A whole-process simulation monitoring system and method for a hydroelectric monitoring device

Abstract

The application discloses a whole-process simulation monitoring system and method of a hydroelectric monitoring device, and belongs to the technical field of power grids.The system comprises a physical monitoring system, wherein the physical monitoring system comprises a primary frequency modulation branch, a secondary frequency modulation branch and a power feedback branch; a pulse generator which controls an output pulse signal according to an input value; and a physical governor which is coupled with the hydroelectric monitoring device, and after the coupling is completed, the governor performs speed regulation action simulation according to the control pulse signal output by the pulse generator at different proportional gains of the control pulse signal.The application can accurately simulate the pulling effect of primary frequency modulation and secondary frequency modulation in the adjustment process, realize the decoupling of the primary frequency modulation and the secondary frequency modulation in the frequency adjustment process, and improve the simulation precision of the hydroelectric power system.

Description

Technical Field

[0001] This invention relates to the field of power grid technology, and more specifically, to a full-process simulation monitoring system and method for hydropower monitoring devices. Background Technology

[0002] In my country, the load and generation of the power system are inversely distributed. With the construction of a new power system dominated by new energy sources, the proportion of large-scale ultra-high-voltage AC / DC lines in the power grid is continuously increasing, as is the number of energy transmission bases asynchronously interconnected with the main grid. Simultaneously, to reduce the intermittency and uncertainty of new energy generation, my country has built a large number of pumped-storage hydroelectric plants. By the end of 2021, the world's largest pumped-storage hydroelectric plant, Fengning Hydroelectric Power Plant, will be connected to the grid. Consequently, some integrated energy bases are characterized by relatively small overall scale and a high proportion of hydropower, which objectively leads to a decline in the frequency regulation capability of the main grid. Both the sending and receiving end power grids exhibit decreased system disturbance immunity, highlighting the problem of grid frequency stability.

[0003] To ensure the stability of the power grid frequency, a power grid underwent multiple disturbance tests to verify its frequency control capabilities. Some of these tests encountered the following problems:

[0004] (1) In the initial stage of the actual system disturbance, there is a tension between the secondary frequency modulation and the primary frequency modulation of the system. The action of the primary frequency modulation is canceled out by the action of the secondary frequency modulation, which cannot be reproduced in the simulation.

[0005] (2) The actual frequency modulation speed of the system is faster than the simulation result (the problem of speed controller parameters has been ruled out);

[0006] (3) During the medium-to-long-term process of frequency recovery after disturbance, or during the medium-to-long-term simulation of steady-state frequency, the secondary frequency modulation and primary frequency modulation processes of the system are decoupled, and the two adjustment speeds are coupled in the simulation. The dynamic adjustment process in the simulation deviates from the actual system.

[0007] The issue has been confirmed as an incomplete hydropower system model. While existing power system simulation tools provide detailed models of the speed control and AGC systems in hydropower plant power systems compared to actual systems, they fail to model the monitoring system, which plays a connecting role. This results in missing feedforward branches in the hydropower system, making the model less objective and comprehensive. The simulation performance needs further improvement to meet the needs of simulating actual systems.

[0008] Therefore, it is urgent to establish a high-precision and widely adaptable hydropower monitoring system model to ensure that the simulation characteristics are consistent with the actual device, so as to safeguard the construction of a new power system based on new energy sources. Summary of the Invention

[0009] To address the above problems, this invention proposes a full-process simulation monitoring system for hydropower monitoring devices, comprising:

[0010] A physical monitoring system, comprising: a primary frequency modulation branch, a secondary frequency modulation branch, and a power feedback branch;

[0011] The primary frequency modulation branch intercepts the frequency deviation of the hydropower monitoring device as the input signal, and performs delay simulation and first-order inertial simulation based on the frequency deviation. After the simulation is completed, it enters the dead zone judgment stage.

[0012] The secondary frequency modulation branch receives the adjustment amount sent by the AGC master station in the hydropower monitoring device as an input signal, and performs inertial circuit simulation based on the adjustment amount; after the simulation is completed, it enters the dead zone judgment stage.

[0013] The power feedback branch takes the electromagnetic power generated by the generator of the hydropower monitoring device as the input signal. After passing through the delay and inertial links, it enters the dead zone judgment link together with the primary frequency modulation branch and the secondary frequency modulation branch.

[0014] The product of the output signal of the dead zone judgment stage and the power closed-loop proportional coefficient of the hydropower monitoring device is used as the input value of the pulse generator.

[0015] A pulse generator outputs a control pulse signal based on the input value;

[0016] The speed controller is coupled with the hydropower monitoring device. After coupling, the speed regulation action is simulated by controlling the control pulse signal output by the pulse generator with different proportional gains of the control pulse signal.

[0017] Optionally, the frequency deviation can be obtained in the following ways:

[0018] The frequency deviation of the hydropower monitoring device connected to the bus is filtered, and the filtered frequency deviation signal is used as the input signal.

[0019] If the frequency deviation after filtering exceeds the dead zone of a single frequency modulation operation, the frequency deviation is compared with the droop coefficient, and the obtained ratio is used as the input signal after passing through the amplitude limiting and speed limiting stages.

[0020] Optionally, the delay simulation specifically involves simulating the lag of the measuring devices in the hydropower monitoring system.

[0021] Optionally, the inertial element simulation specifically involves simulating the smoothing effect during the operation of the hydropower monitoring device.

[0022] Optionally, speed regulation simulation can be performed with different proportional gains. Specifically, the control pulse signal after proportional gain is limited and then input into the integrator, and the output of the integrator is limited.

[0023] This invention also proposes a full-process simulation monitoring method for hydropower monitoring devices, comprising:

[0024] The frequency deviation of the hydropower monitoring device is intercepted by the primary frequency modulation branch as the input signal. Based on the frequency deviation, delay simulation and first-order inertial simulation are performed. After the simulation is completed, the dead zone judgment stage is entered.

[0025] The adjustment amount sent by the AGC master station in the hydropower monitoring device is received by the secondary frequency modulation branch as the input signal. The multiple action links of the hydropower monitoring device are equivalent to the delay link, and the inertial link is simulated according to the adjustment amount. After the simulation is completed, the dead zone judgment link is entered.

[0026] The electromagnetic power generated by the generator of the hydropower monitoring device is used as the input signal through the power feedback branch. After passing through the delay link and then the inertial link, it enters the dead zone judgment link together with the primary frequency modulation branch and the secondary frequency modulation branch.

[0027] The product of the output signal of the dead zone judgment stage and the power closed-loop proportional coefficient of the hydropower monitoring device is used as the input value of the pulse generator.

[0028] Using a pulse generator, a control pulse signal is output according to the input value;

[0029] The speed regulator is coupled with the hydropower monitoring device. After coupling, the speed regulation action is simulated by controlling the different proportional gains of the control pulse signal output by the pulse generator.

[0030] Optionally, the frequency deviation can be obtained in the following ways:

[0031] The frequency deviation of the hydropower monitoring device connected to the bus is filtered, and the filtered frequency deviation signal is used as the input signal.

[0032] If the frequency deviation after filtering exceeds the dead zone of a single frequency modulation operation, the frequency deviation is compared with the droop coefficient, and the obtained ratio is used as the input signal after passing through the amplitude limiting and speed limiting stages.

[0033] Optionally, the delay simulation specifically involves simulating the lag of the measuring devices in the hydropower monitoring system.

[0034] Optionally, the inertial element simulation specifically involves simulating the smoothing effect during the operation of the hydropower monitoring device.

[0035] Optionally, speed regulation simulation can be performed with different proportional gains. Specifically, the control pulse signal after proportional gain is limited and then input into the integrator, and the output of the integrator is also limited.

[0036] The present invention also proposes a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0037] The present invention also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0038] This invention can accurately simulate the pulling effect of primary and secondary frequency modulation during the regulation process, realize the decoupling of primary and secondary frequency modulation during the frequency regulation process, and improve the simulation accuracy of hydropower systems. Attached Figure Description

[0039] Figure 1 This is a structural diagram of the system of the present invention;

[0040] Figure 2 This is a schematic diagram of the system according to an embodiment of the present invention;

[0041] Figure 3 This is a diagram showing the coordination relationship between the monitoring system and the speed controller in the embodiments of this invention;

[0042] Figure 4 This is a pulse diagram of an embodiment of the present invention;

[0043] Figure 5 This is a pulse diagram illustrating the four-machine simulation verification in an embodiment of the present invention;

[0044] Figure 6 This is a graph representing the simulation of the coordination between the monitoring and speed control systems in an embodiment of the present invention.

[0045] Figure 7 This is a graph representing a simulated power grid in an embodiment of the present invention.

[0046] Figure 8 This is a flowchart of the method of the present invention. Detailed Implementation

[0047] Exemplary embodiments of the invention will now be described with reference to the accompanying drawings. However, the invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided to fully and completely disclose the invention and to fully convey its scope to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the drawings is not intended to limit the invention. In the drawings, the same units / elements are referred to by the same reference numerals.

[0048] Unless otherwise stated, the terms used herein (including technical terms) have their common meaning as understood by one of ordinary skill in the art. Furthermore, it is understood that terms defined in commonly used dictionaries should be understood to have a meaning consistent with the context of their relevant field, and not to be interpreted as having an idealized or overly formal meaning.

[0049] This invention proposes a full-process simulation monitoring system 200 for hydropower monitoring devices, such as... Figure 1 As shown, it includes:

[0050] A physical monitoring system, comprising: a primary frequency modulation branch, a secondary frequency modulation branch, and a power feedback branch;

[0051] The primary frequency modulation branch intercepts the frequency deviation of the hydropower monitoring device as the input signal, and performs delay simulation and first-order inertial simulation based on the frequency deviation. After the simulation is completed, it enters the dead zone judgment stage.

[0052] The secondary frequency modulation branch receives the adjustment amount sent by the AGC master station in the hydropower monitoring device as the input signal, and converts the multiple action links of the hydropower monitoring device into delay links, and performs inertial link simulation based on the adjustment amount; after the simulation is completed, it enters the dead zone judgment link.

[0053] The power feedback branch takes the electromagnetic power generated by the generator of the hydropower monitoring device as the input signal. After passing through the delay and inertial links, it enters the dead zone judgment link together with the primary frequency modulation branch and the secondary frequency modulation branch.

[0054] The product of the output signal of the dead zone judgment stage and the power closed-loop proportional coefficient of the hydropower monitoring device is used as the input value of the pulse generator.

[0055] A pulse generator outputs a control pulse signal based on the input value;

[0056] The speed controller is coupled with the hydropower monitoring device. After coupling, the speed regulation action is simulated by controlling the control pulse signal output by the pulse generator with different proportional gains of the control pulse signal.

[0057] The frequency deviation is obtained as follows:

[0058] The frequency deviation of the hydropower monitoring device connected to the bus is filtered, and the filtered frequency deviation signal is used as the input signal.

[0059] If the frequency deviation after filtering exceeds the dead zone of a single frequency modulation operation, the frequency deviation is compared with the droop coefficient, and the obtained ratio is used as the input signal after passing through the amplitude limiting and speed limiting stages.

[0060] Specifically, the delay simulation involves simulating the lag of the measuring devices in the hydropower monitoring system.

[0061] Specifically, the inertial element simulation involves simulating the smoothing effect during the operation of the hydropower monitoring device.

[0062] Specifically, speed regulation simulation is performed using different proportional gains: the control pulse signal after proportional gain is limited and then input into the integrator, and the output of the integrator is limited.

[0063] The present invention will be further described below with reference to embodiments:

[0064] A complete monitoring system simulation model consists of physical monitoring components, a pulse generator, and a physical speed controller, such as... Figure 2 As shown, in a physical monitoring system, after various signals pass through the power dead zone, the power closed-loop proportional coefficient is determined. Based on the closed-loop proportional coefficient, the pulse generator sends out a pulse signal, and based on the pulse signal, a physical speed controller is used to adjust the speed.

[0065] 1) Physical monitoring includes primary frequency modulation branch, secondary frequency modulation branch and power feedback branch.

[0066] (1) If the primary frequency modulation branch of the monitoring system exists, the system frequency offset participates in the monitoring system adjustment through the primary frequency modulation branch. This variable sequentially passes through the pure delay stage, inertia stage, dead zone stage, frequency power conversion stage, speed limiting stage, and amplitude limiting stage before being superimposed with the secondary frequency modulation component. If the primary frequency modulation branch of the monitoring system does not exist, this branch is ignored. The meanings of the relevant variables in each stage are as follows:

[0067] Df is the system frequency offset, T1 is the pure delay time constant of frequency measurement, and T R1 Here, DB1 is the frequency measurement inertial time constant, and E is the frequency deviation dead zone threshold. P VEL is the power coefficient. up1 VEL is the upper limit of the speed limiting stage of a primary frequency modulation branch. down1 For the upper limit of the speed limiting stage of the primary frequency modulation branch, PFR MAX For the upper limit of frequency branch limiting, PFR MIN The lower limit of frequency branch amplitude limiting, K0 is the frequency branch existence flag, which is 1 if it exists and 0 if it does not exist.

[0068] (2) The secondary frequency modulation adjustment quantity participates in the monitoring system regulation through the secondary frequency modulation branch. This variable sequentially passes through the pure delay element, the inertial element, and the speed limiting element, and is finally output to the hydropower speed governor section along with the primary frequency modulation component via the feedforward output element. The meanings of the relevant variables in each element are as follows:

[0069] (3)P AGCT is the secondary frequency modulation adjustment value issued by the AGC system, T2 is the pure delay time constant of AGC transmission, and T R2 VEL is the inertial time constant for AGC transmission. up1 VEL is the upper limit of the speed limiting stage for the secondary frequency modulation branch. down1 K is the upper limit of the speed limiting stage of the secondary frequency modulation branch. PR1 K is the power mode feedforward coefficient 1 (the feedforward component is sent to the governor power reference value). PR2 The feedforward coefficient for the opening mode is 2 (the feedforward component is sent to the speed controller PID output).

[0070] The generator output power throughput feedback branch participates in the monitoring system regulation. This variable sequentially passes through a pure delay stage, an inertial stage, and is then summed with the primary and secondary frequency regulation components, inputting into the power dead zone stage and the power closed-loop stage. The meanings of the relevant variables in each stage are as follows:

[0071] P E T is the generator output power, T3 is the pure delay time constant for frequency measurement, and T R3 For frequency measurement of inertial time constant, P ref DB2 is the power reference value, and K is the frequency deviation dead zone. P1 This is the power closed-loop proportional coefficient.

[0072] 2) The pulse generating device includes a limiting circuit and a pulse generating device.

[0073] The physical monitoring system outputs sequentially through a limiting circuit and a pulse generator. The pulse generator handles detailed operational information such as... Figure 4 As shown.

[0074] Among them, Ymc MAX Ymc is the maximum amplitude limit. MIN This is the lower limit of the amplitude limit;

[0075] 3) Physical speed controller.

[0076] The pulse generator output signal sequentially passes through the hydraulic motor switching circuit, the limiting circuit, the integrator, the limiting circuit again, and the opening feedforward output circuit.

[0077] Among them, K YCO K is the shut-off time constant of the hydraulic actuator. YCC Yjk is the hydrator start-up time constant. MAX Yjk is the overspeed opening coefficient. MIN Yc is the overspeed shut-off coefficient, s is the Labras operator, and Yc is the overspeed shut-off coefficient. MAX Yc is the upper limit of the opening output. MIN K is the lower limit of the opening output. PR1 K is the feedforward coefficient 1 for the opening mode (the feedforward component is sent to the governor opening reference value).PR2 The feedforward coefficient for the opening mode is 2 (the feedforward component is sent to the speed controller PID output).

[0078] The coordination relationship between the monitoring system and the speed controller is as follows: Figure 3 As shown, the physical monitoring model includes a primary frequency modulation branch, a secondary frequency modulation branch, and a power feedback branch. The specific cooperation between the monitoring system and the speed controller is as follows:

[0079] 1) The speed governor model is a typical speed governor simulation model, which includes two operating conditions: power mode and opening mode.

[0080] (1) In power mode, there are frequency branches and power branches.

[0081] The generator speed, after passing through a pure delay element and an inertial element, is subtracted from the system reference frequency and used as the input to the dead-zone element of the frequency branch. The output of the dead-zone element is multiplied by the head coefficient and used as a component of the governor's PID input. The meanings of the relevant variables in each element are as follows:

[0082] w is the generator speed, T1 is the pure delay time constant of frequency measurement, and T R1 Here, w0 is the inertial time constant for frequency measurement, DB1 is the frequency deviation dead zone threshold, MAX1 is the upper limit of the frequency deviation dead zone limit, MIN1 is the lower limit of the frequency deviation dead zone limit, and K is the lower limit of the frequency deviation dead zone limit. W This refers to the head coefficient. The generator power, after passing through the pure delay and inertia stages, is subtracted from the initial generator power. This difference, multiplied by the power coefficient, serves as the input to the dead-zone stage of the power branch. Depending on the relevant flags, this input is used as the input to the governor's PID integral stage, or summed with the frequency branch output as the governor's PID input. The PID output, after passing through a limiting stage and a speed limiting stage, becomes the governor's output. The meanings of the relevant variables in each stage are as follows:

[0083] P E T is the generator output power, T2 is the pure delay time constant of power measurement, and T R2 For power measurement, the inertial time constant, P ref E is the power reference value. P Where DB2 is the power factor, MAX2 is the upper limit of the power deviation dead zone threshold, MIN2 is the lower limit of the power deviation dead zone threshold, and K is the lower limit of the power deviation dead zone threshold. P K is the proportional coefficient of the PID controller. I K represents the integral coefficient of the PID controller. D is the PID differential coefficient, PROMAX is the upper limit of the proportional branch limiting, PROMIN is the lower limit of the proportional branch limiting, s is the Labrador operator, T 1VINTMAX is the differential time constant, INTMIN is the upper limit of the integral branch limiting, PIDMAX is the upper limit of the PID limiting, PIDMIN is the lower limit of the PID limiting, DYMAX is the upper limit of the output speed limit, and DYMIN is the lower limit of the output speed limit.

[0084] (2) The opening mode includes frequency branch and opening branch.

[0085] The generator speed, after passing through a pure delay element and an inertial element, is subtracted from the system reference frequency and used as the input to the dead-zone element of the frequency branch. The output of the dead-zone element is multiplied by the head coefficient and used as a component of the governor's PID input. The meanings of the relevant variables in each element are as follows:

[0086] w is the generator speed, T1 is the pure delay time constant of frequency measurement, and T R1 Here, w0 is the inertial time constant for frequency measurement, DB1 is the frequency deviation dead zone threshold, MAX1 is the upper limit of the frequency deviation dead zone limit, MIN1 is the lower limit of the frequency deviation dead zone limit, and K is the lower limit of the frequency deviation dead zone limit. W This is the head coefficient.

[0087] The turbine opening degree, after passing through a pure delay element and an inertial element, is subtracted from the initial turbine opening degree. Multiplying this difference by the opening degree coefficient, the result is used as the input to the dead zone element of the opening degree branch. Depending on the relevant flag bits, this input is used as the input to the governor's PID integral element, or summed with the frequency branch and used as the governor's PID input. The PID output, after passing through a limiting element and a speed limiting element, becomes the governor's output. The meanings of the relevant variables in each stage are as follows:

[0088] Y represents the turbine opening degree, T3 represents the pure time constant of the opening measurement, and T... R3 To measure the inertial time constant, Y ref B is the reference value for opening degree. P DB3 is the opening coefficient, DB3 is the opening deviation dead zone threshold, MAX3 is the upper limit of the opening deviation dead zone limit, MIN3 is the lower limit of the opening deviation dead zone limit, and K is the lower limit of the opening deviation dead zone limit. P K is the proportional coefficient of the PID controller. I K represents the integral coefficient of the PID controller. D is the PID differential coefficient, PROMAX is the upper limit of the proportional branch limiting, PROMIN is the lower limit of the proportional branch limiting, s is the Labrador operator, T 1V INTMAX is the differential time constant, INTMIN is the upper limit of the integral branch limiting, PIDMAX is the upper limit of the PID limiting, PIDMIN is the lower limit of the PID limiting, DYMAX is the upper limit of the output speed limit, and DYMIN is the lower limit of the output speed limit.

[0089] 2) The monitoring system includes physical monitoring, a pulse generator, and a physical speed controller.

[0090] (1) Physical surveillance

[0091] The physical monitoring system consists of a primary frequency modulation branch, a secondary frequency modulation branch, and a power feedback branch.

[0092] Primary frequency modulation branch

[0093] The frequency deviation signal is obtained by filtering the frequency deviation of the unit connected to the bus and then filtering it through a filtering circuit.

[0094] If the frequency deviation after filtering exceeds the dead zone of the first frequency modulation operation, it is compared with the droop coefficient, and the result is used as the target value of the actual operation of the first frequency modulation after passing through the amplitude limiting and speed limiting links.

[0095] The system frequency deviation is taken as input by the primary frequency modulation branch. The hysteresis and smoothing effect of the device are measured by pure delay simulation and first-order inertial simulation. The typical value is 0.02s.

[0096] If the actual system only uses frequency deviation control in the speed controller stage, the primary frequency regulation branch in the model is invalid, and K0 is set to zero.

[0097] Secondary frequency modulation branch (power mode and opening mode)

[0098] The secondary frequency modulation branch receives the adjustment amount sent by the AGC master station, and converts multiple links such as system signal transmission and device action delay into a pure delay link, and uses an inertial link to simulate the smoothing effect in the actual system operation process.

[0099] The typical time constant for delay elements is 15s to 20s, and the typical time constant for inertial elements is 10s to 20s.

[0100] The AGC master station issues adjustments based on the current power increment, not the target power. When the unit is not in AGC control mode, the AGC power setpoint is 0.

[0101] Power feedback branch

[0102] The power feedback branch takes the electromagnetic power generated by the generator (in actual systems, the generator outputs active power) as input. After delay and inertia, it is added to the sum of the outputs of the primary frequency regulation branch and the AGC branch, and then enters the dead zone judgment stage.

[0103] The control logic for the dead zone determination process is as follows:

[0104]

[0105] In the formula: DB IN Input for dead zone; DB OUTis the dead-zone output; x is the dead-zone action threshold, which is a positive value; Lim is the dead-zone output limit, which is a positive value.

[0106] The output of the dead-zone circuit is multiplied by the power closed-loop proportional coefficient and used as the input to the pulse generator.

[0107] The typical value for the power closed-loop proportional gain is 0.04. This value should not be too large, otherwise it may easily cause system oscillation.

[0108] (2) Pulse generation

[0109] Pulse control evenly distributes the output control pulses according to the input value within a specified time period, ensuring that the action characteristics of subsequent stages meet the expected requirements. Detailed operating characteristics of the pulse generator are as follows: Figure 4 As shown.

[0110] (3) Physical speed controller

[0111] The actual monitoring system and the speed control system are coupled. In the simulation, the speed controller's action is introduced into the monitoring model to describe this coupling effect, which is the physical speed controller.

[0112] Depending on whether the output signal of the pulse generator is positive or negative, and the speed of the speed controller varies, different proportional gains are used in the simulation model.

[0113] The amplified signal is then limited before being input into the integrator. This limiting function controls the operating rate of the integrator. The output of the integrator is then further limited.

[0114] 3) Relationship with the speed controller

[0115] The coordination between water and electricity monitoring and speed controller varies depending on the operating mode.

[0116] When the unit operates in power mode, only the frequency regulation branch and AGC branch are needed. The model uses the sum of the outputs of the two as the regulation amount to send to the speed governor power reference value. This regulation amount is multiplied by the feedforward coefficient and added to the speed governor PID output as the feedforward component.

[0117] When the unit operates in open mode, the model requires all modules. The model takes the outputs of the primary frequency regulation branch, AGC branch and power feedback branch as inputs to the pulse generation circuit. After generating the pulse, it is sent to the physical speed governor module in the model, which ultimately forms the adjustment amount sent to the speed governor. This adjustment amount is sent to the speed governor opening reference value. The adjustment amount is multiplied by the feedforward coefficient and added to the speed governor PID output as the feedforward component.

[0118] This invention is implemented in PSD-BPA software and applied in a typical small system with 4 machines and 2 areas and in a real power grid.

[0119] Perform simulation verification of the four-machine system;

[0120] A typical four-unit power system was established, including generators 1-4, each with a capacity of 900MW. All generators are identical. The geographical wiring diagram is as follows. Figure 5 As shown, generator 1, generator 2, busbar 5, busbar 6 and the connecting lines between them form area one; generator 3, generator 4, busbar 10, busbar 11 and the connecting lines between them form area two; the remaining busbars and connecting lines form the cross-section between the two areas.

[0121] Consider the following three cases:

[0122] (1) Consider the primary frequency regulation of the speed regulation system;

[0123] (2) Incompatible status quo: Consider the current status of the unit: "power closed loop of monitoring system" + "primary frequency regulation of speed controller";

[0124] (3) Coordination plan: Considering the current status of the unit, the plan is "power closed loop of monitoring system + monitoring frequency regulation" + "primary frequency regulation of speed controller".

[0125] The calculation results for the three cases are as follows: Figure 6 As shown;

[0126] It is evident that the power closed loop of the monitoring system without considering coordination significantly limits the system frequency recovery (with square lines). Considering the coordination and optimization between the monitoring system and the primary frequency modulation is beneficial to the system frequency adjustment, and the frequency recovery speed can be improved (with circular lines).

[0127] 2) Southwest Power Grid Simulation Verification (Large Power Grid Verification, addressing issues 2 and 3 in the background technology). Issue 2 is: the actual primary frequency regulation speed of the system is faster than the simulation results (speed governor parameter issues have been ruled out); Issue 3 is: during the medium-to-long-term frequency recovery process after a disturbance, or during the medium-to-long-term simulation of the steady-state frequency, the secondary frequency regulation and primary frequency regulation processes are decoupled, and the regulation speeds of the two are coupled in the simulation, resulting in a certain deviation between the dynamic regulation process in the simulation and the actual system.

[0128] The simulation is based on actual operating data of a power grid, with a power generation capacity of 39581.7MW and a load of 32770.7MW. Data on generators, excitation, speed regulation, PSS, motors, and loads are calculated using the same methods. The AGC control mode and parameters are set according to the actual system conditions, and the monitoring system parameters are based on measured results. Figure 7 As shown. Wherein:

[0129] (1) Working condition 1: The monitoring model is considered in the hydropower system, and other parameters are set according to the actual system settings;

[0130] (2) Working condition 2: The monitoring model is not considered in the hydropower system, and other parameters are set according to the actual system settings;

[0131] (3) Working condition 3: The hydropower system does not consider the monitoring model. In order to ensure that the secondary frequency regulation effect is basically consistent with the system, the parameters of the hydropower speed regulator are adjusted.

[0132] It is evident that if the monitoring system is not considered in the simulation, the system frequency recovery speed is slower than that of the actual system. If the parameters such as primary frequency modulation are fitted according to the actual system recovery speed, it will cause the system to deviate from the actual situation in the early stage of frequency recovery (the control process in which primary frequency modulation plays a dominant role).

[0133] This invention also provides a full-process simulation monitoring method for hydropower monitoring devices, such as... Figure 8 As shown, it includes:

[0134] The frequency deviation of the hydropower monitoring device is intercepted by the primary frequency modulation branch as the input signal. Based on the frequency deviation, delay simulation and first-order inertial simulation are performed. After the simulation is completed, the dead zone judgment stage is entered.

[0135] The adjustment amount sent by the AGC master station in the hydropower monitoring device is received by the secondary frequency modulation branch as the input signal. The multiple action links of the hydropower monitoring device are equivalent to the delay link, and the inertial link is simulated according to the adjustment amount. After the simulation is completed, the dead zone judgment link is entered.

[0136] The electromagnetic power generated by the generator of the hydropower monitoring device is used as the input signal through the power feedback branch. After passing through the delay and inertial links, it enters the dead zone judgment link together with the primary frequency modulation branch and the secondary frequency modulation branch.

[0137] The product of the output signal of the dead zone judgment stage and the power closed-loop proportional coefficient of the hydropower monitoring device is used as the input value of the pulse generator.

[0138] Using a pulse generator, a control pulse signal is output according to the input value;

[0139] The speed regulator is coupled with the hydropower monitoring device. After coupling, the speed regulation action is simulated by controlling the different proportional gains of the control pulse signal output by the pulse generator.

[0140] The frequency deviation is obtained as follows:

[0141] The frequency deviation of the hydropower monitoring device connected to the bus is filtered, and the filtered frequency deviation signal is used as the input signal.

[0142] If the frequency deviation after filtering exceeds the dead zone of a single frequency modulation operation, the frequency deviation is compared with the droop coefficient, and the obtained ratio is used as the input signal after passing through the amplitude limiting and speed limiting stages.

[0143] Specifically, the delay simulation involves simulating the lag of the measuring devices in the hydropower monitoring system.

[0144] Specifically, the inertial element simulation involves simulating the smoothing effect during the operation of the hydropower monitoring device.

[0145] Specifically, speed regulation simulation is performed with different proportional gains. The control pulse signal after proportional gain is limited and then input into the integrator, and the output of the integrator is also limited.

[0146] This invention can accurately simulate the pulling effect of primary and secondary frequency modulation during the regulation process, realize the decoupling of primary and secondary frequency modulation during the frequency regulation process, and improve the simulation accuracy of hydropower systems.

[0147] The present invention also proposes a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in the above embodiments.

[0148] The present invention also proposes a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method described in the above embodiments.

[0149] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0150] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0151] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0152] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0153] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0154] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A full-process simulation monitoring system for a hydropower monitoring device, the system comprising: A physical monitoring system, comprising: a primary frequency modulation branch, a secondary frequency modulation branch, and a power feedback branch; The primary frequency modulation branch intercepts the frequency deviation of the hydropower monitoring device as the input signal, and performs delay simulation and first-order inertial simulation based on the frequency deviation. After the simulation is completed, it enters the dead zone judgment stage. The secondary frequency modulation branch receives the adjustment amount sent by the AGC master station in the hydropower monitoring device as an input signal, and performs inertial circuit simulation based on the adjustment amount; after the simulation is completed, it enters the dead zone judgment stage. The power feedback branch takes the electromagnetic power generated by the generator of the hydropower monitoring device as the input signal. After passing through the delay and inertial links, it enters the dead zone judgment link together with the primary frequency modulation branch and the secondary frequency modulation branch. The product of the output signal of the dead zone judgment stage and the power closed-loop proportional coefficient of the hydropower monitoring device is used as the input value of the pulse generator. A pulse generator outputs a control pulse signal based on the input value; The speed controller is used to couple with the hydropower monitoring device. After coupling, it simulates speed regulation by controlling the gain of the pulse signal output by the pulse generator. The control signal output by the pulse generator passes sequentially through the speed governor's hydraulic motor switching circuit, limiting circuit, integrator, limiting circuit, and opening feedforward output circuit. The coordination between the monitoring system and the speed controller includes: In power mode, it includes frequency branch and power branch; The generator speed is obtained by subtracting the system reference frequency from the pure delay element and the inertial element, and this difference is used as the input of the dead zone element in the frequency branch. The output of the dead zone element is multiplied by the head coefficient and used as a component of the governor input. The opening mode includes frequency branches and opening branches; The generator speed is obtained by subtracting the system reference frequency from the pure delay element and the inertial element, and this difference is used as the input of the dead zone element in the frequency branch. The output of the dead zone element is multiplied by the head coefficient and used as a component of the governor input. The coordination between water and electricity monitoring and speed controller differs depending on the operating mode, as follows: When the unit operates in power mode, only the frequency regulation branch and AGC branch are needed. The model uses the sum of the outputs of the two as the regulation amount to send to the speed governor power reference value. This regulation amount is multiplied by the feedforward coefficient and added to the speed governor PID output as the feedforward component. When the unit operates in open mode, the model requires all modules. The model takes the outputs of the primary frequency regulation branch, AGC branch and power feedback branch as inputs to the pulse generation circuit. After generating the pulse, it is sent to the physical speed governor module in the model, which ultimately forms the adjustment amount sent to the speed governor. This adjustment amount is sent to the speed governor opening reference value. The adjustment amount is multiplied by the feedforward coefficient and added to the speed governor PID output as the feedforward component.

2. The system according to claim 1, wherein the frequency deviation is obtained in the following manner: The frequency deviation of the hydropower monitoring device connected to the bus is filtered, and the filtered frequency deviation signal is used as the input signal. If the frequency deviation after filtering exceeds the dead zone of a single frequency modulation operation, the frequency deviation is compared with the droop coefficient, and the obtained ratio is used as the input signal after passing through the amplitude limiting and speed limiting stages.

3. The system according to claim 1, wherein the delay simulation specifically involves simulating the lag of the measuring device in the hydropower monitoring device.

4. In the system according to claim 1, the inertial element simulation specifically involves simulating the smoothing effect during the operation of the hydropower monitoring device.

5. In the system according to claim 1, the step of simulating speed regulation with different proportional gains specifically involves: limiting the amplitude of the control pulse signal after proportional gain and inputting it into an integrator, and then limiting the output of the integrator.

6. A method for full-process simulation monitoring of a hydropower monitoring device using a full-process simulation monitoring system for a hydropower monitoring device as described in claim 1, the method comprising: The frequency deviation of the hydropower monitoring device is intercepted by the primary frequency modulation branch as the input signal. Based on the frequency deviation, delay simulation and first-order inertial simulation are performed. After the simulation is completed, the dead zone judgment stage is entered. The system receives the adjustment amount sent by the AGC master station in the hydropower monitoring device as an input signal through the secondary frequency modulation branch, and performs inertial link simulation based on the adjustment amount. After the simulation is completed, the dead zone determination phase begins; The electromagnetic power generated by the generator of the hydropower monitoring device is used as the input signal through the power feedback branch. After passing through the delay and inertial links, it enters the dead zone judgment link together with the primary frequency modulation branch and the secondary frequency modulation branch. The product of the output signal of the dead zone judgment stage and the power closed-loop proportional coefficient of the hydropower monitoring device is used as the input value of the pulse generator. Using a pulse generator, a control pulse signal is output according to the input value; The speed regulator is coupled with the hydropower monitoring device. After coupling, the speed regulation action is simulated by controlling the different proportional gains of the control pulse signal output by the pulse generator.

7. The method according to claim 6, wherein the frequency deviation is obtained in the following manner: The frequency deviation of the hydropower monitoring device connected to the bus is filtered, and the filtered frequency deviation signal is used as the input signal. If the frequency deviation after filtering exceeds the dead zone of a single frequency modulation operation, the frequency deviation is compared with the droop coefficient, and the obtained ratio is used as the input signal after passing through the amplitude limiting and speed limiting stages.

8. The method according to claim 6, wherein the delay simulation specifically involves simulating the lag of the measuring device in the hydropower monitoring device.

9. The method according to claim 6, wherein the inertial element simulation specifically involves simulating the smoothing effect during the operation of the hydropower monitoring device.

10. The method according to claim 6, wherein the speed regulation simulation with different proportional gains specifically comprises: limiting the amplitude of the control pulse signal after proportional gain and inputting it into an integrator, and limiting the output of the integrator.

11. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 6 to 10.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 6 to 10.

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