Damping forced oscillations in power system via interline power flow controller with additional repetitive control

With the continuous expansion of power systems and the application of power electronic equipment, forced oscillation has become one of the key problems in terms of system safety and stability. In this paper, an interline power flow controller (IPFC) is used as a power suppression carrier and its mechanism is analyzed using the linearized state-space method to improve the system damping ratio. It is shown that although the IPFC can suppress forced oscillation with well-designed parameters, its capability of improving the system damping ratio is limited. Thus, combined with the repetitive control method, an additional repetitive controller (ARC) is proposed to further dampen the forced power oscillation. The ARC control scheme is characterized by outstanding tracking performance to a system steady reference value, and the main IPFC controller with the ARC can provide higher damping, and further reduce the amplitude of oscillations to zero compared with a supplementary damping controller (SDC). Simulation results show that the IPFC with an ARC can not only greatly reduce the oscillation amplitude, but also actively output the compensation power according to the reference value of the ARC tracking system.     

Optimal IPFC signal selection and damping controller design using a novel current injection model in a multi-machine power system

This paper develops a novel approach to model the Interline Power Flow Controller (IPFC) with the purpose of enhancing the power system dynamic stability. The dynamic behavior of the IPFC is modeled using a new and detailed current injection model. On the basis of designing a supplementary damping controller, the effectiveness of the proposed model in robust damping of the oscillations is evaluated. Thus, the problem of attaining the damping controller parameters transmitted into an optimization process which is solved using Particle Swarm Optimization algorithm (PSO). The PSO has a strong and reliable capability to find out the optimistic solution. The optimization procedure is performed in a multi-machine power system and under various operating conditions. Assessment the derived results from the nonlinear time domain simulation and through some performance indices with considering to a severe transient disturbance clearly indicates the major performance of the proposed model and the model based designed controller in improvement the system stability margins. Moreover, to identify the most suitable IPFC control signal, a precise evaluation of the employed indices is accomplished. Numerical results verify the superior stabilization effect of the m₁ (one of the IPFC control signals) in the wide range of operating conditions.     

Comparison of different robust control methods in design of decentralized UPFC controllers

The unified power flow controller (UPFC) integrates properties of both shunt and series compensations, and can effectively alter power system parameters in such a way that increases power transfer capability and enhances system stability. In practice, simple proportional–integral (PI) controllers are used to control the UPFC. However, the PI control parameters are usually tuned based on classical or trial-and-error approaches and as such, they are incapable of obtaining good dynamic performance for a wide range of operating conditions and various loads in power systems. Hence, in this article robust control approaches are proposed based on the quantitative feedback theory (QFT), H_∞ loop-shaping and μ-synthesis, to design UPFC controllers (power-flow and DC-voltage regulator). The three mentioned methods are compared with each other and a supplementary damping controller is developed to improve damping power system oscillations. Here, a single-machine infinite-bus (SMIB) power system, installed with a UPFC (with system parametric uncertainties) is considered as a case study. The system parametric uncertainties are obtained following 40% simultaneous alterations in parameters and load from their typical values. The simulation results indicate satisfactory verifications of the robust control methods in dealing with the uncertainties considered. When the above three methods and the PI controller are compared in performance in several time-domain simulation tests, the results show clear superiority of the three methods over the PI controller, with the QFT presenting the best performance amongst the three robust control.     

Robust modeling of the interline power flow controller and the generalized unified power flow controller with small impedances in power flow analysis

The interline power flow controller (IPFC) and the generalized unified power flow controller (GUPFC) are two innovative configurations of the convertible static compensator (CSC) of FACTS. In this paper, direct modeling of the practical series or/and shunt operating inequality constraints of the IPFC and the GUPFC in power flow calculations are presented. Special initialization of a solution with the IPFC and GUPFC is also derived. Furthermore, an impedance compensation technique is proposed to deal with the numerical instability or the numerical difficulty of the IPFC and GUPFC models when either their coupling transformer impedances are too small or they are transformer-less controllers. Condition number analysis of the Newton power flow equations is given to get insights of the numerical instability of the voltage sourced models of the IPFC and GUPFC with small impedances. Numerical examples are given based on the IEEE 118-bus system, IEEE 300-bus system and a large scale system with 1000-buses.     

基于功频下垂控制的并网型储能系统惯量与阻尼特性分析

基于功频下垂控制的并网型储能系统可有效解决分布式电源大规模接入导致的电网频率稳定性降低的问题,同时等效提高电力系统的惯量水平与阻尼能力。以基于功频下垂控制的并网型储能系统为研究对象,通过建立其直流电压时间尺度的动态模型,利用静止同步发电机模型分析了影响储能系统惯性水平、阻尼效应和同步能力的主要参数及其影响规律。研究结果表明:下垂控制环节和功率控制环节是储能系统惯性效应与阻尼效应的主要来源,通过下垂系数和功率环PI参数的优化设计即可等效改变系统的惯性/阻尼特性。仿真实验的结果证明了研究结论的正确性,研究结论将有益于设计有效的储能系统控制策略,以辅助提升电网的惯性水平和阻尼能力,增强分布式发电系统及其接入电网的稳定运行能力。     

计及FACTS装置的可用输电能力计算

利用功率注入法,建立广义统一潮流控制器(generalized unified power flow controller,GUPFC)和线间潮流控制器(interline power flow controller,IPFC)的数学模型。将GUPFC和IPFC的目标控制约束及运行约束即内部功率平衡约束和考虑等效功率注入模型的潮流约束嵌入到最优潮流计算模型中,得到计及GUPFC和IPFC的可用输电能力(available transfer capability,ATC)计算模型,并利用跟踪中心轨迹内点法对模型进行求解。IEEE-30节点系统的仿真计算显示GUPFC对节点电压和多条线路甚至某一子网络潮流的灵活控制能力及IPFC对线间潮流的合理分配能力;同时验证模型和算法的有效性和可行性。     

含线间潮流控制器的电力系统联合潮流计算

线间潮流控制器(IPFC)能实现线路间的潮流转移和分配,可用于解决电力系统中潮流不均引起的一系列问题,具有较大的应用潜力和价值。为评估IPFC工程应用价值,需实现含IPFC的大系统潮流计算,但目前我国多用于电网规划设计的大型电力系统分析软件中没有开发IPFC模型。为解决上述问题,提出了一种基于Matlab与PSD-BPA的含IPFC电力系统的联合潮流计算方法。首先推导了IPFC功率注入模型的数学表达式,并设计了Matlab与BPA联合潮流计算的计算框架,由Matlab进行IPFC求解计算,BPA进行大电网潮流计算,通过数据交换接口完成两种仿真软件的交互与交替求解。进一步对IPFC功率注入模型进行改进,提出了一种基于PI控制器的变步长潮流迭代策略提高了计算方法的收敛性。以南通西北片电网为例,对提出方法进行了仿真验证,计算结果表明了提出方法的正确性和有效性。     

线间潮流控制器在改善电能质量中的应用

介绍了线间潮流控制器(IPFC)的基本工作原理,建立了数学模型.提出了应用IPFC装置的有功无功线间综合控制提高电力系统暂态稳定性的两层控制模型并进行了试验仿真.仿真结果表明:IPFC装置比传统的FACTS装置更能有效地提高系统的暂态稳定性和电能质量.     

Analysis and assessment of VSC excitation system for power system stability enhancement

The voltage source converter (VSC) excitation system is a novel excitation system based on pulse-width modulation (PWM) voltage source converter, which is proposed as improved alternatives to the conventional thyristor excitation systems. This paper aims to provide theoretical confirmation of power system stability enhancement by the VSC excitation system. The reactive current injected to generator terminals by the VSC excitation system can be controlled flexibly. Its capability of enhancing power system stability is investigated in this paper. The simplified model of VSC excitation system suitable for use in system stability studies is developed. An extended Philips–Heffron model of a single-machine infinite bus (SMIB) system with VSC excitation system is established and applied to analyze the damping torque contribution of the injected reactive current to the power system. This paper also gives a brief explanation on why the VSC excitation system can enhance the transient stability in light of equal area criterion. The results of calculations and simulations show that the injected reactive current of VSC excitation system contributes to system damping significantly and has a great effect on the transient stability. When compared with conventional thyristor excitation systems, the VSC excitation system can not only improve the small-signal performance of the power system, but also can improve the system transient stability limit.     

Effects of various power system stabilizers on improving power system dynamic performance

To ensure the small-signal stability of a power system, power system stabilizers (PSSs) are extensively applied for damping low frequency power oscillations through modulating the excitation supplied to synchronous machines, and increasing interest has been focused on developing different PSS schemes to tackle the threat of damping oscillations to power system stability. This paper examines four different PSS models and investigates their performances on damping power system dynamics using both small-signal eigenvalue analysis and large-signal dynamic simulations. The four kinds of PSSs examined include the Conventional PSS (CPSS), Single Neuron based PSS (SNPSS), Adaptive PSS (APSS) and Multi-band PSS (MBPSS). A steep descent parameter optimization algorithm is employed to seek the optimal PSS design parameters. To evaluate the effects of these PSSs on improving power system dynamic behaviors, case studies are carried out on an 8-unit 24-bus power system through both small-signal eigenvalue analysis and large-signal time-domain simulations.     

Power system damping enhancement using unified power flow controller (UPFC)

The Unified Power Flow Controller (UPFC) can inject voltage with controllable magnitude and phase angle in series with a transmission line. It can also generate or absorb controllable reactive power. UPFC is expected to be able to damp power system oscillations more effectively than power electronics devices such as SVG and TCSC. In this paper, a control system design of a UPFC for power system damping enhancement based on the eigenvalue control method is proposed. It is made clear that the best design method for the power system damping enhancement is to determine steady‐state values of the UPFC control variables and the control parameters of the UPFC such as gains and time constants simultaneously, because the controllability of UPFC depends on the steady‐state values of UPFC and the power flow condition. The effectiveness of the proposed control system taking into account UPFC inverter ratings is verified by digital time simulation. Furthermore the effects of the input signals to the UPFC controller on small‐signal stability and transient stability enhancement are studied, and it is made clear that UPFC controllers using global information are more effective for power system damping enhancement than those using local information because global information has stronger observability for power system oscillations than local information. © 2000 Scripta Technica, Electr Eng Jpn, 133(3): 35–47, 2000     

异步风电机组接入系统的小干扰稳定及控制

在电力系统分析软件DIgSILENT/Power Factory中建立基于普通异步发电机的风电机组(异步风电机组)和电力系统模型,分析异步风电机组对电力系统小干扰稳定性及阻尼特性的影响.提出了一种改进的桨距角控制方案--将系统频率偏差信号引入桨距角控制系统.在系统发生低频振荡时,通过调节桨距角控制异步风电机组输出功率,使风电场输出功率与系统功率振荡的频率相关.对系统进行特征值分析和故障时域仿真,2种分析结果都表明,改进的桨距角控制环节能够改善系统阻尼,对系统功率振荡具有很好的阻尼和抑制作用,加强了系统动态稳定性.     

Determination of IPFC operating constraints in power flow analysis

In recent years, the Flexible AC Transmission System (FACTS) controllers have been widely used to enhance the controllability, security and flexibility in power transmission networks. Interline power flow controller (IPFC) is a versatile member of FACTS devices that can be used to control the power flow in multiple lines in network. Modeling of IPFC with handling its operating constraints is an important issue to determine the practical capabilities of this device. This paper presents a simple modeling with strategies for handling all operating constrains of IPFC in Newton–Raphson (NR) load flow algorithm. The various operating constraints such as; the injected series voltages, injected line currents passing through the converters and exchanged powers among the series converters are investigated. The developed IPFC model with these constraints is validated using standard IEEE 30-bus and IEEE 118-bus test systems.     

线间潮流控制器应用评估策略研究

随着社会负荷不断增长、网架结构日益复杂,骨干网络潮流分布不均、电压支撑能力不足等问题已成为制约系统输送能力的重要因素。线间潮流控制器(Interline Power Flow Controller, IPFC)是一种潮流控制能力强大的新型FACTS装置,可应用于多条通道的潮流控制和暂态稳定控制,提升稀缺廊道资源的输电效率。考虑到目前缺乏对IPFC应用效果评估的理论研究和指导规划,本文提出了一种基于模糊层次分析的综合评判方法。首先,从静态、暂态、动态等方面定义了电网柔性评估指标,建立评估层次结构,并给出各指标的权重赋值方法。进一步地,在大系统中选取关键输电断面,通过多组算例获取各指标的标度,评估IPFC在典型应用场景下的控制潜力、安全指标及投资价值。最后结合模糊分析给出IPFC方案的综合分值和整体评价,量化装置对系统的作用,为IPFC的规划应用工程提供一定理论依据和技术支撑。     

Stabilizing control of variable impedance power systems: Applications to variable series capacitor systems

In future electric power systems, it will be very important to utilize existing ac networks more effectively with the help of power electronics technology. It has become clear that various types of apparatus utilizing such power electronics technologies as variable series capacitors (VSrC) and high-speed phase shifters (HSPS) can improve transient stability and damping in one-machine, infinite-bus power systems. This paper presents a novel control scheme for variable impedance apparatus such as VSrC and HSPS devices in multi-machine power systems. First, this paper describes a comprehensive approach for control design of VSrC and HSPS apparatus. The proposed control scheme is based on the energy function of multi-machine power systems. The controllers are designed so that the time derivative of the energy function has a smaller negative value than that without controllers. In this sense, the present method assures the improvement of first-swing stability and damping. Next, the proposed control scheme is applied to VSrC apparatus. Digital simulations and eigenvalue analysis are conducted for a three-machine loop system and a five-machine radial system to demonstrate the effectiveness of the proposed method. The results make it clear that the proposed controllers for VSrC can significantly improve both the transient stability and the steady-state stability of power systems.     

A new methodology for identification of critical lines using damping sensitivity analysis

When an inter-area mode dominates a low-frequency oscillation in a stressed condition, control of the active power flow of interface lines, with compensating devices, can effectively reduce the electromechanical power oscillations. In general, interface lines in which inter-area oscillations are large are considered to be good locations for installation of compensating devices. A sensitivity analysis with respect to change in active power flow can provide an important factor in electric power system operation. This paper proposes a new methodology to calculate the damping sensitivity with respect to change in active power flow, which can be useful for accurate selection of critical lines from the viewpoint of small-signal stability. In the proposed methodology, a damping sensitivity index is used to select the critical lines to damp power system oscillations. This paper describes how to derive the damping sensitivity for the selected mode and illustrates an example applying the proposed algorithm to a simple two-area system and the New England 39-bus test system.     

The Control Strategy for an IPFC Based on the Energy Function

In order to be able to successfully apply interline power flow controllers (IPFCs) for power-system transient-stability improvement and for the damping of oscillations, proper control strategies should be applied to these devices. The basis for the implementation of such a strategy that is proposed in this paper is to know the energy function of a power system that includes IPFCs. Already-known energy functions that proved to be suitable for an electric-power system do not include such a device. Therefore, in this paper an energy function that considers the IPFC's action in the form of a supplement to the already-known structure-preserving energy functions was constructed. Furthermore, the strategy for implementing the newly developed IPFC energy functions in order to ensure a globally optimum control strategy in the Lyapunov sense is presented. The results of the numerical examples show that the magnitudes of the IPFC's series-injected voltages remain set to their maximum values and that only the angles of these voltages change, similar to the “bang-bang” control strategies proposed for some other FACTS devices.      

Robustness of damping control implemented by Energy Storage Systems installed in power systems

An Energy Storage System (ESS) installed in a power system can effectively damp power system oscillations through controlling exchange of either active or reactive power between the ESS and power system. This paper investigates the robustness of damping control implemented by the ESS to the variations of power system operating conditions. It proposes a new analytical method based on the well-known equal-area criterion and small-signal stability analysis. By using the proposed method, it is concluded in the paper that damping control implemented by the ESS through controlling its active power exchange with the power system is robust to the changes of power system operating conditions. While if the ESS damping control is realized by controlling its reactive power exchange with the power system, effectiveness of damping control changes with variations of power system operating condition. In the paper, an example of power system installed with a battery ESS (BESS) is presented. Simulation results confirm the analytical conclusions made in the paper about the robustness of ESS damping control. Laboratory experiment of a physical power system installed with a 35 kJ/7 kW Superconducting Magnetic Energy Storage (SMES) was carried out to evaluate theoretical study. Results are given in the paper, which demonstrate that effectiveness of SMES damping control realized through regulating active power is robust to changes of load conditions of the physical power system.     

微电网电磁时间尺度相角稳定性分析

随着电力电子化的分布式可再生能源大规模接入电网,同步振荡和谐波失稳现象越来越受到人们的关注。相较于传统的电力系统,新型微电网更多地表现出负阻抗性、低惯性、负阻尼性和能量的双向流动性。基于此,文章提出了一种基于小信号的电磁时间尺度相角稳定性分析方法。首先,建立了电磁时间尺度电力变换器的小信号模型,通过系统相角与分布式电源无功功率的内在联系得到电力变换器的相角稳定性指标;然后,建立了电力变换器的闭环传递函数并通过特征值分析得到相角稳定域;最后,通过仿真和实验验证了所提的微电网电磁时间尺度相角稳定性分析方法。     

采用广域测量信号的互联电网区间阻尼控制

在大型互联电力系统中，区间模式的低频振荡是限制传输能力的严重瓶颈之一，而经典阻尼控制(如PSS)因限于局部测量不能很好地解决这个问题。迅速发展的广域测量系统能在全网范围内精确测量和高速传递机组相对功角和角频率等量，使得采用广域测量信号构成全局性的区间阻尼控制系统成为可能，进而为提高互联电网的功角稳定性和传输容量提供了契机。文中在一个简单的2区4机电力系统中，研究了采用广域测量信号实现励磁控制器区间阻尼控制环节的设计原理、实现方法和仿真效果，说明了基于广域测量系统的区间阻尼控制能有效抑制区间低频振荡和提高互联系统的传输容量，而且可工程实现。同时就设计适用于复杂电力系统的广域阻尼控制系统提出了一些关键性理论和实际问题，以供进一步深入研究。