A Multi-Model Approach to Design a Robust SVC Damping Controller Using Convex Optimization Technique to Enhance the Damping of Inter-Area Oscillations Considering Time Delay

This paper introduces a multi-model approach to design a robust supplementary damping controller. The designed fixed-order supplementary damping controller adjusts the voltage reference set point of SVC. There are two main objectives of the controller design, damping low frequencies oscillations and enhancing power system stability. This method relies on shaping the closed-loop sensitivity functions in the Nyquist plot under the constraints of these functions. These constraints can be linearized by choosing a desired open-loop transfer function. The robust controller is designed to minimize the error between the open-loop of the original plant model and the desired transfer functions. These outcomes can be achieved by using convex optimization methods. Convexity of the problem formulation ensures global optimality. One of the advantages of the proposed approach is that the approach accounts for multi-model uncertainty. In contrast to the methods available in the literature, the proposed approach deals with full-order model (i.e., model reduction is not required) with lower controller order. The issue of time delay of feedback signals has been addressed in this paper for different values of time delay by applying a multi-model optimization technique. The proposed approach is compared to other existing techniques to design a robust controller which is based on H2 under pole placement. Both techniques are applied to the 68-bus system to evaluate and validate the robust controller performance under different load scenarios and different wind generations.

A New Kind of FACTS Device for Suppressing Inter Area Oscillations

As a consequence of interconnections of large power systems electromechanical oscillations appear being known as inter area oscillations. In order to suppress such inter area oscillations, a FACTS device is conceived which is designed on the basis of the analogy between the transmission line model and a longitudinal electromechanical model. The damping action is based on the phenomenon of impedance matching of the transmission line model. Modelling of the overall system, optimal placement and control strategy are being treated. A realistic 420kV longitudinal model and a complex power system model are used for simulation. In the simulation, the time response of this device and the effect of this device even under limiting conditions are studied. The results show that this device suppresses the inter area oscillations effectively.

A Delay-Dependent Anti-Windup Compensator for Wide-Area Power Systems With Time-Varying Delays and Actuator Saturation

In this paper, a delay-dependent anti-windup compensator is designed for wide-area power systems to enhance the damping of inter-area low-frequency oscillations in the presence of time-varying delays and actuator saturation using an indirect approach. In this approach, first, a conventional wide-area damping controller is designed by using output feedback with regional pole placement approach without considering time-varying delays and actuator saturation. Then to mitigate the effect of both time-varying delays and actuator saturation, an add-on delay-dependent anti-windup compensator is designed. Based on generalized sector conditions, less conservative delay-dependent sufficient conditions are derived in the form of a linear matrix inequality(LMI) to guarantee the asymptotic stability of the closedloop system in the presence of time-varying delays and actuator saturation by using Lyapunov-Krasovskii functional and Jensen integral inequality. Based on sufficient conditions, the LMI-based optimization problem is formulated and solved to obtain the compensator gain which maximizes the estimation of the region of attraction and minimizes the upper bound of-gain. Nonlinear simulations are performed first using MATLAB/Simulink on a two-area four-machine power system to evaluate the performance of the proposed controller for two operating conditions, e.g.,3-phase to ground fault and generator 1 terminal voltage variation. Then the proposed controller is implemented in real-time on an OPAL-RT digital simulator. From the results obtained it is verified that the proposed controller provides sufficient damping to the inter-area oscillations in the presence of time-varying delays and actuator saturation and maximizes the estimation of the region of attraction.

Unified Smith Predictor Based H_∞ Wide-Area Damping Controller to Improve the Control Resiliency to Communication Failure

Inter-area low frequency oscillation in power system is one of the major problems for bulk power transmission through weak tie lines.Use of wide-area signal is more effective than the local area signal in damping out the inter-area oscillations.Wide area measurement system(WAMS)is convenient to transmit the wide area signal through the communication channel to the remote location.Communication failure is one of the disastrous phenomena in a communication channel.In this paper,a dual input single output(DISO)Hm controller is designed to build the control resiliency by employing two highest observability ranking wide area signals with respect to the critical damping inter-area mode.The proposed controller can provide sufficient damping to the system and also the system remains stabilized if one of the wide-area signals is lost.The time delay is an unwanted phenomenon that degrades the performance of the controllers.The unified Smith predictor approach is used to design a Hm controller to handle the time delay.Kundur's two-area and IEEE-39 bus test systems are considered to verify the effectiveness of the proposed controller.From the simulation results,it is verified that,the proposed controller provides excellent damping performance at normal communication and improves the controller resiliency to counteract the communication failure.

Robust design of static synchronous series compensator-based stabilizer for damping inter-area oscillations using quadratic mathematical programming

This paper presents a procedure for designing a supplementary damping stabilizer for a static synchronous series compensator(SSSC) in multi-machine power systems.The objective is to shift the lightly damped inter-area modes toward the prescribed stability region.A lead-lag stabilizer is used to demonstrate this technique,in which a particular measure of stabilizer gain is considered as an objective function.Constraints of the problem for phase-lead and lag structures are derived.The objective function with the constraints is formed as a quadratic mathematical programming problem.For robust design,the parameters of the stabilizer are calculated under various operating conditions.Two types of SSSC-based stabilizer have been presented and designed.Numerical results including eigenvalue analysis and the nonlinear simulations on the 4-and 50-machine power systems are pre-sented to show the effectiveness of the proposed method.

基于Internet的频率监控网(FNET)

描述了基于 Internet的实时 GPS(全球定位系统 )同步广域频率监控网 (FNET)。 FNET以 Internet为底层通信机构 ,使广域数据传输和数据采集成为可能。可以选择测量区域 ,并在高压输电网和配电系统上的任何电压等级上进行测量。实时频率数据将通过 Internet采集在中央控制室的服务器中。

基于智能云模型的广域阻尼控制器设计

互联电力系统极易发生区间低频振荡,且系统精确数学模型难以获得。为此,提出了一种基于智能云模型的广域阻尼控制器的设计方法。从多规则二维云发生器出发,详细介绍了智能云模型广域阻尼控制器的设计方法。通过调整量化、比例因子,提高控制精度并获得普适性。仿真结果表明:方法的控制效果优于模糊控制,所设计的控制器能够有效抑制区间低频振荡,提高系统的稳定性,在多区域互联大电网中具有可行性。

弱互联大区电网联络线功率振荡研究

以华中华北两大电网特高压互联为大背景,研究大扰动(跳机、直流闭锁)下弱互联系统联络线有功功率波动峰值问题。结合实际振荡过程分析了联络线功率波动的特点。通过两机系统模型对联络线功率波动最大值进行了理论推导,分析了影响联络线功率波动峰值的相关因素。指出波动峰值与联络线两侧系统电磁功率突变量的差值成正比,与故障侧系统和对侧系统转动惯量的比值成反比。由于系统电磁功率突变量的差值与故障位置紧密相关,实际系统中故障地点距离联络线落点越近转移比越小。采用华中华北联网系统作为算例对相关结论进行了验证。

大区电网互联对电力系统动态稳定性的影响

研究了由区域电网间互联形成的互联电网动态稳定性的特点、低频振荡产生的原因,提出了互联系统动态稳定性的控制策略,并提出以下结论:励磁系统中自动电压调节器的负阻尼作用仍然是互联电网发生低频振荡的主要原因;PSS已被证明是阻尼低频振荡的最有效、经济的装置,对本地振荡模式和区域间振荡模式均有很好的效果;直流调制、可控串补及可控静补对改善系统阻尼可有重要作用,今后应对这些领域进行更多的研究。

南方交直流混合电网区域振荡的协调控制策略

针对南方电网弱阻尼区域振荡模式的抑制问题,在分析了电力系统稳定器(PSS)、直流阻尼调制的控制机理及其控制效果的基础上,考虑到南方电网近距离直流多落点的特点,提出了一种PSS和直流阻尼调制的协调控制策略。在该策略中,结合模式可控性指标首先进行相关控制点的PSS参数优化以抑制直流调制不敏感的模式,在前一层优化的前提下再进行直流阻尼调制控制器的参数优化。这样既能保证二者的协调控制,又能有效地控制优化进程和降低计算量。最后通过仿真计算验证了协调控制策略的合理性和有效性。此工作可为研究近距离直流多落点交直流混合电网的低频振荡抑制问题提供新思路。

南方电网广域阻尼控制系统及其运行分析

广域控制是新一代大电网调控技术的发展方向。南方电网公司为提升区域间振荡阻尼,研发并安装了广域阻尼控制系统。该系统由位于6个500kV站点的相量测量单元(PMU)、位于2个直流整流站的控制子站、位于总调的控制中央站以及广域控制和高压直流(HVDC)输电系统的接口组成,利用2回大容量直流的调制来改善电网动态稳定性。文中介绍了广域阻尼控制系统的设计思路、总体概况、系统的开环试运行情况,详细分析了2次闭环大扰动试验的结果。运行与试验表明该系统完全达到了增强区域间振荡阻尼的设计目的。

德宝直流调制对四川电网阻尼特性的影响

以四川电网2010年丰大运行方式德宝直流单极运行为背景,重点研究直流功率调制对四川电网小干扰稳定性的影响。根据可观性指标选取断面功率作为直流附加控制器的输入信号,能够有效反映区域间的低频振荡信息。通过比较分析典型故障下各种运行条件的系统特性以及主振模式的Prony辨识结果,表明德宝直流系统的大、小方式直流调制可以显著提高系统的区域间阻尼。为了校验参数的鲁棒性,在系统各种运行方式下进行大量的时域仿真,结果表明它能够与电网中现有PSS协调作用达到共同抑制四川电网低频振荡的目的。

直流调制抑制南方电网区域功率振荡的研究

通过分析南方电网的区域功率振荡模式以及对采用不同直流调制方式的系统进行时域仿真,设计了可以有效抑制南方电网内区域功率振荡的直流调制控制器,并将其应用于贵广直流工程中,从而提高了南方电网交直流并联系统运行的稳定性。

抑制区域间低频振荡的FACTS阻尼控制

随着电力系统规模的不断扩大,区域间低频振荡正成为限制电网传输能力的瓶颈。对少数发电机组安装PSS来抑制区域间低频振荡很难有好的效果。但FACTS因其安装地点的灵活性及良好的动态性能而给抑制区域间振荡提供了新的手段。为此,利用相角补偿原理,设计控制器持续减小区域间的振荡能量,以此来实现区域间阻尼控制。以SVC为例详细说明附加阻尼控制器的设计,通过PSASP软件下的仿真结果表明,具有附加阻尼控制作用的SVC能有效地抑制区域间低频振荡。另外,对其它几种常用的FACTS器件也设计了阻尼控制器,并同样通过了PSASP下的仿真验证,阻尼效果很好。以上结果证明利用FACTS可实现区域间低频振荡的阻尼控制。

华北电网蒙西外送通道广域阻尼控制系统研究

针对华北电网年度运行方式计算中蒙西外送通道潜在低频振荡问题,在RTDS中搭建华北电网等值模型,并建立了广域PSS阻尼控制系统物理仿真平台。该平台由控制服务器、PMU单元、控制单元、功率放大器组成,其中控制器采用区间频差信号和区域惯性中心角差信号作为反馈输入。介绍了该系统的整体方案、控制器设计思路、通讯延时处理等,并通过仿真试验表明,相比本地PSS控制,该系统能够显著抑制区域间低频振荡,有效改善华北电网系统阻尼。同时对PSS4B和SVC两种低频振荡抑制措施进行了初步分析与探究。

基于灰色预测的广域电力系统稳定器分布延时补偿设计

针对广域电力系统稳定器(WPSS)系统的分布延时,提出了一种基于灰色预测的WPSS分布延时补偿算法。该算法利用实测的区间相对角速度数据,基于灰色预测产生出一组数据队列,并根据该数据队列中的各数据时标与系统当前时刻对比,选出对应的预测数据输送到WPSS的输入端,从而实现对分布延时的补偿。在3种不同延时分布情况下,分别在大扰动和小扰动时,使用文中基于灰色预测的WPSS延时补偿算法进行了仿真实验。仿真结果表明,所提出的基于灰色预测的WPSS延时补偿算法在不同情况下均具有良好的效果。

调速系统频率模态对电网低频振荡的影响

随着调速系统技术的不断发展,调速系统对电网低频振荡(low frequency oscillation,LFO)的影响越来越引起人们的关注。现有理论研究表明,调速系统不仅会影响电网LFO阻尼特性,还会向电网引入一个独特的比LFO频率更低的振荡模态,该文称为频率模态,该模态会在调速系统动作时出现。该文首先采用转矩分析理论研究了调速系统对电网LFO阻尼特性的影响。然后以4机2区域系统为例,重点分析了频率模态的特点及其对LFO的影响,分析结果表明:频率模态是调速系统自身的一种控制模态,其阻尼比主要受调速比例–积分–微分控制器的参数影响;考虑到调速系统动作死区影响,在系统发生LFO且调速系统使该LFO阻尼为负的情况下,当频率模态阻尼较强时,电网功率LFO发散后会逐渐变为等幅振荡;而当频率模态阻尼较弱,电网功率LFO将会呈现出类似"拍频"的特性。最后,通过某实际互联电力系统仿真验证了上述分析结果的有效性。

大型电力系统中广域阻尼控制器的配置和反馈信号选择

针对互联电网的区间低频振荡问题,提出一种适用于大型电力系统中广域阻尼控制器的配置和反馈信号选择的方法。采用模式可控性指标对控制装置进行选点配置,并根据模式分析理论和多输入多输出控制理论相结合的思想,采用综合筛选法为已配置的控制点选择合适的广域反馈信号。综合筛选法通过4个指标对可选的众多广域信号进行逐级筛选。综合筛选法综合考虑控制器输入和输出的相互作用以及多控制器之间的协调,使得选点和选信号可以统筹兼顾。新英格兰测试系统的仿真结果验证了该方法能有效地阻尼系统的区间振荡模式,提高了系统的稳定性。

采用新型自适应动态规划算法的柔性直流输电附加阻尼控制

区间振荡是大规模交直流互联电网安全稳定运行面临的主要问题之一。文章将一种新型自适应动态规划算法——Gr HDP(goal representation heuristic dynamic programming)算法应用于设计柔性直流输电的附加阻尼控制器(supplementary damping controller,SDC)以阻尼区域间功率振荡、提高交直流互联系统的整体动态稳定性。Gr HDP是在HDP(heuristic dynamic programming)2层神经网络的基础上发展而来的,它增加了一个目标网络,能形成自适应的内部强化信号,来调节输入信号与输出控制量之间的映射关系,从而大大改善系统的动态性能。Gr HDP-SDC相对于常规超前滞后SDC的优点是,前者的设计无需精确的被控对象模型,且对系统运行状态的改变具有很强的学习能力和适应性。以含两端柔性直流输电的四机两区域系统为例进行了仿真研究,仿真结果表明,Gr HDP-SDC与常规超前滞后SDC、HDP-SDC相比,能更好地改善系统的动态性能,且能更好地适应运行点的变化和不同的扰动情况。

采用广域测量信息反馈的广域PSS参数设计

根据互联电网区间振荡的特点,可将参与振荡的机群按各自的"部分惯性中心"等值为两机系统。文中首先推导了等值两机系统的电磁转矩系数,为区间振荡模式的电磁转矩分析奠定了理论依据。在此基础上提出了双通道反馈结构的广域电力系统稳定器(PSS),并采用建立在同步转矩及阻尼转矩概念上的扩展相位补偿法,进一步推导了反映广域反馈信号与本地反馈信号之间关系的传递函数,然后进行相量坐标映射变换,最后系统研究了广域PSS的参数设计。仿真结果表明:它能有效抑制系统的区间低频振荡,提高系统的小信号稳定极限,与其他稳定器设计方法相比,能够进一步改善系统阻尼特性。