CN109962479B - Combined identification method for electrical parameter distribution of synchronous phase modifier - Google Patents
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Abstract
The invention discloses a synchronous phase modulator electrical parameter distribution joint identification method based on alternate iterative optimization, which comprises the following steps: establishing a practical mathematical model of a synchronous phase modulator; formulating a disturbance test scheme of the synchronous phase modulator, and acquiring test data under different disturbance tests; carrying out data preprocessing on test data obtained by the disturbance test; analyzing the track sensitivity of the electrical parameters of the synchronous phase modulator by using a mathematical model of the synchronous phase modulator; and performing combined identification on the electrical parameter distribution of the synchronous phase modulator by using a modified damping least square method and an alternate direction multiplier method. The method for identifying the electrical parameters of the synchronous phase modifier can accurately identify the transient and steady electrical parameters of the synchronous phase modifier during operation, can effectively improve the utilization rate of test data and the accuracy of identifying the electrical parameters of the synchronous phase modifier, effectively shortens the time for identifying the electrical parameters of the synchronous phase modifier, and has higher economic value and engineering practical value.
Description
Technical Field
The invention relates to the field of synchronous phase modulator design, synchronous phase modulator electrical parameter identification and power grid analysis and calculation, in particular to a synchronous phase modulator electrical parameter distribution combined identification method based on alternating iteration optimization.
Background
At present, with the continuous improvement of the transmission capacity and the voltage grade of a long-distance ultrahigh voltage direct current transmission system, the capacity requirement of reactive power compensation in a converter station is increased more and more. The dynamic reactive compensation plays an important role in voltage stabilization of the direct-current transmission system, and more attention is paid to the dynamic reactive compensation. The problem of insufficient dynamic reactive power of the current high-capacity direct-current transmission system is mainly reflected in that: firstly, the dynamic reactive power of the extra-high voltage direct current receiving end power grid is insufficient. The extra-high voltage direct current transmission can transmit active power in a large scale, according to a direct current design principle, direct current does not provide dynamic reactive power for a system, direct current is fed in to replace conventional energy, reactive power of a receiving-end power grid is insufficient, a large amount of reactive power needs to be absorbed from the system in a dynamic process, and the problem of voltage stability of the receiving-end power grid is more and more prominent; and secondly, the short-circuit capacity of the direct-current weak sending end system is insufficient. The large-scale centralized development of wind power and photovoltaic results in weak power grid and insufficient short-circuit capacity of a direct-current transmission end, and large-area off-grid of a fan due to failure of direct-current commutation. Therefore, with the rapid development of extra-high voltage direct current, the large-scale development of clean energy and the concentrated appearance of large-proportion power receiving areas, the characteristics of the power grid are greatly changed, the problems of the reduction of dynamic reactive power reserves and the insufficient voltage support of partial areas are prominent, and the problems become the main problems of the safety and the stability of the large power grid. This requires large-scale dc active power transmission, which must be matched to large-scale dynamic reactive power.
The reactive power compensation device mainly comprises a synchronous phase modulator, a Static Var Compensator (SVC) and a static synchronous compensator (STATCOM), when the voltage of a converter station and other junction stations fluctuates greatly due to large disturbance of system operation, the devices such as a capacitor and the static var compensator cannot provide dynamic reactive power compensation meeting the requirements in time due to the limitation of the working principle, and the voltage instability problem and the crisis system stability can occur in a special operation mode. Compared with other two compensation modes, the synchronous phase modulator has the advantages of larger capacity, higher reliability and strong dynamic voltage maintaining capability. Under the condition of power grid disturbance, high-capacity dynamic reactive power can be provided in time through forced excitation. The reactive power regulation of the large-capacity synchronous phase regulator is correspondingly fast, the short-time overload capacity is strong, the reactive power output is less influenced by the system voltage, and the short-time overload capacity is strong; the operation stability is good, and harmonic waves are basically not generated; the service life is long, and the general service life is 30 years. Therefore, the synchronous phase modulator is widely used in a Chinese extra-high voltage direct current transmission system as a dynamic reactive compensation device.
The precision of the large-capacity synchronous phase modulator model and the electrical parameters directly relates to the precision of the stable calculation result of the power system and influences the control strategy. At present, electrical parameter data of generators/synchronous phase modulators of most power plants in China are incomplete, and electrical parameters of the synchronous phase modulators obtained by actual measurement of a traditional method are different from design parameters to a certain extent. Compared with the traditional test method, the method for obtaining the electrical parameters of the synchronous phase modulator by using the identification method has the advantages of low cost and simple operation. The synchronous phase modifier has similar structure and working principle with a synchronous motor, but has no prime power and the cross-axis electrical parameters are difficult to identify. For synchronous motors, researchers at home and abroad propose various identification algorithms, such as a least square method, a genetic algorithm, a neural network, an ant colony algorithm, a particle swarm algorithm, a Kalman filter, an evolutionary algorithm and the like, but the effect is not ideal. Research shows that the problems of multivalue and convergence are difficult to solve by simply researching the algorithm. Aiming at the characteristic that the synchronous phase modulator does not generate active power, an electrical parameter identification method suitable for the synchronous phase modulator needs to be researched, and a general test scheme meeting field operation conditions is formulated.
Disclosure of Invention
The invention aims to provide a synchronous phase modifier electrical parameter distribution combined identification method based on alternate iterative optimization, which effectively improves the utilization rate of test data and the accuracy of synchronous phase modifier electrical parameter identification and effectively shortens the time of synchronous phase modifier electrical parameter identification.
In order to achieve the purpose, the invention adopts the following technical scheme:
a synchronous phase modifier electrical parameter distribution joint identification method based on alternate iterative optimization comprises the following steps:
establishing a practical mathematical model of a synchronous phase modulator;
formulating a disturbance test scheme of the synchronous phase modulator, and acquiring test data under different disturbance tests;
carrying out data preprocessing on test data obtained by the disturbance test;
analyzing the track sensitivity of the electrical parameters of the synchronous phase modulator by using a mathematical model of the synchronous phase modulator;
and performing combined identification on the electrical parameter distribution of the synchronous phase modulator by using a modified damping least square method and an alternate direction multiplier method.
Further, the establishing of the practical mathematical model of the synchronous phase modulator specifically includes:
a practical mathematical model of synchronous phase modulator is established that does not take saturation effects into account, and identifies five electrical parameters of the q-axis, namely Xd、Xd’、Xd”、Td0’、Td0”；
Establishing a practical mathematical model of synchronous phase modulator considering saturation effect, which requires identifying seven electrical parameters, namely Xd、Xd’、Xd”、Td0’、Td0”、a、b；
Establishing a practical mathematical model of synchronous phase modulator including saturation effect and per unit error, wherein the mathematical model needs to identify 8 electrical parameters, namely Xd、Xd’、Xd”、Td0’、Td0”、K、a、b。
Further, formulating a disturbance test scheme of the synchronous phase modulator to obtain test data under different disturbance tests specifically comprises:
the synchronous phase modulator maintains the reactive power under different working conditions, applies a disturbance quantity which enables the voltage fluctuation at the generator end to be more than 2% in the excitation loop, and records the U in the whole excitation step disturbance test by using a data recordera、Ub、Uc、Ia、Ib、Ic、Uf、IfThe dynamic change process of (1);
the synchronous phase modulator maintains the reactive power under different working conditions, the high-voltage side of the synchronous phase modulator is short-circuited, and a data recorder records the U in the whole terminal voltage disturbance testa、Ub、Uc、Ia、Ib、 Ic、Uf、IfThe dynamic change process of (1);
the synchronous phase modulator operates in a phase-in or phase-delay full-load state, a high-voltage side circuit breaker of the synchronous phase modulator is disconnected, the synchronous phase modulator is enabled to throw load, and a data recorder is used for recording U in the whole load throwing testa、 Ub、Uc、Ia、Ib、Ic、Uf、IfThe dynamic change process of (1).
Further, the data preprocessing of the test data obtained by the disturbance test specifically includes:
performing per unit on test data obtained by the disturbance test;
carrying out coordinate transformation on the test data after per unit;
and dividing the test data after the coordinate transformation into a steady-state process and a transient-state process.
Further, the track sensitivity analysis is performed on the electrical parameters of the synchronous phase modulator by using the mathematical model of the synchronous phase modulator, and specifically comprises the following steps:
the trace sensitivity of the electrical parameter to the output is defined as:
wherein y is the system output idOr Uq(ii) a Theta is an electrical parameter in the system; delta theta is the relative change of the electrical parameter; t is time;
and respectively calculating the trace sensitivity of the electrical parameters of the synchronous phase modulator to output aiming at three disturbance tests of excitation step disturbance, terminal voltage disturbance and load shedding disturbance.
Further, the joint identification of the distribution of the electrical parameters of the synchronous phase modulator by using the modified damping least square method and the alternating direction multiplier method specifically comprises the following steps:
(1) pre-identifying all parameters by using a modified damping least square method;
(2) analyzing the steady-state data by using a modified damping least square method, and fixing the transient-state electrical parameters X identified in the previous stepd’、Td0’、Xd”、Td0", identifying the steady-state electrical parameter XdK and saturation coefficients a, b;
(3) analyzing the transient data by using a modified damped least square method, and fixing the steady-state class parameter X identified in the previous stepdK and saturation coefficients a, b, identifying the transient electrical parameter Xd’、Td0’、Xd”、Td0”；
(4) Identifying all electrical parameters by using a modified damping least square method, and carrying out parameter fine adjustment;
(5) and (3) determining the dominant disturbance in each identification step by setting the contribution proportion coefficient of each disturbance, and repeating the iteration steps (2) - (4) for a plurality of times to finally obtain the electrical parameter identification result of the synchronous phase modulator.
Further, the pre-identifying all the parameters by using the modified damped least squares method specifically includes:
pre-identifying all electrical parameters by mainly using long-process data of load shedding and excitation step disturbance to obtain an identification starting point, and setting w1:w2:w3＝0.5：0.4：0.1。
Further, the steady-state data are analyzed by using a modified damping least square method, and the transient-state electrical parameter X identified in the previous step is fixedd’、Td0’、Xd”、Td0", identifying the steady-state electrical parameter XdK and saturation coefficients a, b, specifically comprising:
based on the steady state and transient state data of the excitation step and the terminal voltage disturbance, the transient state class parameter X identified in the previous step is fixedd’、Td0’、Xd”、Td0", identifying a steady state class XdK, a, b, Defaultw1:w2:w3＝0.1:0.6:0.3。
Further, analyzing the transient data by using a modified damped least square method, and fixing the steady-state class parameter X identified in the previous stepdK and saturation coefficients a, b, identifying the transient electrical parameter Xd’、Td0’、Xd”、 Td0", specifically includes:
taking the steady state and transient state data of load shedding disturbance and the transient state data of excitation step disturbance and generator end voltage disturbance after the disturbance begins as the main, fixing the steady state class parameter X identified in the previous stepdK, a, b, identifying the transient class parameter Xd’、Td0’、Xd”、Td0", default w1:w2:w3＝0.4:0.3:0.3。
Further, utilize the least square method of revised damping, discern all electrical parameters, carry out the parameter fine setting, specifically include:
mainly using load shedding disturbance data and excitation step disturbance long-process data as main data, identifying all electrical parameters, finely adjusting the parameters, and defaulting w1:w2:w3＝0.5:0.4:0.1。
The effect provided in the summary of the invention is only the effect of the embodiment, not all the effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:
the method for identifying the electrical parameters of the synchronous phase modulator can accurately identify the transient and steady electrical parameters of the synchronous phase modulator during operation so as to verify whether the actual electrical parameters of the synchronous phase modulator body can meet the requirement of the transient reactive support capability of a system; the method is simple and effective, can effectively improve the utilization rate of test data and the accuracy of identifying the electrical parameters of the synchronous phase modulator, effectively shortens the time of identifying the electrical parameters of the synchronous phase modulator, and has higher economic value and engineering practical value.
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FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a flowchart of a step S1 according to an embodiment of the present invention;
FIG. 3 is a flowchart of a step S2 according to an embodiment of the present invention;
FIG. 4 is a flowchart of a step S3 according to an embodiment of the present invention;
fig. 5 is a flowchart of the method of step S5 according to the embodiment of the present invention.
Detailed Description
In order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.
As shown in fig. 1, a method for joint identification of electrical parameter distribution of a synchronous phase modulator based on alternating iterative optimization includes the following steps:
s1, establishing a practical mathematical model of the synchronous phase modulator;
s2, establishing a disturbance test scheme of the synchronous phase modulator, and acquiring test data under different disturbance tests;
s3, preprocessing the test data obtained by the disturbance test;
s4, analyzing the trace sensitivity of the electrical parameters of the synchronous phase modulator by using a mathematical model of the synchronous phase modulator;
and S5, performing the combined identification of the electrical parameter distribution of the synchronous phase modulator by using a modified damping least square method and an alternate direction multiplier method.
As shown in fig. 2, the step S1 of establishing a practical mathematical model of a synchronous phase modulator specifically includes:
s11, establishing practical mathematics of synchronous phase modulator without considering saturation effectA mathematical model identifying five electrical parameters of the q-axis, i.e. Xd、Xd’、Xd”、Td0’、Td0”。
The most common mathematical model of a synchronous machine is the Park equation of the synchronous machine, or a simplified model of the synchronous machine, which is appropriately simplified according to the Park equation. Selecting a model with two sets of equivalent damping loops on the d axis and q axis of the synchronous motor, and considering the saturation effect of the synchronous phase modulator, the method is applied to the X axisadPer unit value the Park primitive equation is as follows:
the voltage equation is:
the subscripts d, q, fd, 1d, 1q, and 2q represent the stator equivalent d-axis winding, the stator equivalent q-axis winding, the rotor excitation winding, the equivalent longitudinal axis and the horizontal axis damping winding, respectively, and r is the stator phase winding resistance.
To simplify the analysis, 2 assumptions were made for the synchronous phase modulator:
(1) the damping winding time constant is much smaller than the exciting winding time constant, so that the transient process mainly depends on the damping winding and only depends on the exciting winding;
(2) stator flux phi due to longitudinal axisdTransverse axis stator flux linkage phiqChange very slightly, take d phid/dt＝0， dΦqAnd/dt is 0, and the angular speed of the rotor is assumed to be synchronous speed, i.e. w is 1.
(3) The synchronous phase modulator core saturation effect is not considered.
According to the assumptions, the Park equations are simplified, differential equations describing transient potential and super-transient potential changes in the transient process of the rotor loop and voltage balance equations expressed by deriving electrical parameters and the like are deduced, and a 4-order model of the electrical part of the synchronous phase modulator model is obtained (the whole synchronous phase modulator model is a 6-order model by adding 2-order differential equations of a rotor motion equation). Because only the electrical parameter identification is discussed, the influence of a rotor motion equation is not counted, and therefore, only a 4-order electrical quantity equation of the synchronous phase modulator is adopted, and the formula derivation is carried out, so that the following can be obtained:
the measurement equation is as follows:
observing the above formula, it can be seen that the d-axis and q-axis of the 4 th order model of the electrical part can be solved separately, i.e. the d-axis and q-axis are decoupled. Therefore, the 4-order model can be divided into d-axis and q-axis to be solved independently, so that the processing is beneficial to reducing the dimension of the equation and reducing the number to be identified each time. In particular, considering the characteristic that the synchronous phase modulator generates little active power, the 4-order model can be further reduced to a 2-order model, as shown below:
the mathematical model only requires the identification of five electrical parameters, namely Xd、Xd’、Xd”、Td0’、Td0”。
S12, establishing a practical mathematical model of the synchronous phase modulator considering saturation effect, wherein the mathematical model needs to identify seven electrical parameters, namely Xd、Xd’、Xd”、Td0’、Td0”、a、b。
The stator core of the synchronous phase modulator is formed by laminating silicon steel sheets and has a saturation characteristic. The excitation current and the no-load potential of the synchronous phase modulator have a nonlinear relation due to iron core saturation. This non-linear relationship can be represented by a motor no-load characteristic curve.
After the generator is loaded, the stator winding flows current, and the saturation effect is reflected on the saturation of the synthetic air gap flux. The saturation characteristic is the same as the no-load saturation characteristic. With reference to the PSASP handbook, the correction of the resultant air gap flux can be approximated to EqInstead of potential correction, saturation correction coefficients a and b are substituted into the previous formula to obtain a corrected practical mathematical model of the synchronous phase modulator:
the mathematical model requires the identification of seven electrical parameters, namely Xd、Xd’、Xd”、Td0’、Td0”、a、b。
S13, establishing a practical mathematical model of the synchronous phase modulator including saturation effect and per unit error, wherein the mathematical model needs to identify 8 electrical parameters, namely Xd、Xd’、Xd”、Td0’、Td0”、K、a、b。
The electrical parameters used in the above formula all represent per unit values, and in the process of calculating per unit values, the design values of the electrical parameters of the synchronous phase modulator are used for the first time, which inevitably brings calculation errors. Wherein the excitation voltage u is calculatedfPer unit value process uses XadThereby introducing calculation errors. To correct this error, an error correction factor K is introduced. The mathematical model of the synchronous phase modulator considering the saturation effect and the per unit error is as follows:
the mathematical model requires the identification of 8 electrical parameters, namely Xd、Xd’、Xd”、Td0’、Td0”、K、a、 b。
In a field actual test, load shedding disturbance, excitation step disturbance and terminal voltage disturbance adopted in a disturbance test are required to be as large as possible. Thus, not only can the measurement error be reduced, but also the identification can be more accurate, but the excessive disturbance usually means more cost and risk, and sometimes the disturbance test condition is not available on the site. For this reason, a feasible field test scheme needs to be established.
As shown in fig. 3, in step S2, a perturbation test scheme for a synchronous phase modulator is formulated, and test data under different perturbation tests are obtained, which specifically includes:
s21, keeping the reactive power output unchanged under different working conditions, applying a disturbance quantity in the excitation loop to make the voltage fluctuation at the generator end greater than 2%, and recording U in the whole excitation step disturbance test by using a data recordera、Ub、Uc、Ia、Ib、Ic、Uf、IfThe dynamic change process of (1).
S22, the synchronous phase modulator respectively maintains the reactive power under different working conditions, the high-voltage side of the synchronous phase modulator is short-circuited, and the data recorder records the U in the whole terminal voltage disturbance testa、Ub、Uc、 Ia、Ib、Ic、Uf、IfThe dynamic change process of (1).
If the short-circuit test condition is not available on site, a disturbance quantity which enables the terminal voltage to fluctuate by more than 2% can be applied by switching the capacitor on the terminal, and the U in the whole disturbance process is recorded by a data recordera、Ub、 Uc、Ia、Ib、Ic、Uf、IfThe dynamic change process of (1).
S23, the synchronous phase modulator operates in a phase-in or phase-delay full-load state, a circuit breaker on the high-voltage side of the synchronous phase modulator is disconnected, the synchronous phase modulator is enabled to dump load, and a data recorder is used for recording U in the whole load dumping testa、Ub、Uc、Ia、Ib、Ic、Uf、IfThe dynamic change process of (1).
As shown in fig. 4, in step S3, the data preprocessing is performed on the electrical parameters obtained by the perturbation test, and specifically includes:
s31, performing per unit analysis on the test data obtained by the disturbance test;
s32, performing coordinate transformation on the per-unit test data;
and S33, dividing the test data after coordinate transformation into a steady state process and a transient state process.
In order to construct a synchronous motor per unit system with clear physical concept and convenient use, the selection of a per unit system base value must follow a certain standard, and the principles can be summarized into the following three aspects:
principle one: the per-unit value is selected so that the named value form and the per-unit value form of the equation are the same.
Principle two: by properly selecting the basic value of the inductance, the problem that the mutual inductance of stator and rotor windings in a famous value equation under the dq0 coordinate of the synchronous motor is irreversible can be solved, namely, the mutual inductance in a per unit value equation is completely reversible.
Principle three: by properly selecting the basic value, the traditional per unit electric parameters (such as X) of the motor are enabledd、XadEtc.) are kept in the per unit value motor equation, which is convenient for analysis and use.
Using the most commonly used X in the pretreatmentadA base value system.
Selecting a base value i of the stator winding currentaBComprises the following steps:
in the formula, subscript a represents an armature winding and can represent any one of a, b and c; i isRThe current base value is the peak value of the rated phase current.
Selecting a base value U of the stator winding voltageaBComprises the following steps:
in the formula of URTo send outThe effective value of the rated phase voltage of the motor,
is the peak value of the nominal phase voltage.
From iaBAnd UaBAnd the base values of other variables of the stator winding can be derived according to the base value selection principle.
Base value of stator winding capacity:
stator winding resistance, reactance and impedance base value:
the following describes a method for selecting the f-base value of the field winding.
Let f be independent of other windings and optionally have a voltage base ufBAnd a current base value ifBThen, u is determined according to a principle two and a principle three selected from the base valuesfBAnd ifBTwo relations to be satisfied, so that u is finally reasonably selectedfBAnd ifB。
According to the principle two, ufBAnd ifBThe reversible constraint of the normalized value mutual inductance should be satisfied. Through a series of deductions, it can be obtained,
or
SfB＝SaB
It can be further understood that the mutual inductance of the two windings is reversible only by making the capacity base values of the stator winding and the excitation winding equal.
According to the third principle, the conventional standard motor electrical parameters are retained in the per-unit equation. XadThe basic value system satisfies the conditionA per-value basis system of the principles. XadThe base value system defines a selection standard of a rotor winding current base value, so that mutual inductance between a d-axis rotor and a q-axis rotor and mutual inductance between a stator winding and the stator winding are respectively equal to X in a per-value equationadAnd Xaq. Specifically, the current base value of the rotor field winding is defined as follows: base current i of the field winding when the rotor is rotating at synchronous speedfBThe nominal value (peak value) of the open-circuit potential generated in the corresponding winding of the stator is XadiaB. Determining the basic value i of the exciting winding currentfBThe basic value u of the voltage of the exciting winding can be determined by the equal basic value of the capacities of the stator winding and the exciting windingfB。
And then, selecting a principle one according to the basic value, and deriving other quantities of basic values similar to the stator winding.
From XadBase value system ifBMethod of selection, then ifBIt should satisfy:
ωBLdfifB＝XadiaB
note ifNIndicates the corresponding exciting current (i) when the stator no-load voltage is the rated value under the rated rotating speedfNCan be obtained by looking up the no-load curve), then under the no-load rated rotating speed, there is
Joint elimination of LdfCan derive
Handle type ifBSubstituted formula ufBIn (1), can obtain
In the formula XadIs a named value.
And because of
Substituting the above formula into ufBAnd obtaining a practical excitation voltage basic value expression:
finally, it should be noted that in the per-unit process, the time is not per-unit, and the actual time is used and the unit is second. This is because, considering that in general calculation, both the time constant and the time are in seconds, the equation form exactly the same as the per-unit value form can be obtained by using the relationship of the famous value per unit value × the base value, except that both the time constant and the time in the equation are in seconds.
Synchronous phase modifier stator three-phase voltage u included in field test measured dataa、ub、ucStator three-phase current ia、ib、icThe power angle and the rotor excitation voltage are equal. The electric parameter identification model of the generator used in the method is a motor model of a d-q-0 system, and the required data quantity is stator d-axis voltage, stator q-axis voltage, stator d-axis current, stator q-axis current and rotor excitation voltage. It is therefore necessary to convert the measured stator test data in the a-b-c system to stator quantities in the d-q-0 system.
Aiming at the particularity that the synchronous phase modulator does not generate active power, the stator side line voltage U of the synchronous phase modulator can be utilized under the condition of smaller power angleaSum line current IaTo obtain IdAnd Uq。
The track sensitivity of the electrical parameters directly influences the difficulty of identification of the electrical parameters, the track sensitivity shows the dynamic influence rule of the electrical parameters on the disturbance process, if the track sensitivity of the electrical parameters A in a certain period of time is high, the track sensitivity shows that the electrical parameters A greatly influence the dynamic process in the period of time, namely the disturbance data in the period of time mainly reflects the influence of the electrical parameters A. Then, to obtain an accurate a electrical parameter identification, the data used for identification should include the perturbation process data.
In step S4, the track sensitivity analysis of the electrical parameters obtained by the perturbation test specifically includes:
the trace sensitivity of the electrical parameter to the output is defined as:
wherein y is the system output idOr Uq(ii) a Theta is an electrical parameter in the system; delta theta is the relative change of the electrical parameter; t is time.
And respectively calculating the trace sensitivity of the electrical parameters of the synchronous phase modulator to output aiming at three disturbance tests of excitation step disturbance, terminal voltage disturbance and load shedding disturbance.
General conclusions can be drawn from the trajectory sensitivity analysis:
(1) the main processes of action of each electrical parameter differ, XdAnd K mainly affects the steady state values, the effect of which is reflected in the overall process, while Xd’、Td0’、Xd”、Td0"mainly reflects in transient process.
(2) For steady-state electrical parameters Xd and K and saturation correction coefficients a and b, the track sensitivity is higher in excitation step disturbance and terminal voltage disturbance, and the saturation influence is more obvious in the two disturbances (the saturation influence is relatively smaller because the stator current of the load shedding is 0);
(3) for transient class electrical parameter Xd’、Td0’、Xd”、Td0", the trace sensitivity of these electrical parameters is mainly reflected in the short process of excitation step disturbance and terminal voltage disturbance after the disturbance startsAnd the whole process of load dump disturbance.
As shown in fig. 5, in step S5, the method for performing joint identification of electrical parameter distribution of synchronous phase modulator by using the modified damped least squares method and the alternating direction multiplier method specifically includes:
s51, pre-identifying all parameters by using a modified damping least square method;
s52, analyzing the steady state data by using a modified damping least square method, and fixing the transient state type electrical parameters X identified in the previous stepd’、Td0’、Xd”、Td0", identifying the steady-state electrical parameter XdK and saturation coefficients a, b;
s53, analyzing the transient data by using a modified damping least square method, and fixing the steady-state class parameter X identified in the previous stepdK and saturation coefficients a, b, identifying the transient electrical parameter Xd’、Td0’、Xd”、Td0”；
S54, identifying all electrical parameters by using a modified damping least square method, and carrying out parameter fine adjustment;
s55, determining the dominant disturbance in each identification step by setting the contribution proportion coefficient of each disturbance, and repeating the iteration steps S52-S54 for a plurality of times to finally obtain the identification result of the electrical parameters of the synchronous phase modulator.
The mainstream identification algorithm mainly includes a least square method, a genetic algorithm, a neural network, an ant colony algorithm, a particle swarm algorithm, an evolutionary strategy algorithm and the like. The method for identifying the electrical parameters of the synchronous phase modifier uses a Levenberg-Marquardt algorithm based on a Gauss-Newton least square method, is the most widely used nonlinear least square algorithm, and has the advantages of the Newton method and the gradient method. When the electrical parameters to be identified are more, the method has the problems of convergence and multivalue.
For this purpose, a Modified Damped Least Squares (MDLS) method may be used. Therefore, the convergence of iteration can be ensured, the higher iteration speed can be ensured, and the condition that the iteration converges to a certain local minimum value is effectively avoided.
Furthermore, the synchronous phase modulator has more electrical parameters to be identified, and the optimization directions of part of the electrical parameters are different or even opposite. If the single disturbance test data is used for identifying the electrical parameters of the synchronous phase modulator, the identified electrical parameters have larger dispersity; if multiple electrical parameters are identified simultaneously, the final solution may oscillate back and forth between the globally optimal solution and the locally optimal solution. Therefore, the electrical parameters to be identified can be divided into several groups according to the action effect, and the electrical parameter identification is regarded as an optimization problem. The alternating iterative multiplier (ADMM) is used as a distributed amplification for solving the optimization problem, and after the complex problem is divided into a plurality of sub-problems, the complex problem is subjected to alternating iteration on a plurality of groups of different variables in sequence, so that the method has good convergence and strong robustness, and a good application effect is obtained.
The core idea of the Alternating Direction Multiplier of Multiplexers (ADMM) is to tap a large global problem into a plurality of smaller, more easily solved local sub-problems, and obtain a solution to the large global problem by coordinating the solutions of the sub-problems.
The solution form for ADMM is as follows:
Minx,z f(x)+g(z)
S.t. Ax-Bz＝C
wherein, the functions f and g respectively represent different disturbance forms; the variables x and z represent different electrical parameters to be identified respectively.
(1) Solving a minimization problem related to x, and updating a variable x;
(2) solving a minimization problem related to z and following a new variable z;
(3) and updating dual variables needed in the iterative optimization, and then repeating the steps.
Combining the analysis result of the trajectory sensitivity, the application idea of the ADMM method is as follows:
(1) for steady state class electrical parameter XdK and saturation coefficients a and b, the track sensitivity of the magnetic field generator is larger in the excitation step disturbance and the generator terminal voltage disturbance, and the saturation influence in the two disturbances is more obvious (the saturation influence is relatively smaller because the stator current of the load shedding is 0), so that the steady state number can be usedIdentifying 4 electrical parameters of the steady state class, which are equivalent to variable x in the ADMM method;
(2) for transient class electrical parameter Xd’、Td0’、Xd”、Td0"the trace sensitivity of these electrical parameters is mainly reflected in the whole process of excitation step disturbance, short process of terminal voltage disturbance after disturbance and load shedding disturbance, so 4 electrical parameters of transient state class can be identified by transient state process data, which is equivalent to variable y in ADMM method;
(3) considering that the two types of electrical parameters are not completely cleaved and have strong mutual influence, a step of identification is added to fuse the mutual influence of all the electrical parameters, and the term mainly plays a role in overall correction.
In order to fully exert the effect of each disturbance, the electrical parameter identification is carried out by adopting a distributed identification method and a combined identification method. The distribution means that the electrical parameters identified in each step are different; the joint identification refers to comprehensively utilizing load shedding, excitation step disturbance and terminal voltage disturbance, which are disturbance forms. The dominant disturbance in a certain disturbance is selected by setting the contribution proportion coefficient of each disturbance.
For convenience of description of the following steps
w1A proportionality coefficient representing the contribution of load shedding disturbance to identification;
w2a proportionality coefficient representing the contribution of excitation step disturbance to identification;
w3and the proportionality coefficient represents the contribution of terminal voltage disturbance to identification.
By adjusting the value of the coefficient w in each iteration step, the contribution of different disturbances in the identification can be controlled. The identification steps of the electrical parameters of the synchronous phase modifier are as follows:
(1) all electrical parameters are pre-identified. In order to ensure the identification effect, an appropriate identification starting value needs to be set for the distribution identification, and the design value of the electrical parameter is not necessarily appropriate. Considering the long-process data of load shedding and excitation step disturbance as main factors, pre-identifying all electrical parameters to obtain a proper identification starting point, and setting w1:w2:w3＝0.5：0.4：0.1；
(2) Based on the steady state and transient state data of the excitation step and the terminal voltage disturbance, the transient state class parameter X identified in the previous step is fixedd’、Td0’、Xd”、Td0", identifying a steady state class XdK, a, b, default w1:w2:w30.1:0.6:0.3 (adjustable ratio);
(3) taking the steady state and transient state data of load shedding disturbance and the transient state data of excitation step disturbance and generator end voltage disturbance after the disturbance begins as the main, fixing the steady state class parameter X identified in the previous stepdK, a, b, identifying the transient class parameter Xd’、Td0’、Xd”、Td0", default w1:w2:w30.4:0.3:0.3 (adjustable ratio);
(4) mainly using load shedding disturbance data and excitation step disturbance long-process data as main data, identifying all electrical parameters, finely adjusting the parameters, and defaulting w1:w2:w3The ratio is 0.5:0.4:0.1 (adjustable).
(5) And (5) alternately iterating the steps (2) - (4) for 2-5 times to identify the synchronous phase modulator parameters.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (9)
1. The method for jointly identifying the electrical parameter distribution of the synchronous phase modulator is characterized by comprising the following steps of:
establishing a practical mathematical model of a synchronous phase modulator; the establishment of the practical mathematical model of the synchronous phase modulator specifically comprises the following steps:
a practical mathematical model of synchronous phase modulator is established that does not take saturation effects into account, and identifies five electrical parameters of the d-axis, namely Xd、Xd’、Xd”、Td0’、Td0”；
Establishing a practical mathematical model of synchronous phase modulator considering saturation effect, which requires identifying seven electrical parameters, namely Xd、Xd’、Xd”、Td0’、Td0”、a、b；
Establishing a practical mathematical model of synchronous phase modulator including saturation effect and per unit error, wherein the mathematical model needs to identify 8 electrical parameters, namely Xd、Xd’、Xd”、Td0’、Td0", K, a, b; wherein XdIs a direct-axis synchronous reactance, XdIs a direct axis transient reactance, Xd"is the direct axis sub-transient reactance, Td0' is the direct axis transient time constant, Td0"is the direct axis sub-transient time constant; k is a per-unit error correction coefficient; a. b are all saturation correction coefficients;
formulating a disturbance test scheme of the synchronous phase modulator, and acquiring test data under different disturbance tests;
carrying out data preprocessing on test data obtained by the disturbance test;
analyzing the track sensitivity of the electrical parameters of the synchronous phase modulator by using a mathematical model of the synchronous phase modulator;
and performing combined identification on the electrical parameter distribution of the synchronous phase modulator by using a modified damping least square method and an alternate direction multiplier method.
2. The method for jointly identifying the electrical parameter distribution of the synchronous phase modulator according to claim 1, wherein the step of formulating a disturbance test scheme of the synchronous phase modulator to obtain test data under different disturbance tests specifically comprises the steps of:
the synchronous phase modulator maintains the reactive power under different working conditions, applies a disturbance quantity which enables the voltage fluctuation at the generator end to be more than 2% in the excitation loop, and records the U in the whole excitation step disturbance test by using a data recordera、Ub、Uc、Ia、Ib、Ic、Uf、IfThe dynamic change process of (1);
the synchronous phase modulator maintains the reactive power under different working conditions, the high-voltage side of the synchronous phase modulator is short-circuited, and a data recorder records the U in the whole terminal voltage disturbance testa、Ub、Uc、Ia、Ib、Ic、Uf、IfThe dynamic change process of (1);
the synchronous phase modulator operates in a phase-in or phase-delay full-load state, a high-voltage side circuit breaker of the synchronous phase modulator is disconnected, the synchronous phase modulator is enabled to throw load, and a data recorder is used for recording U in the whole load throwing testa、Ub、Uc、Ia、Ib、Ic、Uf、IfThe dynamic change process of (1); wherein U isa、Ub、UcThe three-phase voltages of the stator of the synchronous phase modulator are respectively; i isa、Ib、IcRespectively are three-phase currents of a stator of the synchronous phase modulator; u shapefIs an excitation voltage, IfIs the excitation current, is the power angle.
3. The method for jointly identifying the distribution of electrical parameters of a synchronous phase modulator according to claim 2, wherein the step of preprocessing the test data obtained by the perturbation test includes:
performing per unit on test data obtained by the disturbance test;
carrying out coordinate transformation on the test data after per unit;
and dividing the test data after the coordinate transformation into a steady-state process and a transient-state process.
4. The method for jointly identifying the distribution of the electrical parameters of the synchronous phase modulator according to claim 3, wherein the step of analyzing the trajectory sensitivity of the electrical parameters of the synchronous phase modulator by using the mathematical model of the synchronous phase modulator comprises the following steps:
the trace sensitivity of the electrical parameter to the output is defined as:
wherein y is the system output idOr Uq(ii) a Theta is an electrical parameter in the system; delta theta is the relative change of the electrical parameter; t is time;
and respectively calculating the trace sensitivity of the electrical parameters of the synchronous phase modulator to output aiming at three disturbance tests of excitation step disturbance, terminal voltage disturbance and load shedding disturbance.
5. The method for jointly identifying the electrical parameter distribution of the synchronous phase modulator according to claim 4, wherein the jointly identifying the electrical parameter distribution of the synchronous phase modulator by using a modified damped least square method and an alternating direction multiplier method specifically comprises:
(1) pre-identifying all parameters by using a modified damping least square method;
(2) analyzing the steady-state data by using a modified damping least square method, and fixing the transient-state electrical parameters X identified in the previous stepd’、Td0’、Xd”、Td0", identifying the steady-state electrical parameter XdK and saturation coefficients a, b;
(3) analyzing the transient data by using a modified damped least square method, and fixing the steady-state class parameter X identified in the previous stepdK and saturation coefficients a, b, identifying the transient electrical parameter Xd’、Td0’、Xd”、Td0”，
(4) Identifying all electrical parameters by using a modified damping least square method, and carrying out parameter fine adjustment;
(5) determining the dominant disturbance in each identification step by setting the contribution proportion coefficient of each disturbance, repeating the iteration steps (2) - (4) for a plurality of times, and finally obtaining the identification result of the electrical parameters of the synchronous phase modulator; wherein the number of times is 2-5 times.
6. The method for jointly identifying the electrical parameter distribution of a synchronous phase modulator according to claim 5, wherein the pre-identifying all the parameters by using a modified damped least squares method specifically comprises:
and (3) pre-identifying all electrical parameters to obtain an identification starting point by mainly using long process data of load shedding and excitation step disturbance, wherein w1: w2: w3 is 0.5:0.4: 0.1;
w1 represents the proportionality coefficient of the load shedding disturbance to the identification;
w2 represents a proportionality coefficient of excitation step disturbance to identification contribution;
w3 represents the scaling factor of the contribution of the terminal voltage disturbance to the identification.
7. The method of claim 6 wherein the transient electrical parameters X identified in the previous step are fixed by analyzing the steady state data using modified damped least squaresd’、Td0’、Xd”、Td0", identifying the steady-state electrical parameter XdK and saturation coefficients a, b, specifically comprising:
based on the steady state and transient state data of the excitation step and the terminal voltage disturbance, the transient state class parameter X identified in the previous step is fixedd’、Td0’、Xd”、Td0", identifying a steady state class XdK, a, b, default w1: w2: w3 ═ 0.1:0.6: 0.3.
8. The method of claim 7 wherein the steady state parameters X identified in the previous step are fixed by analyzing the transient data using modified damped least squaresdK and saturation coefficients a, b, identifying the transient electrical parameter Xd’、Td0’、Xd”、Td0", specifically includes:
taking the steady state and transient state data of load shedding disturbance and the transient state data of excitation step disturbance and generator end voltage disturbance after the disturbance begins as the main, fixing the steady state class parameter X identified in the previous stepdK, a, b, identifying the transient class parameter Xd’、Td0’、Xd”、Td0", default w1: w2: w3 ═ 0.4:0.3: 0.3.
9. The method for jointly identifying the electrical parameter distribution of a synchronous phase modulator according to claim 8, wherein the identifying all electrical parameters by using the modified damped least squares method for fine tuning parameters comprises:
and (3) identifying all electrical parameters and finely adjusting the parameters by mainly using load shedding disturbance data and excitation step disturbance long-process data, wherein the default is w1: w2: w 3: 0.5:0.4: 0.1.
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