals consistent range;
(23)对中间信号x'(t)进行移相，得到第二路信号；移相的数学表达式为其中，Tf为滤波常数，用于防止微分环节放大高频噪声从而影响控制效果，其取值范围为0.01～0.05；(23) Phase-shift the intermediate signal x'(t) to obtain the second signal; the mathematical expression of phase-shift is Among them, Tf is a filter constant, which is used to prevent the differential link from amplifying high-frequency noise and affecting the control effect, and its value range is 0.01 to 0.05;
(24)将第一路信号与第二路信号所组成的信号向量作为平行并行移相信号X(t)输出；(24) outputting the signal vector formed by the first road signal and the second road signal as a parallel phase-shifting signal X(t);
(3)根据并行移相信号X(t)得到与电网当前运行环境相适应的控制信号u(t)，以实现对电网有功功率和无功功率的自适应补偿，从而有效抑制电力系统的低频振荡；具体包括如下步骤：(3) According to the parallel phase shift signal X(t), the control signal u(t) suitable for the current operating environment of the power grid is obtained, so as to realize the adaptive compensation of the active power and reactive power of the power grid, thereby effectively suppressing the low frequency of the power system Oscillation; specifically include the following steps:
(31)设定GrHDP神经网络的参数，具体设置如表1所示：(31) Set the parameters of the GrHDP neural network, the specific settings are as shown in Table 1:
表1GrHDP神经网络的参数设定Table 1 Parameter setting of GrHDP neural network
(32)随机设定GrHDP神经网络的初始权值，并利用初始权值对GrHDP神经网络进行离线训练；将训练好的神经网络权值作为在线学习的初始权值；(32) Randomly set the initial weight of the GrHDP neural network, and utilize the initial weight to carry out off-line training to the GrHDP neural network; use the trained neural network weight as the initial weight of online learning;
(33)将并行移相信号X(t)作为GrHDP神经网络的输入，将控制信号u(t)作为GrHDP神经网络的输出，并对GrHDP神经网络进行在线应用以获得经过优化的控制信号；其中，控制信号u(t)包括附加有功功率指令值ΔPref(t)和附加无功功率指令值ΔQref(t)，附加有功功率指令值ΔPref(t)用于补偿有功功率的振荡，附加无功功率指令值ΔQref(t)用于补偿无功功率的振荡。(33) The parallel phase-shift signal X(t) is used as the input of the GrHDP neural network, the control signal u(t) is used as the output of the GrHDP neural network, and the GrHDP neural network is applied online to obtain an optimized control signal; where , the control signal u(t) includes the additional active power command value ΔPref (t) and the additional reactive power command value ΔQref (t), the additional active power command value ΔPref (t) is used to compensate the oscillation of active power, the additional The reactive power command value ΔQref (t) is used to compensate the oscillation of reactive power.
设置第一算例，用于验证自适应广域阻尼控制器对系统工况的适应性；设置第二算例，用于验证自适应时滞补偿器对系统信号通信时滞的补偿效果。The first calculation example is set to verify the adaptability of the adaptive wide-area damping controller to the system working conditions; the second calculation example is set to verify the compensation effect of the adaptive time-delay compensator on the system signal communication time-delay.
在第一算例中，通过调整湖北等值电网中发电机出力与有功负荷，得到偏离设计WADC的典型运行工况的变化工况；在变化工况下，对未投入WADC时的湖北等值电网进行线性化模态分析可知，模态1的阻尼比为-1.88％，呈现负阻尼状态；为了验证A-WADC对系统工况的适应性，分别设置两组情景：In the first calculation example, by adjusting the output and active load of generators in the Hubei equivalent power grid, the changing working conditions that deviate from the typical operating conditions of the designed WADC are obtained; under the changing working conditions, the Hubei equivalent The linearized modal analysis of the power grid shows that the damping ratio of mode 1 is -1.88%, showing a negative damping state; in order to verify the adaptability of A-WADC to the system working conditions, two sets of scenarios are set up:
情景I：在典型运行工况下，1秒时，湖北等值电网中，双回输电线路19-111中一回线路靠近母线18处发生永久三相短路故障，1.1秒切除故障线路；Scenario I: Under typical operating conditions, at 1 second, in the Hubei equivalent power grid, a permanent three-phase short-circuit fault occurs in the first circuit of the double-circuit transmission line 19-111 near the busbar 18, and the faulty line is cut off in 1.1 seconds;
情景II：在变化运行工况下，1秒时，湖北等值电网中，输电线路17-18靠近母线18处发生瞬时三相短路故障，1.1秒切除故障线路，1.8秒时重合闸成功。Scenario II: Under changing operating conditions, an instantaneous three-phase short-circuit fault occurs on transmission lines 17-18 close to bus 18 in the Hubei equivalent power grid at 1 second, the faulty line is cut off in 1.1 seconds, and the reclosing is successful in 1.8 seconds.
分别对比投入不同阻尼控制器时，系统故障后的暂态响应特性，图4所示为两种情景下，发电机G5与G9的相对功角变化曲线；图5所示为情景II下，A-WADC的内部变量曲线，包含执行网络误差Ea、外部强化学习函数r(t)、内部强化学习函数S(t)、代价函数J(t)和执行网络输入层到隐含层的权值Wa(1)以及执行网络隐含层到输出层的权值Wa(2)。When different damping controllers are used, the transient response characteristics of the system after a fault are compared. Figure 4 shows the relative power angle change curves of generators G5 and G9 under two scenarios; Figure 5 shows that under scenario II, A - The internal variable curve of WADC, including the execution network error Ea, the external reinforcement learning function r(t), the internal reinforcement learning function S(t), the cost function J(t) and the weight Wa from the input layer to the hidden layer of the execution network (1) and implement the weight Wa(2) from the hidden layer to the output layer of the network.
如图4所示，在情景I的典型工况下，投入常规广域阻尼控制器(conventionalwide-area damping control,C-WADC)和经过训练后的自适应广域阻尼控制器(adaptivewide-area damping controller,A-WADC)时，系统的低频振荡均能很快地被平息下来，两者的控制性能基本相同。在情景II变化运行工况下，未投入任何阻尼控制器时，系统呈现增幅振荡特性。当投入C-WADC或A-WADC时，系统的振荡能有效地被平息下来，且A-WADC的控制效果明显优于C-WADC。原因是，基于典型运行工况设计的C-WADC的控制参数，无法随着系统运行工况改变而发生变化，当系统偏离典型运行工况时，C-WADC的控制性能会下降；A-WADC通过神经网络的权值在线更新，能够适应系统变化的运行工况，从而保持较好的振荡抑制效果。As shown in Figure 4, under the typical working conditions of Scenario I, a conventional wide-area damping controller (conventional wide-area damping control, C-WADC) and a trained adaptive wide-area damping controller (adaptive wide-area damping controller, A-WADC), the low-frequency oscillation of the system can be calmed down quickly, and the control performance of the two is basically the same. Under the changing operating conditions of Scenario II, when no damping controller is used, the system exhibits the characteristic of increasing oscillation. When inputting C-WADC or A-WADC, the oscillation of the system can be effectively calmed down, and the control effect of A-WADC is obviously better than that of C-WADC. The reason is that the control parameters of C-WADC designed based on typical operating conditions cannot change with the change of system operating conditions. When the system deviates from typical operating conditions, the control performance of C-WADC will decrease; A-WADC Through the online update of the weights of the neural network, it can adapt to the changing operating conditions of the system, thereby maintaining a good oscillation suppression effect.
当系统受到扰动，运行状态发生改变后，A-WADC的输入信号产生如图4所示的低频振荡；此时，如图5所示，外部强化学习函数r(t)、内部强化学习函数S(t)和代价函数J(t)也相应地出现波动，使得执行网络的误差Ea超过误差容限值，执行网络开始修正权值Wa(1)和权值Wa(2)；在此过程中，A-WADC的输出控制信号得到优化，在4秒左右，执行网络的权值修正基本完成，A-WADC再次适应新的系统运行状态，同时，系统的低频振荡也基本得以平息。仿真结果验证了A-WADC能通过神经网络权值更新实现在线自学习，进而适应系统运行工况的变化，并能在不同工况与不同故障下，保持较好的系统低频振荡抑制能力。When the system is disturbed and the operating state changes, the input signal of A-WADC produces a low-frequency oscillation as shown in Figure 4; at this time, as shown in Figure 5, the external reinforcement learning function r(t), the internal reinforcement learning function S (t) and the cost function J(t) also fluctuate accordingly, so that the error Ea of the execution network exceeds the error tolerance value, and the execution network starts to modify the weight Wa(1) and weight Wa(2); in the process , the output control signal of A-WADC is optimized. In about 4 seconds, the weight correction of the execution network is basically completed, and A-WADC adapts to the new system operating state again. At the same time, the low-frequency oscillation of the system is basically subsided. The simulation results verify that A-WADC can realize online self-learning through neural network weight update, and then adapt to changes in system operating conditions, and can maintain a good system low-frequency oscillation suppression ability under different operating conditions and different faults.
在第二算例中，为了验证ADC模块对系统通讯时滞的补偿效果验证，分别设置以下三组情景：In the second calculation example, in order to verify the compensation effect of the ADC module on the system communication time lag, the following three scenarios are set up:
情景III：固定时滞Scenario III: Fixed Delay
分别设置系统的通信时滞为100ms和150ms。系统的运行工况与故障设置同情景II的设置，对比投入不同阻尼控制器时，系统故障后，在不同固定通信时滞下的暂态响应特性。图6所示为不同固定时滞水平下的发电机G5与G9的相对功角曲线。Set the communication delay of the system to 100ms and 150ms respectively. The operating conditions and fault settings of the system are the same as those in Scenario II. When different damping controllers are used, the transient response characteristics under different fixed communication time lags after system faults are compared. Fig. 6 shows the relative power angle curves of generators G5 and G9 under different fixed time lag levels.
如图6(a)所示，当时滞为100ms时，含ADC的A-WADC相比于不含ADC的A-WADC，能更迅速地抑制系统的低频振荡，而投入C-WADC时，系统的低频振荡衰减很慢；如图6(b)所示，当时滞为150ms时，投入含ADC的A-WADC时，依然能快速地平息系统的低频振荡，而投入不含ADC的A-WADC和C-WADC时，系统分别出现增幅振荡和等幅振荡，说明此时的通信时滞严重影响了A-WADC的权值修正过程和C-WADC的控制效果。As shown in Figure 6(a), when the time lag is 100ms, the A-WADC with ADC can suppress the low-frequency oscillation of the system more quickly than the A-WADC without ADC, and when the C-WADC is used, the system The low-frequency oscillation decays very slowly; as shown in Figure 6(b), when the time lag is 150ms, when the A-WADC with ADC is used, the low-frequency oscillation of the system can still be quickly quelled, and the A-WADC without ADC In the case of A-WADC and C-WADC, the system has increased amplitude oscillation and constant amplitude oscillation respectively, indicating that the communication time lag at this time has seriously affected the weight correction process of A-WADC and the control effect of C-WADC.
由此可以看出，随着通讯时滞增大，不具备时滞补偿能力的阻尼控制器抑制系统低频振荡的效果会变差；当通信时滞增大到一定程度时，甚至会恶化系统的暂态稳定性；同时，图6所示的仿真结果也表明，自适应时滞补偿器能很好地补偿不同的固定通讯时滞，使得含ADC的A-WADC保持较好的抑制系统低频振荡的能力，改善系统的暂态稳定性。It can be seen that as the communication time lag increases, the effect of the damping controller without time-delay compensation ability to suppress the low-frequency oscillation of the system will become worse; when the communication time-lag increases to a certain extent, it will even deteriorate the performance of the system. Transient stability; at the same time, the simulation results shown in Figure 6 also show that the adaptive time-delay compensator can well compensate for different fixed communication time-delays, so that the A-WADC with ADC maintains a good suppression of system low-frequency oscillations ability to improve the transient stability of the system.
情景IV：小范围随机通信时滞Scenario IV: Small-scale Random Communication Delay
分别设置系统的通信时滞随机范围为100±0ms(固定时滞)、100±20ms、100±40ms和100±60ms；系统的运行工况与故障设置同情景II中的设置，此时背靠背柔直系统投入含ADC的A-WADC，当系统受扰动后，对比系统在不同随机通讯时滞下的暂态响应特性；图7所示为不同随机通信时滞水平下，发电机G5与G9的相对功角曲线；图8所示为不同随机通信时滞水平下，ADC中时滞补偿子模块权值变化曲线。Set the random range of communication time delay of the system to 100±0ms (fixed time delay), 100±20ms, 100±40ms and 100±60ms; The A-WADC with ADC is directly put into the system. When the system is disturbed, compare the transient response characteristics of the system under different random communication time delays; Figure 7 shows the generators G5 and G9 under different random communication time delays. Relative power angle curve; Figure 8 shows the weight change curve of the time delay compensation sub-module in the ADC under different levels of random communication time delay.
如图7所示，不同随机范围下，固定通信时滞下的控制效果优于含有随机通信时滞的控制效果，且随着通信时滞随机范围增大，控制器的效果呈现递减的趋势；此外，在不同的随机通信时滞范围下，含ADC的A-WADC均能很快地抑制系统地低频振荡，说明ADC具有较好的补偿小范围随机时滞的能力。As shown in Figure 7, under different random ranges, the control effect under fixed communication time delay is better than that with random communication time delay, and as the random range of communication time delay increases, the effect of the controller shows a decreasing trend; In addition, under different random communication delay ranges, the A-WADC with ADC can quickly suppress the low-frequency oscillation of the system, indicating that the ADC has a better ability to compensate for small-scale random delays.
如图8(a)所示，权值β1在1附近波动，其他SDC的权值在0附近波动，且波动幅值呈现β2>β3>β4>β5的规律；随着时滞的随机范围增大，5个权值的波动幅度也在增加；ADC正是通过SDC的权值不断调整实现对随机时滞的补偿。As shown in Figure 8(a), the weight β1 fluctuates around 1, and the weights of other SDCs fluctuate around 0, and the fluctuation amplitude shows the law of β2 > β3 > β4 > β5 ; The random range of the SDC increases, and the fluctuation range of the five weights also increases; the ADC realizes the compensation for the random time lag through the continuous adjustment of the SDC weights.
情景V：大范围随机通信时滞Scenario V: Large scale random communication delays
设置系统的通讯时滞随机范围为50～500ms，系统的运行工况与故障设置同情景II的设置，对比投入不同阻尼控制器时，系统故障后的暂态响应特性；图9所示为在不同阻尼控制器的控制下的发电机G5与G9的相对功角曲线；图10所示为随机通信时滞与ADC中时滞补偿子模块的权值变化曲线。Set the random range of communication delay of the system to 50-500ms, the operating conditions and fault settings of the system are the same as those in Scenario II, and compare the transient response characteristics of the system after a fault when different damping controllers are used; Figure 9 shows the The relative power angle curves of generators G5 and G9 under the control of different damping controllers; Figure 10 shows the random communication time delay and the weight change curve of the time delay compensation sub-module in the ADC.
如图9所示，在大范围随机时滞影响下，投入C-WADC与不含ADC的A-WADC，系统均出现增幅振荡，对比无WADC时的系统暂态特性，说明此时这两种控制器无法改善系统的暂态特性；而含ADC的A-WADC仍能很快地抑制系统的低频振荡，说明ADC具有较好的补偿大范围随机时滞的能力。As shown in Figure 9, under the influence of a large-scale random time delay, the system has increased amplitude oscillation when both C-WADC and A-WADC without ADC are used. Compared with the transient characteristics of the system without WADC, it shows that the two The controller cannot improve the transient characteristics of the system; however, the A-WADC with ADC can still quickly suppress the low-frequency oscillation of the system, indicating that the ADC has a better ability to compensate for large-scale random time delays.
图10(a)所示为随机通信时滞的变化曲线；图10(b)所示为对应的ADC中时滞补偿子模块的权值变化曲线；如图10所示，当随机时滞在大范围波动时，ADC依然能通过在线地调整各SDC的权值，较好地补偿该广域控制信号的时滞，维持A-WADC的控制性能。Figure 10(a) shows the change curve of the random communication time delay; Figure 10(b) shows the weight change curve of the time delay compensation sub-module in the corresponding ADC; as shown in Figure 10, when the random time delay is large When the range fluctuates, the ADC can still better compensate the time lag of the wide-area control signal and maintain the control performance of the A-WADC by adjusting the weights of each SDC online.
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, All should be included within the protection scope of the present invention.
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