Cascade controller based modeling of a four area thermal: gas AGC system with dependency of wind turbine generator and PEVs under restructured environment

This paper investigates automatic generation control (AGC) of a realistic hybrid four-control area system with a distinct arrangement of thermal units, gas units and additional power generation. A proportional-integral-double derivative cascaded with proportional-integral (PIDD-PI) controller is employed as secondary controller in each control area for robust restructured AGC considering bilateral transactions and contract violations. The Harris Hawks algorithm is used to determine the optimal controller gains and system parameters under several scenarios. Electric vehicle (EV) aggregators are employed in each area to participate fully along with thermal and gas units to compensate for the unscheduled system demand in the local area. A comparison of non-cascaded controllers such as PI-PD, PD-PID and the proposed PIDD-PI proves the superiority of the last. The effect of the decline in inertia is closely examined because of the sudden outage of a generating unit while at the same time considering the change in area frequency response characteristics and area control error. EV fleets make significant contributions to improving the system dynamics during system inertia loss. The use of EVs in the presence of a wind energy-supported grid can provide a stable efficacy to the power grid. Numerous simulations with higher load demands, stochastic communication delays in presence of the WTG plant, and violations in system loadings and changes in gas turbine time constants in the absence of WTG demonstrate the robustness of the proposed control approach.     

Robust hierarchized controllers using wide area measurements in power systems

In this paper, we present a new method for robust centralized controller design using LMI’s with applications to power systems. This method makes possible to increase the damping rate of the decentralized system (that is, power system with PSS’s). It considers delays added to the signals that travel from the generators to the central controller. The robust hierarchized controller is composed by two control layers: the first one consists on decentralized controllers, that are applied independently to each machine of the system, what guarantees the stability and a minimum damping rate; the second one is composed by a centralized controller, that receives delayed information from all machines of the system, and it sends control signals to all generators. The centralized controller algorithm is robust, once it considers various operative conditions for the power system, and it also permits the choice of the communication delays.     

Comparative performance analysis of teaching learning based optimization for automatic load frequency control of multi-source power systems

This paper presents a new population based parameter free optimization algorithm as teaching learning based optimization (TLBO) and its application to automatic load frequency control (ALFC) of multi-source power system having thermal, hydro and gas power plants. The proposed method is based on the effect of the influence of teacher on the output of learners and the learners can enhance their knowledge by interactions among themselves in a class. In this extensive study, the algorithm is applied in multi area and multi-source realistic power system without and with DC link between two areas in order to tune the PID controller which is used for automatic generation control (AGC). The potential and effectiveness of the proposed algorithm is compared with that of differential evolution algorithm (DE) and optimal output feedback controller tuning performance for the same power systems. The dynamic performance of proposed controller is investigated by different cost functions like integral of absolute error (IAE), integral of squared error (ISE), integral of time weighted squared error (ITSE) and integral of time multiplied absolute error (ITAE) and the robustness of the optimized controller is verified by its response toward changing in load and system parameters. It is found that the dynamic performance of the proposed controller is better than that of recently published DE optimized controller and optimal output feedback controller and also the proposed system is more robust and stable to wide changes in system loading, parameters, size and locations of step load perturbation and different cost functions.     

基于虚拟同步机的微电网分布式一致性经济控制策略

为降低传统微电网集中式控制对于中心控制器的过度依赖,提高系统的可靠性和经济性,本文建立计及储能电池剩余电能状态(state of charge, SOC)的系统发电成本模型,提出基于虚拟同步机的分布式一致性微电网经济控制策略。以虚拟同步机技术作为底层逆变器控制方法,上层建立基于稀疏通信链路的分布式节点信息交互模型。利用分布式一致性算法得到供二次控制使用的状态信息,基于二次控制生成虚拟同步机优化参数,进而实现各节点边际成本相同,降低微电网系统整体发电成本。此外能够平衡各储能剩余容量,并减少系统平均频率和平均电压的偏差。最后通过基于Matlab/Simulink平台的微电网仿真模型,分析并验证了理论研究及控制策略有效性。     

Optimal design of a sliding mode AGC controller: Application to a nonlinear interconnected model

This paper presents a design of a sliding mode controller (SMC) with chattering reduction feature applied to interconnected automatic generation control (AGC). After formulating the design of SMC as an optimization problem, the proposed method utilizes the genetic algorithms (GA) to find the optimal feedback gains and switching vector values of the controller. In order to guarantee the enhancement of the system dynamical performance and a reduction in the SMC chattering, two objective functions were investigated in the optimization process. The tested two-interconnected AGC model incorporates nonlinearities in terms of generation rate constraint (GRC) and a limiter on the integral control value. Comparison with previous AGC methods reported in literature validates the significance of the proposed SMC design.     

含风电的交直流互联电网AGC两级分层模型预测控制

随着大规模风电接入交直流互联电网,传统的自动发电控制(AGC)方法难以有效地抑制风功率波动带来的频率稳定问题。为此,提出基于两级分层模型预测的AGC策略。该两级分层控制方法在下层对多个区域电网采用分散式模型预测控制;在上层对下层分散的控制器采用动态协调控制方式。以含多电源的两区域交直流互联电网AGC模型为例,仿真结果表明:与集中式模型预测控制和分散式模型预测控制方法相比,文中所提控制策略不仅对频率和联络线功率等具有良好的控制效果,还兼具高可靠性。     

考虑源荷双侧预测误差的实时发电计划闭环控制模型

针对源荷双侧不确定性对电网实时调度运行的影响,提出了模糊信息粒与机会约束目标规划相结合的建模求解方法,建立了实时发电计划与自动发电控制(AGC)闭环控制模型,动态优化系统的可调备用容量。针对服从不同概率分布函数的随机预测误差,引入模糊信息粒理论对可中断负荷切负荷率、负荷预测和风电出力的预测误差进行模糊粒子化,应用机会约束目标规划构建系统备用偏差量约束。在闭环控制过程中,通过动态调整机组的控制模式实现可调备用在不同类型机组间的合理分配,在目标函数中引入风险成本和机组模式转换成本,实现了满足安全备用需求条件下的经济最优性。最后,利用算例验证了模型的有效性和实用性。     

微电网互联运行的分时优化与实时控制方法

将相邻的孤立微电网互联运行,可促进资源的时空互补与运行优化。提出互联微电网分时优化调度与实时协调控制相结合的运行方法,旨在降低系统发电成本,提高运行稳定性。在分时优化调度层面,基于超短期预测结果,以全系统发电成本最低为目标,提出考虑资源时空互补特性的优化调度方法;在实时协调控制层面,针对风、光、负荷的随机性而引起的功率波动问题,提出基于动态下垂控制的联络线定功率控制方法,使功率波动量得到经济合理分配。算例验证了分时优化调度方法可促进资源互补、降低运行成本,实时仿真结果验证了动态下垂控制策略可有效实现联络线定功率控制。     

考虑双通道随机时延的区域互联电网AGC方法

在区域互联电网网络化自动发电控制(Automatic Generation Control,AGC)过程中,信息传输在双通道(如控制器到执行器(C-A)、传感器到控制器(S-C))均存在时延问题。基于模型预测控制(MPC)技术,拟利用其预测特征,通过控制过程中信息的存储与处理,消除双通道随机时延对控制效果的负面影响。首先,在考虑双通道时延的前提下,构建互联电网AGC系统模型,并就时延的存在对控制效果的影响进行了分析。然后,针对互联电网AGC系统的控制模式对集中式MPC(CMPC)的实现方法进行了讨论,分析了在CMPC框架下双通道时延的处理方法。在此基础上,分别以阶跃与随机负荷曲线为扰动变量,获取互联电网频率及区域控制偏差曲线。仿真结果表明在考虑互联电网AGC系统双通道随机时延的情况下,所提方法能够保证系统良好的动态响应性能,从而验证了其可行性和有效性。     

面向电网二次调频需求的“PXP”储能集群分布式均衡控制策略

电力储能是维持新能源高渗透形势下电网频率稳定的有效手段,分散布置、统一调度是其参与系统二次调频的主要控制模式。针对现有控制策略分配二次调频需求合理性不足的问题,该文提出面向二次调频需求的PXP储能集群分布式均衡控制策略,其中PXP储能表示一类将电能(power)转化为其他形式能(X)再转回电能(power)的储能形式。该策略通过构建考虑储能实时容量的调频耗量函数,利用分布式算法,以调频耗量最小化为目标,实现对系统调频需求的最优分配。仿真结果表明,该策略能够打破功率型和能量型储能的界限,实现集群容量的均衡控制。同时,分布式算法使控制策略的运算速度显著提升,满足储能即插即用的要求。综上所述,该文所述策略通过对PXP储能集群在二次调频中的高效利用,提高了电网频率的稳定性。     

串联型电压跌落补偿器离散双矢量控制方法

在建立串联型电压跌落补偿器在dq同步旋转坐标系下的状态空间模型的基础上,采用前向欧拉法和无差拍控制原理推导得出了补偿电压跌落的离散双矢量控制算法.最后建立了实际系统的PSCAD/EMTDC仿真模型,研究了离散双矢量控制算法在三相对称电压跌落及两相不对称电压跌落条件下的补偿效果.仿真结果表明该方法具有良好的动态和静态性能.     

基于灰色预测的空冷型PEMFC发电系统实时最优温度无模型自适应控制

空冷型质子交换膜燃料电池(PEMFC)发电系统的输出性能受工作温度、气体流速、尾气排放间隔等操作参数的影响,其中工作温度是影响输出性能的关键因素。针对空冷型PEMFC发电系统温度控制所具有的非线性、时滞、慢时变等复杂特性,提出基于灰色预测的无模型自适应控制方法实现实时最优温度控制。该方法将灰色预测的结果代替发电系统当前工作温度测量值。实验结果表明:所提方法能够在不同负载条件下实现对发电系统最优温度进行实时跟踪。与增量式PID控制相比,所提方法有效减小了系统的超调,使发电系统输出功率更平稳,有利于发电系统的长期稳定运行,延长电堆的使用寿命。且所提方法仅根据PEMFC输入输出数据在线对控制器进行调整,对PEMFC参数不敏感,可应用于类似空冷型PEMFC发电系统。     

A new decentralized retrofit adaptive fault‐tolerant flight control design

In this paper, we develop a new decentralized retrofit adaptive fault‐tolerant control design for a class of nonlinear models arising in flight control. The proposed adaptive fault‐tolerant controller is designed to accommodate loss‐of‐effectiveness (LoE) failures in flight control actuators and achieve accurate estimation of failure‐related parameters. The design is based on local estimation of LoE parameters and generation of local retrofit control signals to accommodate the failures. Using state‐dependent closed‐loop estimation errors, we show the overall system to be stable and demonstrate the tracking error to converge to zero asymptotically for any combination of actuator failures. Through computer simulation of F/A‐18 aircraft under actuator LoE failures, the proposed approach is also shown to achieve better parameter estimation performance compared to the fully centralized design and the design employing local observers and a centralized adaptive controller. Copyright © 2012 John Wiley & Sons, Ltd.     

通信系统故障对电力系统实时负荷控制影响的量化评价方法

随着广域测量技术的发展,通信系统和电力网络的同步拓展使得两者之间的交互影响更为复杂。首先,提出了通信系统故障影响研究框架,并分析了电力通信业务失效对电网可观性和可控性的影响;然后,针对采用最优负荷减载算法的电力系统实时负荷控制业务,提出了通信中断故障影响的评估方法,该方法采用故障后负荷控制代价评价监控设备和通信链路故障对电网的影响;算例结果表明了所提方法的合理性和有效性。     

维持局部孤网稳定切换的网源荷分布式协调控制方法

由于土地、发电资源等条件的限制,现代大型城市主要由外部电网进行负荷供电,形成大型受端城市电网。大型受端城市电网与主系统解列后,功率不平衡会导致频率下降,甚至可能引发网络崩溃,维持其稳定切换以形成局部孤网供电具有重要的理论和现实意义。网源荷协调控制是维持局部孤网稳定切换的关键,然而,对于局部孤网,尤其是非计划形成的局部孤网,是较难实现集中式协调调控的。鉴于此,引入分布式多代理系统,提出一种无需集中控制器的网源荷分布式协调控制方法。有别于依赖集中控制器、且通信结构复杂的传统集中式控制方法,分布式协调控制在仅依靠相邻节点通信的状况下,通过改进的平均一致性算法获取电网运行全局参数,实现网源荷全局协调控制。该控制方法能够较好地适应网络结构变化,挖掘网源荷协调潜能。同时,提出的改进平均一致性算法具有更好的收敛性能,为局部孤网切换时的频率和电压控制提供快速全局数据支撑。基于PSCAD/EMTDC和Matlab仿真平台,在典型工况下对网源荷协调控制策略进行分析和验证,结果表明所提出的改进平均一致性算法和分布式网源荷协调控制方法能够维持局部孤网稳定切换。     

Time-delay compensation of a wide-area measurements?based hierarchical voltage and speed regulator

This paper presents a delay-insensitive version of a wide-area measurements?based two-level hierarchical controller. This hierarchical structure consists of a central controller, at the secondary level, dedicated to inter-generator interactions compensation, and conventional controllers (automatic voltage regulator, power system stabilizer, and speed governor), at the primary level, to dampen local oscillations. First, a Smith prediction approach is used to preserve performance in the presence of large remote-measurement time delays and communication time delays between central and local controllers. Second, an optimization algorithm is used to considerably reduce the complexity of the controller and thereby increase its reliability. Finally, sets of realistic tests are performed to assess the robustness of the proposed structure in the presence of uncertainties over time delays and power system parameters. Simulation results reveal that time-delay compensation is effectively required to enhance the hierarchical-structure performance in realistic situations. Furthermore, the performance of local controllers is considerably improved by the secondary-level controller action. The stability margin of the system is improved in the presence of severe contingencies.     

Impact of communication time delays on combined LFC and AVR of a multi-area hybrid system with IPFC-RFBs coordinated control strategy

In this paper, the impact of communication time delays (CTDs) on combined load frequency control (LFC) and automatic voltage regulation (AVR) of a multi-area system with hybrid generation units is addressed. Investigation reveals that CTDs have significant effect on system performance. A classical PID controller is employed as a secondary regulator and its parametric gains are optimized with a differential evolution - artificial electric field algorithm (DE-AEFA). The superior performance of the presented algorithm is established by comparing with various optimization algorithms reported in the literature. The investigation is further extended to integration of redox flow batteries (RFBs) and interline power flow controller (IPFC) with tie-lines. Analysis reveals that IPFC and RFBs coordinated control enhances system dynamic performance. Finally, the robustness of the proposed control methodology is validated by sensitivity analysis during wide variations of system parameters and load.     

A robust centralized SMES controller design based on WAMS considering system and communication delay uncertainties

It is well known that the communication delay due to the phasor measurement in wide area monitoring system (WAMS) as well as various system operating conditions such as heavy line flows and unpredictable network structures, may deteriorate the wide-area stabilizing control effect. To overcome this problem, the inverse input and output multiplicative model is proposed to represent unstructured uncertainties due to system operations and communication delay in the robust centralized damping controller design of superconducting magnetic energy storage (SMES) based on WAMS. The structure of centralized controller for SMES is the practical 1st-order lead/lag compensator. To automatically tune the control parameters, the optimization problem based on the enhancement of damping performance and system robust stability margin is achieved by particle swarm optimization. Simulation studies in the West Japan six-area interconnected system confirm that the proposed robust SMES centralized controller is superior to the conventional SMES centralized controller in terms of damping performance and robustness against system and time delay uncertainties.     

Bat inspired algorithm based optimal design of model predictive load frequency control

Bat inspired algorithm (BIA) has recently been explored to develop a novel algorithm for distributed optimization and control. In this paper, BIA-based design of model predictive controllers (MPCs) is proposed for load frequency control (LFC) to enhance the damping of oscillations in power systems. The proposed model predictive load frequency controllers are termed as MPLFCs. Two-area hydro-thermal system, equipped with MPLFCs, is considered to accomplish this study. The suggested power system model considers generation rate constraint (GRC) and governor dead band (GDB). Time delays imposed to the power system by governor-turbine, thermodynamic process, and communication channels are accounted for as well. BIA is utilized to search for optimal controller parameters by minimizing a candidate time-domain based objective function. The performance of the proposed controller has been compared to those of the conventional PI controller based on integral square error (ISE) technique and the PI controller optimized by genetic algorithms (GA), in order to demonstrate the superior efficiency of the BIA-based MPLFCs. Simulation results emphasis on the better performance of the proposed MPLFCs compared to conventional and GA-based PI controllers over a wide range of operating conditions and system parameters uncertainties.     

基于IP技术的发电市场实时发电指令系统

发电市场技术支持系统是与计算机技术，网络通信技术相结俣的庞大的信息系统。该系统借助于现有的帧中继广域网，将发电指令实时下发到各发电厂，并发与电厂的自动化设备相融合，保证了实时调度和实时发电市场的稳定运行，结合浙江省发电市场技术支持系统的建设和运行经验，对实时发电指令系统的实现及发全性，可靠性和体现“三公”原则采取的措施作一介绍，并对进一步的发展作了展望。