A novel excitation controller to damp subsynchronous oscillations

A novel supplementary subsynchronous damping controller (SSDC) is proposed for the generator excitation system which is capable of damping out subsynchronous oscillations in power systems with series compensated transmission lines. It is shown that the controller is able to stabilize all unstable modes for all compensation ratios. Eigenvalue analysis and transient simulations of detailed nonlinear system are considered to investigate the performance of the controller. Robustness of the controller has been analyzed by facing the system with disturbances leading to significant changes in generator operating point. The IEEE Second Benchmark Model is considered as the system under study. All the simulations are carried out in MATLAB/SIMULINK environment.     

Active and reactive power control of a VSC-HVdc

Voltage source converter-based HVdc (VSC-HVdc) systems have the ability to rapidly control the transmitted active power, and also to independently exchange reactive power with transmissions systems. Due to these characteristics, VSC-HVdcs with a suitable control scheme can offer an alternative means to enhance transient stability, to improve power oscillations damping, and to provide voltage support. In this paper, a VSC-HVdc is represented by a simple model, referred to as the injection model. Based on this model, an energy function is developed for a multi-machine power system including VSC-HVdcs. Furthermore, based on Lyapunov theory (control Lyapunov function) and small signal analysis (modal analysis), various control strategies for transient stability and damping of low-frequency power oscillations are derived.     

故障后阻尼评估下的控制参数协调优化

提出一种优化阻尼控制参数的新方法,以改善系统在遭受大扰动后的动态品质。算法包含一个先阻尼评估后参数优化的过程,将基于单机等效法(single machine equivalent,SIME)的普罗尼(Prony)分析用于对故障后系统振荡的阻尼评估。所得到的阻尼比作为大扰动下控制效果的评估指标。若系统振荡欠阻尼,则以该阻尼比作为变量构造目标函数,将遗传算法与上述阻尼评估过程相结合对控制参数进行协调优化。6机双馈入直流系统和50机145节点模拟系统的仿真结果表明：算法准确地提取了多机系统故障后振荡的关键信息;阻尼比作为阻尼控制措施的评估指标切实可行;阻尼控制参数的二次优化使系统在大扰动后仍能满足阻尼性能指标的要求,并且有效地抑制了故障后欠阻尼的振荡。     

利用多端统一潮流控制器阻尼多模态振荡

研究了多机系统中使用统一潮流控制器(UPFC)抑制电力系统多模态振荡的可行性.首先推导了作为UPFC概念延伸的多端统一潮流控制器(MUPFC)的非线性动态模型和线性化的Phillips-Heffron模型.利用UPFC和MUPFC具有多个控制回路的特点,提出在其多个控制回路上附加多个阻尼控制器来阻尼多模态振荡.通过模态分析,采用可控性指标对系统中的各个弱阻尼模态选取有效的控制回路,并设计了附加阻尼控制器.仿真结果表明,通过该方法确定的在一个UPFC或MUPFC上设置的多个附加阻尼控制器能够成功实现对电力系统多模态振荡的抑制.     

利用随机响应的低频振荡模式估计方法比较分析

电力系统随机响应中蕴含着低频振荡模式信息。比较了自相关分析、自然激励技术和随机减量技术等三种方法从随机响应中提取系统自由振荡响应的应用,然后结合特征系统实现算法估计振荡模式频率和阻尼比。通过四机两区域系统和新英格兰系统的蒙特卡洛仿真,从时间窗长、噪声水平、模式阻尼状态及多通道随机响应的模式估计方面,对比分析了三种方法的估计性能和适用性。仿真结果表明,基于自相关分析的自由振荡响应提取方法具有更好的适应性,模式估计精度优于基于自然激励技术和随机减量技术的估计方法。     

DFIG Oscillation Modes Causing Strong Dynamic Interactions to Degrade the Damping of Power System Low-Frequency Electromechanical Oscillations

Open-loop modal coupling is the closeness of an open-loop oscillation mode of a grid-connected DFIG to an open-loop electromechanical oscillation mode of a power system on the complex plane. When the open-loop modal coupling occurs, the dynamic interactions between the DFIG and the power system become strong and may degrade the damping of the low-frequency electromechanical oscillations (LEPOs) of the power system. In this article, analysis is carried out to explain why the open-loop modal coupling may cause the damping degradation of the LEPOs. By deriving the simplified open-loop transfer function matrices of the DFIG, existence of open-loop DFIG oscillation modes to cause the open-loop modal coupling is analytically examined. Conclusions of analytical examination are: (1) If the rotor speed is used as the input signal to the active power control outer loop of the rotor side converter (RSC) or the generic type 3 model is adopted by the reactive power control outer loop of the RSC, the DFIG may have an open-loop oscillation mode to cause the open-loop modal coupling; (2) The PLL may also contribute to an open-loop oscillation mode of the DFIG. Study cases are presented to demonstrate and evaluate the analysis and conclusions.     

基于底载分配的大型结构件调频方法研究及运用

结构共振是诱发大型结构件机体振动的常见故障,通常需要通过结构改进以调整固有频率,由于实施难度大,经常采用阻尼方案抑制振动,但并未改变机体结构共振属性。提出一种无需改变机组结构及添加阻尼,仅通过底载调整以改变大型结构件固有频率的技术思路。利用有限元方法建立发电机模型并进行静力学和模态分析,计算不同底载分配状态对结构固有频率的影响。进而开展模拟实验,通过调整发电机机体阶梯形垫片改变其底载分配,并通过振动模态测试获得其结构固有频率。理论分析和实验结果表明：改变底载分配可有效调整大型结构件固有频率,使其避开工作频率,避免结构共振。运用该方法成功解决了秦山二厂发电机机壳结构共振问题。     

Study of fault location effect on the inter-area oscillations in stressed power systems using modal series method

Heavily loaded, stressed power systems exhibit complex dynamic behavior such as auto and hetero parametric resonances and inter-area oscillations when subjected to a disturbance. These behaviors cannot be analyzed by conventional linearization-based methods. Nonlinear tools, such as normal form and modal series methods can be utilized for studying and understanding these complex behaviors. In this paper, using modal series technique, the effect of fault location and duration on the dynamic performance of stressed power systems is investigated. Three indices are defined and used to explain the effect of different fault scenarios on the transient behaviors of the system. Also, a qualitative analysis of plant mode and inter-area mode type behaviors are presented and typical differences are highlighted. The numerical simulations on the IEEE 50-Generator test system demonstrate validity of the study carried out by modal series analysis.     

基于广域信息的发电机电压控制抑制区间低频振荡方法

为了在线抑制区间低频振荡,提出了一种基于广域信息的发电机电压控制方法。在发电机机端电压调整对系统振荡模式阻尼影响机理基础上,分析了电压控制对局部振荡模式和区域振荡模式的影响。基于发电机主导振荡模式下参与因子计算进行控制点选取;通过参与振荡的发电机分群计算两群机组振荡相角的均值,判别相角均值大的机群为领前群并提升领前群机组的电压;基于机组的调度区域属性区分局部振荡模式和区域振荡模式。南方电网算例分析结果表明,该方法能有效抑制低频振荡,证明了方法的正确性和有效性。     

The development of generator modeling techniques for multimode oscillations and study of generator H ∞ control design method for robust control

Modern electric power systems of Japan are characterized by high density, wide area coverage, and a complicated structure. Multimode oscillations occur in the generators connected to the systems. These oscillations represent a combination of high‐ and low‐frequency modes that occur between individual power systems and oscillations of other types, such as the SSR and cross‐compound machine oscillations, which are characteristic mode oscillations of generators. In this paper, we first construct a real model of the generator that realizes the multimode oscillations. Next, model reduction of this real model is carried out, and a design model to be used for the control design is constructed. The H ∞ control design based on the modern control theory is presented by using this design model, which implements the damping of power system oscillations and robust stabilization of other multiple modes. In conclusion, we confirm that the target parameters of the control design have been achieved. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 147(1): 42–52, 2004; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10253     

A comparative study of damping schemes on damping generatoroscillations

Results of a comparative study of the application of three different compensators, the power system stabilizer (PSS), the static VAR compensator (SVC), and the rectifier current regulator (RCR), for the damping enhancement of generator oscillations in a power system are presented. In order to enhance the dampings of both the mechanical mode and the exciter mode in the system, a unified approach based on modal control theory is proposed for the design of the PSS, the SVC, and the RCR. A proportional-integral-derivative (PID) type controller using generator speed deviation as a modulated signal to generate the desired damping is proposed, and it is shown that both affected system modes can be exactly located at the prespecified positions on the complex plane by the proposed damping schemes. To demonstrate the effectiveness of the proposed PID controllers and their relative merits, a frequency-domain study based on eigenvalue analysis under different operating conditions and a time-domain study based on nonlinear model simulations under disturbance conditions are performed     

Power system reduction to simplify the design of dampingcontrollers for interarea oscillations

This paper describes the application of a reduction method to power systems to obtain simplified models that facilitate the design of damping controllers. The reduced system retains the lightly damped swing of interest and exhibits modal characteristics similar to the unreduced system in the frequency range associated with swing modes. A power system damping controller is designed using a reduced system. The modal characteristics of the reduced and unreduced system with the damping controller included, are compared. The validity of the control design is assessed via nonlinear simulations. The reduction method is simple to implement and is based on the computation of the observability and controllability Gramians     

Stabilization of multimodal electromechanical oscillations bycoordinated application of power system stabilizers

The author presents a hybrid methodology which utilizes modal sensitivity and frequency-domain analysis to coordinate power system stabilizers in multimachine systems. The approach permits robust stabilization of multimodal electromechanical oscillations by the minimal number of coordinated stabilizers. For the monitoring of nonlinear system response, a spectral technique is proposed which provides an insight into the time-frequency distribution of energy of electromechanical oscillations. This monitoring technique is used for the fast examination of the damping efficiency and robustness of coordinated stabilizers in the well-known ten-machine test system     

航空电反推驱动用永磁同步电机振动及强度分析

电机的模态是分析振动的基础,由固有频率、振型和阻尼比决定。当电机工作时的激振频率与某一阶的固有频率相同或者相近时,会产生共振,导致电机剧烈振动,影响其正常运转。在对应用于航空电反推系统的双通道永磁同步电机PMSM进行三维建模之后,将三维模型送入ANSYS Workbench,在ANSYS工作平台上进行电机模态、响应谱分析与冲击响应的仿真。给出了该电机的前6阶次的固有频率和振型,以及在外加响应谱下的电机等效应力与在瞬态冲击下的电机机械结构上的应力分布。     

多区域单机等效法分析和控制故障后区间振荡

针对故障后系统的区间振荡,提出改进的单机等效法分析不同区域间的相互作用,并制定相应的控制措施。根据故障后各发电机功角的振荡轨迹,将系统划分为若干个主导振荡区域和非主导振荡区域,并将多区域系统进一步等效为单机无穷大母线(one machine infinite bus,OMIB)系统。定义并计算不同区域间的相对动能及OMIB系统动能,用于分析不同区域间的非线性相互作用。采用傅里叶频谱分析和Prony分析辨识OMIB系统参数,得到故障后系统的主导振荡模式及相应的阻尼比。基于上述分析,提出调整故障前各区域发电机出力的方法以减少区间的相对动能,抑制互联区域振荡。算法用于分析和控制IEEE5区域16机标准测试系统的故障后区间振荡。仿真结果表明,算法不但能准确辨识故障后的主导振荡模式,且能分析多种区间模式的非线性相互作用;控制措施显著地提升了系统阻尼,抑制了故障后系统的区间低频振荡。     

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.     

Damping controller design for power system oscillations usingglobal signals

This paper describes a new power system stabilizer (PSS) design for damping power system oscillations focusing on interarea modes. The input to the PSS consists of two signals. The first signal is mainly to damp the local mode in the area where PSS is located using the generator rotor speed as an input signal. The second is an additional global signal for damping interarea modes. Two global signals are suggested; the tie-line active power and speed difference signals. The choice of PSS location, input signals and tuning is based on modal analysis and frequency response information. These two signals can also be used to enhance damping of interarea modes using SVC located in the middle of the transmission circuit connecting the two oscillating groups. The effectiveness and robustness of the new design are tested on a 19-generator system having characteristics and structure similar to the Western North American grid     

柔性直流配电系统稳定性及其控制关键问题

柔性直流配电系统大多采用电力电子设备与交流系统互联、接纳分布式电源与负荷,呈低惯性弱阻尼特性,同时分布式电源与负荷的随机性波动致使运行具有时变特性,易产生不同频率的振荡甚至失稳现象。文中总结了柔性直流配电系统稳定性分析及控制方面遇到的挑战,指出其多时间尺度与随机特性是技术上面临的主要难题。通过总结建模、振荡机理与稳定性分析以及稳定控制方面的研究现状,展望了未来在多时间尺度建模与振荡机理、随机扰动稳定性分析以及时变场景鲁棒稳定控制方面的关键问题,为柔性直流配电系统的稳定性研究提供思路。     

Selection of the best siting of static var compensators for effective damping

A static Var compensator (SVC) can improve the steady-state stability (or the small signal stability), if it is located appropriately. The present paper proposes a method for selecting the best siting of SVC in large-scale power systems for damping effectively. Conventionally, it is thought that SVC improves steady-state stability by its voltage regulating ability. From this point of view, the stability can be improved significantly if SVC is located at the bus which has a large voltage fluctuation due to the lightly damped power swing mode. In contrast to the conventional viewpoint, the present paper makes it clear that the steady-state stability deteriorates by the conventional voltage regulating control of SVC in some cases. Therefore, the voltage fluctuation is not an appropriate index for effective damping. This paper explains the mechanism of improvement of steady-state stability by SVC in terms of modal analysis. On the basis of modal analysis, an index for determining the location of SVC is derived. The index is called LIED (Location Index for Effective Damping) by the authors. Digital simulations are conducted for an 8-machine longitudinal system and a 29-machine looped system to demonstrate the validity of the proposed index.     

Power system damping from energy function analysis implemented by voltage-source-converter stations

Because weakly damped system oscillations can endanger the secure operation of power systems, this paper is a study on how damping can be increased. As the power system is nonlinear, an energy function approach, patterned after the direct method of Lyapunov function, is used in the analysis. The analysis develops an energy function W and shows that a real power term (proportional to local frequency) and/or a reactive power term (proportional to the line voltage differentiated with respect to time) increase the rate of diminution of the energy function W. This implies effective damping of power swings by such power signals and is verified by simulations of a multi-machine system model. The damping signals are introduced by voltage-source-converter (VSC) stations.