Speed regulator control method and system for coping with ultralow frequency oscillation

Abstract

The invention provides a speed regulator control method and system for coping with ultralow frequency oscillation, and the method comprises the steps: obtaining the frequency data of a hydropower system in real time, and carrying out the filtering processing based on the original frequency data, thereby obtaining the filtering frequency data; constructing a first discrimination vector based on the filtering frequency data, determining a current oscillation occurrence probability based on the first discrimination vector, and determining whether to start an additional damping controller of the speed regulator based on the current oscillation occurrence probability; predicting frequency data of a plurality of time points in the future based on the current original frequency data, constructing filtering frequency data corresponding to each time point based on the predicted frequency data of the plurality of time points in the future, and constructing a second discrimination vector corresponding to each time point based on the filtering frequency data of each time point; and determining oscillation occurrence probabilities at multiple time points based on the multiple second discrimination vectors, and determining whether to start an additional damping controller of the speed regulator based on the oscillation occurrence probabilities at the multiple time points.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid management, and in particular to a speed regulator control method and system for coping with ultra-low frequency oscillation. Background Art

[0002] In hydropower systems, the importance of suppressing ultra-low frequency oscillations cannot be ignored, as it is directly related to the safe and stable operation of the power system, the reliability and economy of power supply. Ultra-low frequency oscillations, as a specific power system oscillation phenomenon, have a frequency far lower than the normal operating frequency of the system, and usually occur in large power networks containing a large number of hydropower generators. This oscillation will not only cause drastic fluctuations in the speed, power, voltage and other parameters of the generator set, but may also trigger a chain reaction, affecting the stability of the entire power system.

[0003] First, from the perspective of safe and stable operation, ultra-low frequency oscillations may cause the hydro-generator set and its auxiliary equipment to bear excessive mechanical and thermal stress, accelerate the wear and aging of the equipment, and even cause equipment failure, posing a serious threat to power production and transmission. In extreme cases, ultra-low frequency oscillations may cause system collapse, resulting in large-scale power outages, seriously affecting social production and people's lives. Secondly, suppressing ultra-low frequency oscillations is crucial to ensuring the reliability of power supply. Electricity is the lifeblood of modern society, and any form of power outage may bring serious economic losses and social impacts. The system instability and power outage risks caused by ultra-low frequency oscillations will directly affect industrial production, commercial operations, residents' lives and many other aspects, causing immeasurable losses.

[0004] The existing ultra-low frequency oscillation response solutions are often based on the occurrence of ultra-low frequency oscillations and then adjusting the hydropower system, which often has a lag.

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] The purpose of the present invention is to provide a speed regulator control method and system for dealing with ultra-low frequency oscillations. This scheme determines the probability of occurrence of ultra-low frequency oscillations at multiple future time points through a second discriminant vector at multiple future time points, and pre-applies an additional damping controller to reduce the risk of ultra-low frequency oscillations.

[0007] The present invention provides a speed regulator control method for coping with ultra-low frequency oscillation, the method comprising the steps of:

[0008] Acquire frequency data of the hydropower system in real time, perform filtering based on the original frequency data, and obtain filtered frequency data;

[0009] constructing a first discriminant vector based on the filtering frequency data, determining a current probability of oscillation based on the first discriminant vector, and determining whether to start an additional damping controller of the speed regulator based on the current probability of oscillation;

[0010] Predicting frequency data of multiple future time points based on current original frequency data, constructing filtered frequency data corresponding to each time point based on the predicted frequency data of multiple future time points, and constructing a second discriminant vector corresponding to each time point based on the filtered frequency data of each time point;

[0011] The probability of oscillation occurring at multiple time points is determined based on the multiple second discriminant vectors, and whether to start the additional damping controller of the speed regulator is determined based on the probability of oscillation occurring at the multiple time points.

[0012] Adopting the above scheme, this scheme first constructs a first discriminant vector through the frequency data of the hydropower system collected in real time, calculates the probability of occurrence of ultra-low frequency oscillation based on the first discriminant vector based on the machine learning model, and determines whether to start the additional damping controller according to the probability of occurrence of ultra-low frequency oscillation; further, this scheme determines the probability of occurrence of ultra-low frequency oscillation at multiple time points in the future through the second discriminant vector at multiple time points in the future, and pre-applies the additional damping controller to reduce the risk of ultra-low frequency oscillation.

[0013] In some embodiments of the present invention, in the step of performing filtering processing based on the original frequency data to obtain filtered frequency data or constructing filtered frequency data corresponding to each time point based on frequency data predicted at multiple future time points, the original frequency data or the frequency data at future time points are filtered by low-pass filtering.

[0014] Adopting the above scheme, this scheme uses low-pass filtering to filter the frequency data. Since ultra-low frequency oscillation is usually only related to low-frequency data, this scheme directly filters out high-frequency data and retains low-frequency data to ensure data validity.

[0015] In some embodiments of the present invention, in the step of constructing a first discriminant vector based on the filtering frequency data or constructing a second discriminant vector corresponding to each time point based on the filtering frequency data at each time point, the frequency value of each time point in the filtering frequency data is used as the value of a dimension in the first discriminant vector or the second discriminant vector.

[0016] In some embodiments of the present invention, in the step of using the frequency value of each time point in the filtered frequency data as the value of a dimension in the first discriminant vector or the second discriminant vector, the frequency value of the time point filtered out by the low-pass filter is supplemented with a preset standard value.

[0017] In some embodiments of the present invention, in the step of determining whether to start the additional damping controller of the speed regulator based on the current probability of oscillation occurrence or determining whether to start the additional damping controller of the speed regulator based on the probability of oscillation occurrence at multiple time points:

[0018] Determine whether the current additional damping controller has been started;

[0019] If not started, starting the additional damping controller with a preset first starting parameter as an operating parameter;

[0020] If it has been started, the operating parameters of the current additional damping controller are obtained, an operating parameter change instruction is submitted, and updated operating parameters obtained in response to the operating parameter change instruction are accepted, and the additional damping controller is operated with the updated operating parameters.

[0021] By adopting the above scheme, when the additional damping controller is started for the first time, the additional damping controller is started with the preset first starting parameter as the operating parameter. If the probability of ultra-low frequency oscillation is continuously determined to be high, it means that more precise adjustment is needed. When the probability of ultra-low frequency oscillation is continuously determined to be high, the scheme reports it, and the control end resets the operating parameters of the additional damping controller to reduce the probability of ultra-low frequency oscillation.

[0022] In some embodiments of the present invention, in the step of determining whether to start the additional damping controller of the speed regulator based on the current oscillation occurrence probability, the oscillation occurrence probability is compared with a preset determination threshold to determine whether to start the additional damping controller of the speed regulator.

[0023] In some embodiments of the present invention, in the step of determining the probability of oscillation occurrence at multiple time points based on multiple second discriminant vectors, and determining whether to start the additional damping controller of the speed regulator based on the probability of oscillation occurrence at multiple time points:

[0024] Compare the probability of oscillation occurrence at multiple time points with a preset determination threshold;

[0025] If the probability of oscillation at each time point is greater than the preset determination threshold, the probability of oscillation at multiple time points is determined to determine the oscillation trend;

[0026] Based on the oscillation occurrence trend, it is determined whether to start an additional damping controller of the speed controller.

[0027] In some embodiments of the present invention, in the step of determining whether to start the additional damping controller of the speed controller based on the oscillation occurrence trend:

[0028] Construct a plane rectangular coordinate system based on the time points and the probability of shock occurrence, and mark the corresponding position of the shock occurrence probability at each time point;

[0029] Connect the corresponding positions of every two adjacent time points and calculate the slope of the connecting line;

[0030] The average value of the slopes of all the connecting lines is compared with a preset trend threshold value to determine whether to start the additional damping controller of the speed controller.

[0031] Adopting the above scheme, this scheme constructs a plane rectangular coordinate system based on the predicted probability of oscillation at multiple time points, and marks the corresponding position of each time point. For the corresponding positions connecting every two adjacent time points, the development trend of the probability of oscillation is determined based on the slope of each connecting line. If the trend continues to increase, it indicates the necessity of adjusting through an additional damping controller to reduce the risk of ultra-low frequency oscillation.

[0032] In some embodiments of the present invention, the method further comprises:

[0033] If the current additional damping controller is not started, the additional damping controller of the speed regulator is started based on the current probability of oscillation occurrence, and the additional damping controller of the speed regulator is started based on the probability of oscillation occurrence at multiple time points, and the additional damping controller is started with the preset second starting parameter as the operating parameter.

[0034] By adopting the above scheme, if the additional damping controller is started through both judgments, it means that firstly, the current probability of ultra-low frequency oscillation is high enough, and there is a subsequent trend of intensifying the occurrence of ultra-low frequency oscillation. In this case, the additional damping controller is started with the second starting parameter, and the damping strength of the second starting parameter is greater than that of the first starting parameter, so as to facilitate timely control of the ultra-low frequency oscillation.

[0035] Another aspect of the present invention also relates to a speed regulator control system for coping with ultra-low frequency oscillations, the system comprising a computer device, the computer device comprising a processor and a memory, the memory storing computer instructions, the processor being used to execute the computer instructions stored in the memory, and when the computer instructions are executed by the processor, the system implements the steps implemented by the method.

[0036] In summary, the present invention has the following beneficial effects:

[0037] 1. This scheme first constructs a first discriminant vector through the frequency data of the hydropower system collected in real time, calculates the probability of occurrence of ultra-low frequency oscillation based on the machine learning model through the first discriminant vector, and determines whether to start the additional damping controller through the probability of occurrence of ultra-low frequency oscillation; further, this scheme determines the probability of occurrence of ultra-low frequency oscillation at multiple time points in the future through the second discriminant vector at multiple time points in the future, and pre-applies the additional damping controller to reduce the risk of ultra-low frequency oscillation;

[0038] 2. When the additional damping controller is started for the first time, the additional damping controller is started with the preset first starting parameter as the operating parameter. If the probability of ultra-low frequency oscillation is continuously determined to be high, it means that more precise adjustment is required. When the probability of ultra-low frequency oscillation is continuously determined to be high, the control end will report it, and the operating parameters of the additional damping controller will be reset to reduce the probability of ultra-low frequency oscillation.

[0039] 3. This scheme constructs a plane rectangular coordinate system based on the predicted probability of oscillation at multiple time points, and marks the corresponding position of each time point. For the corresponding positions connecting every two adjacent time points, the development trend of the probability of oscillation is determined based on the slope of each connecting line. If the trend continues to increase, it indicates the necessity of adjusting through an additional damping controller to reduce the risk of ultra-low frequency oscillation;

[0040] 4. If the additional damping controller is started through both judgments, it means that the current probability of ultra-low frequency oscillation is high enough, and there is a trend of intensifying ultra-low frequency oscillation in the future. In this case, the additional damping controller is started with the second starting parameter. The damping strength of the second starting parameter is greater than that of the first starting parameter, so as to timely control the ultra-low frequency oscillation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 It is a schematic diagram of a first implementation mode of a speed regulator control method for coping with ultra-low frequency oscillation according to the present invention;

[0043] Figure 2 is a schematic diagram of a second implementation of a speed regulator control method for coping with ultra-low frequency oscillation according to the present invention;

[0044] Figure 3 It is a schematic diagram of a third implementation mode of the speed regulator control method for coping with ultra-low frequency oscillation according to the present invention. DETAILED DESCRIPTION

[0045] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0046] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0047] like Figure 1 As shown, the present invention provides a speed regulator control method for dealing with ultra-low frequency oscillation, the method comprising the steps of:

[0048] Step S100, acquiring frequency data of the hydropower system in real time, and performing filtering processing based on the original frequency data to obtain filtered frequency data;

[0049] In a specific implementation process, the frequency data of the hydropower system is directly obtained from the system, and in the step of performing filtering processing based on the original frequency data, low-pass filtering is used for filtering processing.

[0050] Step S200, constructing a first discriminant vector based on the filtering frequency data, determining the current probability of oscillation based on the first discriminant vector, and determining whether to start an additional damping controller of the speed regulator based on the current probability of oscillation;

[0051] In a specific implementation process, the first discriminant vector includes frequency values ​​of a preset number of time points, wherein the frequency values ​​of the time points deleted by filtering are supplemented with preset standard values.

[0052] Step S300, predicting frequency data of multiple future time points based on the current original frequency data, constructing filtered frequency data corresponding to each time point based on the predicted frequency data of multiple future time points, and constructing a second discriminant vector corresponding to each time point based on the filtered frequency data of each time point;

[0053] In a specific implementation process, the number of dimensions of the second discriminant vector is the same as the number of dimensions of the first discriminant vector.

[0054] In some embodiments of the present invention, in the step of predicting the frequency data at multiple future time points based on the current original frequency data, a pre-trained long short-term memory network model is used to predict the frequency data at multiple future time points;

[0055] Specifically, LSTM (Long Short-Term Memory) is a special recurrent neural network (RNN) that solves the gradient vanishing problem of ordinary RNN in long sequence data processing by introducing memory units (Cell State) and a series of gating mechanisms;

[0056] LSTM is designed to solve the gradient vanishing and exploding problems of RNN and improve the network's ability to capture long-term dependencies. Its core improvement lies in the introduction of memory units and three key gating mechanisms: input gate, forget gate, and output gate.

[0057] Memory unit: LSTM introduces a long-term memory unit to store important information, and controls the storage, forgetting and output of information through a gating mechanism. This design enables LSTM to "remember" key information in a sequence rather than relying on a single hidden state.

[0058] Input gate: determines the extent to which the current input information is written into the memory cell. It determines the current input value and what information in the hidden state (or short-term memory) of the previous time step needs to be added to the memory cell.

[0059] Forget gate: Decides whether to "forget" the historical information stored in the memory unit, allowing the model to selectively "clear" irrelevant information. The forget gate mechanism allows LSTM to flexibly and selectively discard irrelevant historical information, thereby preventing the state of the memory unit from being accumulated by irrelevant information.

[0060] Output gate: determines the output of the information in the memory cell at the current time step. That is, it controls the output of the content of the memory cell at the current time step.

[0061] Step S400: determining the oscillation occurrence probabilities at multiple time points based on multiple second discriminant vectors, and determining whether to start the additional damping controller of the speed regulator based on the oscillation occurrence probabilities at multiple time points.

[0062] Adopting the above scheme, this scheme first constructs a first discriminant vector through the frequency data of the hydropower system collected in real time, calculates the probability of occurrence of ultra-low frequency oscillation based on the first discriminant vector based on the machine learning model, and determines whether to start the additional damping controller according to the probability of occurrence of ultra-low frequency oscillation; further, this scheme determines the probability of occurrence of ultra-low frequency oscillation at multiple time points in the future through the second discriminant vector at multiple time points in the future, and pre-applies the additional damping controller to reduce the risk of ultra-low frequency oscillation.

[0063] In some embodiments of the present invention, in the step of performing filtering processing based on the original frequency data to obtain filtered frequency data or constructing filtered frequency data corresponding to each time point based on frequency data predicted at multiple future time points, the original frequency data or the frequency data at future time points are filtered by low-pass filtering.

[0064] Adopting the above scheme, this scheme uses low-pass filtering to filter the frequency data. Since ultra-low frequency oscillation is usually only related to low-frequency data, this scheme directly filters out high-frequency data and retains low-frequency data to ensure data validity.

[0065] In some embodiments of the present invention, in the step of constructing a first discriminant vector based on the filtering frequency data or constructing a second discriminant vector corresponding to each time point based on the filtering frequency data at each time point, the frequency value of each time point in the filtering frequency data is used as the value of a dimension in the first discriminant vector or the second discriminant vector.

[0066] In some embodiments of the present invention, in the step of using the frequency value of each time point in the filtered frequency data as the value of a dimension in the first discriminant vector or the second discriminant vector, the frequency value of the time point filtered out by the low-pass filter is supplemented with a preset standard value.

[0067] In some embodiments of the present invention, in the step of determining whether to start the additional damping controller of the speed regulator based on the current probability of oscillation occurrence or determining whether to start the additional damping controller of the speed regulator based on the probability of oscillation occurrence at multiple time points:

[0068] Determine whether the current additional damping controller has been started;

[0069] If not started, starting the additional damping controller with a preset first starting parameter as an operating parameter;

[0070] If it has been started, the operating parameters of the current additional damping controller are obtained, an operating parameter change instruction is submitted, and updated operating parameters obtained in response to the operating parameter change instruction are accepted, and the additional damping controller is operated with the updated operating parameters.

[0071] In a specific implementation process, the first startup parameter and the second startup parameter both include a gain parameter, a phase parameter, an output limit parameter, a filter parameter, and a time constant of a lead-lag link:

[0072] Gain: Gain determines the degree to which GPSS amplifies the input signal. During the adjustment process, it is necessary to find an appropriate gain value to ensure that GPSS can generate sufficient damping torque to suppress ultra-low frequency oscillations while avoiding system instability caused by excessive gain.

[0073] Phase: Phase adjustment is crucial to ensure the phase relationship between the GPSS output signal and the generator speed deviation signal. By adjusting the phase, the GPSS can generate a reverse mechanical power (torque) increment in time when the generator speed deviates, thereby increasing the positive damping of the system.

[0074] Output Limiter: Output limiter is used to limit the maximum and minimum values ​​of the GPSS output signal. This helps prevent the GPSS from generating excessive control signals under extreme conditions, thereby protecting the governor and generator from damage.

[0075] Filter parameters: GPSS usually contains filters to pre-process the input signal. The parameters of the filter (such as cut-off frequency, filter order, etc.) will affect the frequency components and phase relationship of the input signal. Therefore, when adjusting the GPSS, the filter parameters need to be carefully adjusted to ensure that the input signal can accurately reflect the speed deviation of the generator and avoid introducing unnecessary noise and interference.

[0076] Lead-lag time constants: These time constants determine the response speed and stability of the GPSS to changes in the input signal. By adjusting these time constants, the dynamic performance of the GPSS can be optimized to better adapt to different system conditions and oscillation modes.

[0077] By adopting the above scheme, when the additional damping controller is started for the first time, the additional damping controller is started with the preset first starting parameter as the operating parameter. If the probability of ultra-low frequency oscillation is continuously determined to be high, it means that more precise adjustment is needed. When the probability of ultra-low frequency oscillation is continuously determined to be high, the scheme reports it, and the control end resets the operating parameters of the additional damping controller to reduce the probability of ultra-low frequency oscillation.

[0078] In some embodiments of the present invention, in the step of determining whether to start the additional damping controller of the speed regulator based on the current oscillation occurrence probability, the oscillation occurrence probability is compared with a preset determination threshold to determine whether to start the additional damping controller of the speed regulator.

[0079] In the specific implementation process, in the step of comparing the oscillation occurrence probability with the preset determination threshold to determine whether to start the additional damping controller of the speed controller, if the oscillation occurrence probability is greater than the preset determination threshold, it is determined to start the additional damping controller of the speed controller.

[0080] like Figure 3 As shown, in some embodiments of the present invention, the step of determining the probability of oscillation occurrence at multiple time points based on multiple second discriminant vectors, and determining whether to start the additional damping controller of the speed regulator based on the probability of oscillation occurrence at multiple time points includes:

[0081] Step S410, comparing the probability of occurrence of shocks at multiple time points with a preset determination threshold;

[0082] Step S420, if the probability of oscillation occurrence at each time point is greater than a preset determination threshold, the probability of oscillation occurrence at multiple time points is determined to determine the oscillation occurrence trend;

[0083] Step S430: determining whether to start an additional damping controller of the speed controller based on the oscillation occurrence trend.

[0084] In some embodiments of the present invention, in the step of determining whether to start the additional damping controller of the speed controller based on the oscillation occurrence trend:

[0085] Construct a plane rectangular coordinate system based on the time points and the probability of shock occurrence, and mark the corresponding position of the shock occurrence probability at each time point;

[0086] Connect the corresponding positions of every two adjacent time points and calculate the slope of the connecting line;

[0087] The average value of the slopes of all the connecting lines is compared with a preset trend threshold value to determine whether to start the additional damping controller of the speed controller.

[0088] In the specific implementation process, in the step of comparing the average value of the slopes of all the connecting lines with the preset trend threshold to determine whether to start the additional damping controller of the speed controller, it is determined whether the average value of the slopes of all the connecting lines is greater than 0. If so, the additional damping controller of the speed controller is started.

[0089] Adopting the above scheme, this scheme constructs a plane rectangular coordinate system based on the predicted probability of oscillation at multiple time points, and marks the corresponding position of each time point. For the corresponding positions connecting every two adjacent time points, the development trend of the probability of oscillation is determined based on the slope of each connecting line. If the trend continues to increase, it indicates the necessity of adjusting through an additional damping controller to reduce the risk of ultra-low frequency oscillation.

[0090] like Figure 2 and 3 As shown, in some embodiments of the present invention, the steps of the method further include:

[0091] Step S500, if the current additional damping controller is not started, the additional damping controller of the speed regulator is started based on the current probability of oscillation occurrence, and the additional damping controller of the speed regulator is started based on the probability of oscillation occurrence at multiple time points, and the additional damping controller is started with the preset second starting parameter as the operating parameter.

[0092] By adopting the above scheme, if the additional damping controller is started through both judgments, it means that firstly, the current probability of ultra-low frequency oscillation is high enough, and there is a subsequent trend of intensifying the occurrence of ultra-low frequency oscillation. In this case, the additional damping controller is started with the second starting parameter, and the damping strength of the second starting parameter is greater than that of the first starting parameter, so as to facilitate timely control of the ultra-low frequency oscillation.

[0093] Another aspect of the present invention also relates to a speed regulator control system for coping with ultra-low frequency oscillations, the system comprising a computer device, the computer device comprising a processor and a memory, the memory storing computer instructions, the processor being used to execute the computer instructions stored in the memory, and when the computer instructions are executed by the processor, the system implements the steps implemented by the method.

[0094] The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the aforementioned speed regulator control method for dealing with ultra-low frequency oscillation is implemented. The computer-readable storage medium can be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field.

[0095] It should be understood by those skilled in the art that the exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0096] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0097] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or replace features of other embodiments.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A speed regulator control method for dealing with ultra-low frequency oscillation, characterized in that: The steps of the method include: Acquire frequency data of the hydropower system in real time, perform filtering based on the original frequency data, and obtain filtered frequency data; constructing a first discriminant vector based on the filtering frequency data, determining a current probability of oscillation based on the first discriminant vector, and determining whether to start an additional damping controller of the speed regulator based on the current probability of oscillation; Predicting frequency data of multiple future time points based on current original frequency data, constructing filtered frequency data corresponding to each time point based on the predicted frequency data of multiple future time points, and constructing a second discriminant vector corresponding to each time point based on the filtered frequency data of each time point; The probability of oscillation occurring at multiple time points is determined based on the multiple second discriminant vectors, and whether to start the additional damping controller of the speed regulator is determined based on the probability of oscillation occurring at the multiple time points.

2. The speed regulator control method for dealing with ultra-low frequency oscillation according to claim 1, characterized in that: In the step of performing filtering processing based on the original frequency data to obtain filtered frequency data or constructing filtered frequency data corresponding to each time point based on frequency data predicted at multiple future time points, the original frequency data or the frequency data at future time points are filtered by low-pass filtering.

3. The speed regulator control method for dealing with ultra-low frequency oscillation according to claim 2, characterized in that: In the step of constructing a first discriminant vector based on the filtered frequency data or constructing a second discriminant vector corresponding to each time point based on the filtered frequency data at each time point, the frequency value of each time point in the filtered frequency data is used as the value of a dimension in the first discriminant vector or the second discriminant vector.

4. The speed regulator control method for dealing with ultra-low frequency oscillation according to claim 3, characterized in that: In the step of using the frequency value of each time point in the filtered frequency data as the value of one dimension in the first discriminant vector or the second discriminant vector, the frequency value of the time point filtered out by the low-pass filter is supplemented with a preset standard value.

5. The speed regulator control method for dealing with ultra-low frequency oscillation according to any one of claims 1 to 4, characterized in that: In the step of determining whether to start the additional damping controller of the speed regulator based on the current probability of oscillation occurrence or determining whether to start the additional damping controller of the speed regulator based on the probability of oscillation occurrence at multiple time points: Determine whether the current additional damping controller has been started; If not started, starting the additional damping controller with a preset first starting parameter as an operating parameter; If it has been started, the operating parameters of the current additional damping controller are obtained, an operating parameter change instruction is submitted, and updated operating parameters obtained in response to the operating parameter change instruction are accepted, and the additional damping controller is operated with the updated operating parameters.

6. The speed regulator control method for dealing with ultra-low frequency oscillation according to claim 1, characterized in that: In the step of determining whether to start the additional damping controller of the speed regulator based on the current oscillation occurrence probability, the oscillation occurrence probability is compared with a preset determination threshold to determine whether to start the additional damping controller of the speed regulator.

7. The speed regulator control method for dealing with ultra-low frequency oscillation according to claim 1, characterized in that: In the step of determining the probability of oscillation occurrence at multiple time points based on multiple second discriminant vectors, and determining whether to start the additional damping controller of the speed regulator based on the probability of oscillation occurrence at multiple time points: Compare the probability of oscillation occurrence at multiple time points with a preset determination threshold; If the probability of oscillation at each time point is greater than the preset determination threshold, the probability of oscillation at multiple time points is determined to determine the oscillation trend; Based on the oscillation occurrence trend, it is determined whether to start an additional damping controller of the speed controller.

8. The speed regulator control method for dealing with ultra-low frequency oscillation according to claim 7, characterized in that: In the step of determining whether to start the additional damping controller of the speed controller based on the oscillation occurrence trend: Construct a plane rectangular coordinate system based on the time points and the probability of shock occurrence, and mark the corresponding position of the shock occurrence probability at each time point; Connect the corresponding positions of every two adjacent time points and calculate the slope of the connecting line; The average value of the slopes of all the connecting lines is compared with a preset trend threshold value to determine whether to start the additional damping controller of the speed controller.

9. The speed regulator control method for dealing with ultra-low frequency oscillation according to claim 1 or 8, characterized in that: The method further comprises the steps of: If the current additional damping controller is not started, the additional damping controller of the speed regulator is started based on the current probability of oscillation occurrence, and the additional damping controller of the speed regulator is started based on the probability of oscillation occurrence at multiple time points, and the additional damping controller is started with the preset second starting parameter as the operating parameter.

10. A speed regulator control system for dealing with ultra-low frequency oscillation, characterized in that: The system includes a computer device, which includes a processor and a memory, wherein the memory stores computer instructions, and the processor is used to execute the computer instructions stored in the memory. When the computer instructions are executed by the processor, the system implements the steps implemented by the method described in any one of claims 1 to 9.

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