基于FACTS装置的阻尼控制器设计及控制策略研究
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摘要
随着现代电力系统网络规模的不断扩大，电网互联程度的提高和运行方式的多样性，电力系统的运行和控制变得日益复杂。FACTS控制器是增强输配电系统的可控性和灵活性，提高运行的稳定性和经济性的有效技术手段。随着FACTS装置在电力系统中的广泛应用，研究FACTS装置的控制方法以及FACTS装置的协调控制问题具有重要的意义。第一，互联电网的增多使得大系统之间的功率振荡现象时有发生，系统小干扰稳定性问题更为突出。基于FACTS装置的阻尼控制器设计及阻尼控制策略的研究成为重要的研究领域。第二，FACTS装置能够实现电压控制、潮流控制、无功补偿、阻尼振荡等多种功能，其阻尼控制策略需要考虑对其他控制目标的影响，即单个控制器的多目标协调问题。第三，随着电力系统中控制器数量和种类的增多，控制器之间的交互影响可能会影响彼此的控制效果，在设计控制器时应予以考虑，即多个控制器的协调控制问题。
生物免疫系统中蕴涵着丰富而高效的信息处理机制，可以有效地处理人体内部和外界环境的各种扰动和不确定性情况，是复杂的自适应系统。工程中的控制问题与免疫系统的应答过程有许多相似之处，免疫调节机制和基于免疫网络的多抗原多抗体协调机制对于FACTS控制器的设计和协调控制有很强的启发性和借鉴意义。
本文主要围绕基于FACTS装置的阻尼控制器设计以及基于人工免疫调节机制的FACTS装置的控制策略来开展工作，全文包括以下几部分内容：
第一部分用转矩分析和能量函数分析两种方法分别解释了FACTS阻尼电力系统功率振荡的原理，并提出了相应的阻尼控制策略。首先，在电力系统线性化模型的基础上，分析了安装FACTS装置前后发电机的电磁转矩的变化，从阻尼转矩分析的角度说明了抑制功率振荡的原理。然后，定义了区域间功率振荡的能量函数，它的大小可以看作是系统在动态过程中偏离事故后稳定平衡点的程度，其值越小，说明系统越逼近稳定状态。分析了功率振荡过程中能量函数的变化，提出了衰减振荡能量的阻尼控制策略，目的是使系统暂态能量以最快的速度归零，即回到故障后的稳定平衡点。并提出了SVC和TCSC两种常用的FACTS装置的阻尼控制策略。
第二部分采用Prony分析辨识系统传递函数，用补偿留数相位的方法设计FACTS阻尼控制器，提出了输入信号的选择方法。在应用Prony方法对电力系统仿真信号进行分析的过程中，选取特定形式的小扰动作为输入信号，根据对应的输入、输出信号中包含的模态的关系，推导出系统的传递函数。根据传递函数可以得到系统的主导振荡模式及留数等信息，避免了复杂的特征值分析。在此基础上采用补偿留数相位的方法设计阻尼控制器，配置控制装置的内部参数。针对区域间振荡在不同的运行方式下，两区域间的功率传输可能为双向的，提出了输入信号的选择不但要考虑留数模的大小，还要考虑在不同的运行方式下留数相位的变化，以保证控制的鲁棒性。并提出了根据传输功率水平调整控制器增益的方法。所提出的设计方法，不涉及控制装置的内部结构，适应性强，避免了复杂的特征值计算，易于实现。仿真研究表明，用Prony分析辨识得到的系统模型与实际系统的幅频、相频特性一致，适合用于阻尼控制器的设计。对TCSC阻尼控制器和SVC阻尼控制器阻尼区域间功率振荡进行时域仿真研究，仿真结果表明在各种运行方式下，都能够有效的抑制振荡，有较强的鲁棒性。与固定值增益的阻尼控制器相比，采用在线调节增益的控制器有更好的阻尼控制效果，特别是在轻载的情况下，阻尼的改善更为明显。
第三部分基于免疫调节机制设计了人工免疫控制器和免疫FACTS控制器，实现了阻尼控制与基本控制目标(电压控制、潮流控制等)的双重控制目标的协调控制。分析了生物系统的免疫应答过程中T细胞的调节机制，和免疫应答的数学模型。根据控制问题的特点加以改进，设计了人工免疫控制器，研究了控制器参数的作用。模拟T细胞在免疫应答不同阶段的作用，构造了反馈调节函数，根据系统当前状态和控制效果，通过反馈进行实时调节，实现单个控制器的双重控制目标的协调。结合衰减振荡能量的控制策略，将人工免疫控制方法用于FACTS阻尼控制器的设计。以TCSC和SVC免疫阻尼控制器为例，进行仿真研究，结果表明在有效阻尼功率振荡的同时，保证了TCSC的潮流控制，SVC的电压控制的效果，实现了控制器多控制目标的协调。
第四部分介绍了独特型免疫网络，以及在此基础上的多抗原多抗体之间的协调作用机制，提出了多个控制器的协调控制策略。首先，借鉴免疫系统中对不同抗原的免疫应答具有不同的响应强弱，提出抗原耦合控制策略，在多变量控制系统中，根据不同控制通道对于系统总体控制性能影响的大小，调整控制器的输入信号，使控制系统能够尽快消除被控状态量的偏差。然后，采用相对增益矩阵方法分析控制器之间的交互影响，若某控制器的闭环运行降低了其他控制器的控制效果，则将前者的输出视为后者的扰动，借鉴免疫系统中多抗体之间的相互作用原理，提出抗体反馈耦合控制策略。上述两种控制策略共同构成了免疫协调控制策略，利用多变量控制系统中各控制通道之间内在的耦合关系，实现多控制器的协调控制。采用基于免疫网络的协调策略，对TCSC和SVC控制器，以及SVC与励磁进行协调控制，仿真结果表明与各个控制器单独控制相比，免疫协调控制能够提高系统整体的控制效果。
With the development of the large scale power system, interconnected network and diversity of operating conditions make it more complicated to operate and control the power system. Flexible AC Transmission System is an effective technology which can enhance the controllability and flexibility of transmission and distribution system as well as increasing stability and economy of the power system operation. With widely application of FACTS in power system, it is significant to discuss the control method of FACTS and coordination control strategy of multiple FACTS devices. First, power oscillations will occur among the interconnected network, and damage the small disturbance stability of the power system. It becomes an important research field to design FACTS-based damping controller and analyze damping control strategy. Second, besides the conventional function of voltage control, power flow control and reactive power compensation, FACTS can also suppress power oscillations. The impact on the conventional control target should be considered when decide the damping control strategy of FACTS controller. It is the multi-objective coordination problem of the same controller. Third, with the increasing amount and variety of FACTS installed in the power system, the interaction between controllers should be considered when design FACTS controller. It is the coordination control problem of multiple controllers.
Immune system is a complicated adaptive system that contains abundant and effective information processing principle, which can cope with different kinds of disturbances and uncertainties of inner body and outside environment. The control problem is similar with the immune response of immune system. The immune regulation mechanism and immune network based coordination mechanism among antigens and antibodies have good performance, which can be applied to the multi-objective coordination control of FACTS and coordination control of multiple controllers in the power system.
This dissertation mainly discusses about design of FACTS-based damping controller, and control strategy of FACTS based on artificial immune regulation mechanism. The main research work is summarized as follows:
In the first part, torque analysis and energy function analysis are used to explain the mechanism of damping power oscillations by FACTS controller, and relative damping control strategy are poposed. Firstly, the change of generator electromechanical torque after installation of FACTS is analyzed on the basis of power system Phillips-Heffron model. The reason of suppressing the power oscillation is explained from the viewpoint of damping torque analysis. Secondly, oscillation energy function of inter-area mode oscillation is defined which can be regarded as a measure of the deflection away from the steady state position during dynamic oscillation period. The smaller the energy is the more stable situation the power system has. The conversion of energy function during oscillation period is analyzed and damping control strategy of reducing oscillation energy is proposed which aims at reducing oscillation energy to zero as quickly as possible, namely returns to the steady state position after fault. Finally the damping control strategy of SVC and TCSC are proposed.
In the second part, Prony analysis is used to identify the transfer function and residue of the system, and FACTS damping controller is designed by compensating the phase of residue. A method of choosing input signal of damping controller is proposed. In course of using the Prony method to analyze simulation signals of the power system, the specific format small disturbance signal is used as input signal. So transfer function can be identified according to the mode of the corresponding input signal and output signal. Oscillation mode and residue can be obtained from the transfer function and used to design damping controller. Thus complicated eigenvalue analysis of large scale power system is not needed. Residue method is used to design the damping controller and set the parameters of controller. Because the power flow along transmission line may have opposite direction under different operation conditions, a method to choose the input signal is proposed that not only the magnitude but also the phase of the residue should be considered so as to guarantee the robustness. A method of adjusting gain of controller according to the transmission power level is proposed, by which optimal damping performance can be obtained under different operating conditions. Simulation studies indicate that the frequency domain response of the identified system is consistent with the real system, and the former is suited to the design of damping controller. Simulations of TCSC damping controller and SVC damping controller show that the damping controller can suppress the oscillation effectively with good robustness. Compared with fixed gain damping controller, varying gain controller has better damping control effect, especially under light load condition.
In the third part, artificial immune controller is designed on the basis of immune regulation mechanism and immune FACTS controller is proposed which can realize the coordination of damping control and other objective (voltage control or power flow control). The regulation mechanism of T cells in the process of immune response and the mathematical model of immune regulation are analyzed. The model is modified according to the characteristic of control problems and artificial immune controller is designed. The parameters of controller are discussed. By simulating the different functions of T-cells in different stage of immune response, feedback estimation function is constructed which can adjust the parameters according to the current state and control effect. Thus the coordination of double objective of a single controller can be realized. The proposed artificial immune controller is applied to design FACTS damping controller combined with the damping control strategy of reducing oscillation energy. Simulation results of TCSC and SVC controllers shows that the power oscillations can be damped effectively, as well as the power flow control of TCSC or voltage control of SVC can be achieved.
In the last part, a coordination control strategy of multi-controller is proposed on basis of idiotype immune network and coordination mechanism among multi-antigen and multi-antibody. Firstly antigen coupling control strategy is proposed by simulating different response level of antigens in immune response. In multi-variable control system, input signals of controller are adjusted regarding the contribution of different control paths to the whole system performance, so as to eliminate the error as soon as possible. Interactions among multiple controllers are analyzed using relative gain array method. If close-loop operation of a certain controller decreases the control effect of other controllers, the output of the former controller is regarded as disturbance to the latter. Antibodies feedback coupling coordination strategy is proposed by simulating stimulation and suppression among antibodies in immune system. The synthesis of the above two coupling strategy consist the immune coordination control strategy, which utilizes the intrinsic coupling relation among control channels of multi-input and multi-output control system, to realize the coordination control of multiple controllers. Immune coordination strategy based coordination control are carried out for TCSC and SVC, as well as SVC and generator excitation. Simulation results show that compared with decentralized control of each controller, immune coordination control can eliminate the negative interaction between controllers and increase the control effect of the whole system.
生物免疫系统中蕴涵着丰富而高效的信息处理机制，可以有效地处理人体内部和外界环境的各种扰动和不确定性情况，是复杂的自适应系统。工程中的控制问题与免疫系统的应答过程有许多相似之处，免疫调节机制和基于免疫网络的多抗原多抗体协调机制对于FACTS控制器的设计和协调控制有很强的启发性和借鉴意义。
本文主要围绕基于FACTS装置的阻尼控制器设计以及基于人工免疫调节机制的FACTS装置的控制策略来开展工作，全文包括以下几部分内容：
第一部分用转矩分析和能量函数分析两种方法分别解释了FACTS阻尼电力系统功率振荡的原理，并提出了相应的阻尼控制策略。首先，在电力系统线性化模型的基础上，分析了安装FACTS装置前后发电机的电磁转矩的变化，从阻尼转矩分析的角度说明了抑制功率振荡的原理。然后，定义了区域间功率振荡的能量函数，它的大小可以看作是系统在动态过程中偏离事故后稳定平衡点的程度，其值越小，说明系统越逼近稳定状态。分析了功率振荡过程中能量函数的变化，提出了衰减振荡能量的阻尼控制策略，目的是使系统暂态能量以最快的速度归零，即回到故障后的稳定平衡点。并提出了SVC和TCSC两种常用的FACTS装置的阻尼控制策略。
第二部分采用Prony分析辨识系统传递函数，用补偿留数相位的方法设计FACTS阻尼控制器，提出了输入信号的选择方法。在应用Prony方法对电力系统仿真信号进行分析的过程中，选取特定形式的小扰动作为输入信号，根据对应的输入、输出信号中包含的模态的关系，推导出系统的传递函数。根据传递函数可以得到系统的主导振荡模式及留数等信息，避免了复杂的特征值分析。在此基础上采用补偿留数相位的方法设计阻尼控制器，配置控制装置的内部参数。针对区域间振荡在不同的运行方式下，两区域间的功率传输可能为双向的，提出了输入信号的选择不但要考虑留数模的大小，还要考虑在不同的运行方式下留数相位的变化，以保证控制的鲁棒性。并提出了根据传输功率水平调整控制器增益的方法。所提出的设计方法，不涉及控制装置的内部结构，适应性强，避免了复杂的特征值计算，易于实现。仿真研究表明，用Prony分析辨识得到的系统模型与实际系统的幅频、相频特性一致，适合用于阻尼控制器的设计。对TCSC阻尼控制器和SVC阻尼控制器阻尼区域间功率振荡进行时域仿真研究，仿真结果表明在各种运行方式下，都能够有效的抑制振荡，有较强的鲁棒性。与固定值增益的阻尼控制器相比，采用在线调节增益的控制器有更好的阻尼控制效果，特别是在轻载的情况下，阻尼的改善更为明显。
第三部分基于免疫调节机制设计了人工免疫控制器和免疫FACTS控制器，实现了阻尼控制与基本控制目标(电压控制、潮流控制等)的双重控制目标的协调控制。分析了生物系统的免疫应答过程中T细胞的调节机制，和免疫应答的数学模型。根据控制问题的特点加以改进，设计了人工免疫控制器，研究了控制器参数的作用。模拟T细胞在免疫应答不同阶段的作用，构造了反馈调节函数，根据系统当前状态和控制效果，通过反馈进行实时调节，实现单个控制器的双重控制目标的协调。结合衰减振荡能量的控制策略，将人工免疫控制方法用于FACTS阻尼控制器的设计。以TCSC和SVC免疫阻尼控制器为例，进行仿真研究，结果表明在有效阻尼功率振荡的同时，保证了TCSC的潮流控制，SVC的电压控制的效果，实现了控制器多控制目标的协调。
第四部分介绍了独特型免疫网络，以及在此基础上的多抗原多抗体之间的协调作用机制，提出了多个控制器的协调控制策略。首先，借鉴免疫系统中对不同抗原的免疫应答具有不同的响应强弱，提出抗原耦合控制策略，在多变量控制系统中，根据不同控制通道对于系统总体控制性能影响的大小，调整控制器的输入信号，使控制系统能够尽快消除被控状态量的偏差。然后，采用相对增益矩阵方法分析控制器之间的交互影响，若某控制器的闭环运行降低了其他控制器的控制效果，则将前者的输出视为后者的扰动，借鉴免疫系统中多抗体之间的相互作用原理，提出抗体反馈耦合控制策略。上述两种控制策略共同构成了免疫协调控制策略，利用多变量控制系统中各控制通道之间内在的耦合关系，实现多控制器的协调控制。采用基于免疫网络的协调策略，对TCSC和SVC控制器，以及SVC与励磁进行协调控制，仿真结果表明与各个控制器单独控制相比，免疫协调控制能够提高系统整体的控制效果。
With the development of the large scale power system, interconnected network and diversity of operating conditions make it more complicated to operate and control the power system. Flexible AC Transmission System is an effective technology which can enhance the controllability and flexibility of transmission and distribution system as well as increasing stability and economy of the power system operation. With widely application of FACTS in power system, it is significant to discuss the control method of FACTS and coordination control strategy of multiple FACTS devices. First, power oscillations will occur among the interconnected network, and damage the small disturbance stability of the power system. It becomes an important research field to design FACTS-based damping controller and analyze damping control strategy. Second, besides the conventional function of voltage control, power flow control and reactive power compensation, FACTS can also suppress power oscillations. The impact on the conventional control target should be considered when decide the damping control strategy of FACTS controller. It is the multi-objective coordination problem of the same controller. Third, with the increasing amount and variety of FACTS installed in the power system, the interaction between controllers should be considered when design FACTS controller. It is the coordination control problem of multiple controllers.
Immune system is a complicated adaptive system that contains abundant and effective information processing principle, which can cope with different kinds of disturbances and uncertainties of inner body and outside environment. The control problem is similar with the immune response of immune system. The immune regulation mechanism and immune network based coordination mechanism among antigens and antibodies have good performance, which can be applied to the multi-objective coordination control of FACTS and coordination control of multiple controllers in the power system.
This dissertation mainly discusses about design of FACTS-based damping controller, and control strategy of FACTS based on artificial immune regulation mechanism. The main research work is summarized as follows:
In the first part, torque analysis and energy function analysis are used to explain the mechanism of damping power oscillations by FACTS controller, and relative damping control strategy are poposed. Firstly, the change of generator electromechanical torque after installation of FACTS is analyzed on the basis of power system Phillips-Heffron model. The reason of suppressing the power oscillation is explained from the viewpoint of damping torque analysis. Secondly, oscillation energy function of inter-area mode oscillation is defined which can be regarded as a measure of the deflection away from the steady state position during dynamic oscillation period. The smaller the energy is the more stable situation the power system has. The conversion of energy function during oscillation period is analyzed and damping control strategy of reducing oscillation energy is proposed which aims at reducing oscillation energy to zero as quickly as possible, namely returns to the steady state position after fault. Finally the damping control strategy of SVC and TCSC are proposed.
In the second part, Prony analysis is used to identify the transfer function and residue of the system, and FACTS damping controller is designed by compensating the phase of residue. A method of choosing input signal of damping controller is proposed. In course of using the Prony method to analyze simulation signals of the power system, the specific format small disturbance signal is used as input signal. So transfer function can be identified according to the mode of the corresponding input signal and output signal. Oscillation mode and residue can be obtained from the transfer function and used to design damping controller. Thus complicated eigenvalue analysis of large scale power system is not needed. Residue method is used to design the damping controller and set the parameters of controller. Because the power flow along transmission line may have opposite direction under different operation conditions, a method to choose the input signal is proposed that not only the magnitude but also the phase of the residue should be considered so as to guarantee the robustness. A method of adjusting gain of controller according to the transmission power level is proposed, by which optimal damping performance can be obtained under different operating conditions. Simulation studies indicate that the frequency domain response of the identified system is consistent with the real system, and the former is suited to the design of damping controller. Simulations of TCSC damping controller and SVC damping controller show that the damping controller can suppress the oscillation effectively with good robustness. Compared with fixed gain damping controller, varying gain controller has better damping control effect, especially under light load condition.
In the third part, artificial immune controller is designed on the basis of immune regulation mechanism and immune FACTS controller is proposed which can realize the coordination of damping control and other objective (voltage control or power flow control). The regulation mechanism of T cells in the process of immune response and the mathematical model of immune regulation are analyzed. The model is modified according to the characteristic of control problems and artificial immune controller is designed. The parameters of controller are discussed. By simulating the different functions of T-cells in different stage of immune response, feedback estimation function is constructed which can adjust the parameters according to the current state and control effect. Thus the coordination of double objective of a single controller can be realized. The proposed artificial immune controller is applied to design FACTS damping controller combined with the damping control strategy of reducing oscillation energy. Simulation results of TCSC and SVC controllers shows that the power oscillations can be damped effectively, as well as the power flow control of TCSC or voltage control of SVC can be achieved.
In the last part, a coordination control strategy of multi-controller is proposed on basis of idiotype immune network and coordination mechanism among multi-antigen and multi-antibody. Firstly antigen coupling control strategy is proposed by simulating different response level of antigens in immune response. In multi-variable control system, input signals of controller are adjusted regarding the contribution of different control paths to the whole system performance, so as to eliminate the error as soon as possible. Interactions among multiple controllers are analyzed using relative gain array method. If close-loop operation of a certain controller decreases the control effect of other controllers, the output of the former controller is regarded as disturbance to the latter. Antibodies feedback coupling coordination strategy is proposed by simulating stimulation and suppression among antibodies in immune system. The synthesis of the above two coupling strategy consist the immune coordination control strategy, which utilizes the intrinsic coupling relation among control channels of multi-input and multi-output control system, to realize the coordination control of multiple controllers. Immune coordination strategy based coordination control are carried out for TCSC and SVC, as well as SVC and generator excitation. Simulation results show that compared with decentralized control of each controller, immune coordination control can eliminate the negative interaction between controllers and increase the control effect of the whole system.
引文
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