Speed regulator power closed-loop control method based on IEC61850 communication

Abstract

The invention provides a speed regulator power closed-loop control method based on IEC61850 communication, and the method employs a speed regulator power closed-loop module employing the IEC61850 communication as a transmission mode, a GOOSE network module, a data interaction module, an active power distribution module in a power closed-loop mode, and a speed regulator power closed-loop control locking logic module. A single-phase handshake and double-channel control mode is adopted, on the premise that it is ensured that instructions issued by a monitoring system are correct, rapid interaction of information of the speed regulator and the monitoring system is carried out, the reliability of a power closed-loop mode is improved, and the problem that the speed regulator power closed-loop mode is poor in regulation performance in a communication mode is mainly solved. The computer monitoring system is communicated with the speed regulator system in an IEC61850 communication mode, data interaction is achieved through MMS service, active power regulation power closed-loop control of the hydroelectric generating set is achieved by means of data communication reliability in the mode, and the regulation capacity and level of the hydroelectric generating set are improved.

Description

Technical Field

[0001] The present invention relates to the field of hydroelectric automatic control, and more specifically, to a governor power closed-loop control method based on IEC61850 communication. Background Art

[0002] The power regulation methods of the governor in hydropower plants mainly include the pulse method and the analog power closed-loop method. After receiving relevant command information, the governor adjusts the active load of the unit by adjusting the guide vane of the unit.

[0003] In the pulse method, the monitoring system issues the active power regulation command to the governor system through pulses. After receiving the pulses, the governor calculates and adjusts the opening of the guide vane of the unit according to the pulse width, so as to achieve the purpose of regulating the active power of the unit. The analog power closed-loop method is that the monitoring system sends the data of the active power target value to be adjusted to the governor system through the analog hard-wired connection method. The governor compares this value with the power feedback collected by itself and calculates the difference to form a power deviation. The power deviation passes through a set power limit and dead zone link and is sent to the adjustment module to achieve fast, stable and accurate control of the unit load. At present, the communication between the computer monitoring system and the governor system mainly uses the traditional modbus method. It is possible to send the active power target value to the governor system through the communication method. However, due to the limitation of the protocol function, the communication and interaction ability with the computer monitoring system is weak, and the communication delay between the two sides is large, which does not meet the real-time requirement of load regulation. Therefore, we propose a governor power closed-loop control method based on IEC61850 communication. Summary of the Invention

[0004] The purpose of the present invention is: The governor power closed-loop control method based on IEC61850 communication mainly solves the problem of poor regulation performance of the governor power closed-loop mode in the communication method. The computer monitoring system communicates with the governor system by using the IEC61850 communication method, realizes data interaction through the MMS service, and utilizes the reliability of data communication in this method to realize the closed-loop control of the active power regulation of the hydropower unit and improve the regulation ability and level of the unit. To achieve the above invention purpose, the present invention provides the following technical solutions: A governor power closed-loop control method based on IEC61850 communication, including a governor power closed-loop module with IEC61850 communication as the transmission method, characterized in that the governor power closed-loop module includes S1, a GOOSE network module, S2, a data interaction module, S3, an active power distribution module in the power closed-loop mode, and S4, a governor power closed-loop control locking logic module.

[0005] As a preferred technical solution of the present invention, S1. The GOOSE network module is constructed based on IEC61850 communication, and a network signal is used to replace the hard-wired communication method. The network is organized in a cross-redundant manner and consists of a GOOSE communication module and a networking switch;

[0006] S2. The data interaction module exchanges data between the governor device and the monitoring LCU through the MMS service of IEC61850.

[0007] As a preferred technical solution of the present invention, S3. The active power distribution module in the power closed-loop mode;

[0008] S3.1. After the unit LCU of the computer monitoring system receives the assigned active power regulation target value, it issues the power reference Pc to the governor in a communication manner through the GOOSE network;

[0009] S3.2. The monitoring system judges the accuracy of the issued power reference Pc;

[0010] S3.3. When the deviation between the power reference Pc and the governor power reference feedback value, that is, the power value Pf detected and received by the governor, is < Pd, it is judged that the instruction is correct;

[0011] S3.4. When the instruction is correct, the monitoring system issues an execution order to the governor. The governor compares and subtracts the power reference Pc with the unit power sample Pg to form a power deviation amount;

[0012] S3.5. The power deviation is processed by the parameters of the preset deviation limit and power dead zone. That is, when the power deviation amount is greater than the power dead zone, the load needs to be adjusted.

[0013] As a preferred technical solution of the present invention, S4. Construct the governor power closed-loop control blocking logic, which specifically includes the following steps:

[0014] S4.1. When the governor power closed-loop input condition is met, a fault occurs in the monitoring LCU GOOSE module; S4.2. The difference between the monitored communication active power setting value and the governor feedback value is too large;

[0015] S4.3. The deviation between the power sample value (Pt) of the governor device and the power sample value (Pg) of the monitoring LCU is too large, exceeding the preset value Py;

[0016] S4.4. Any one of the following conditions occurs: the remote switch of the governor device power closed-loop is withdrawn;

[0017] S4.5. The power mode is automatically switched to the opening mode, and the single-machine PID regulation is withdrawn, but the opening mode is not allowed to be automatically switched to the power mode under any circumstances.

[0018] As a preferred technical solution of the present invention, S2. The data interaction module further includes the following steps: S2.1, data acquisition; S2.2, data distribution; S2.3, data comparison module; S2.4, data confirmation and distribution.

[0019] As a preferred technical solution of the present invention, the monitoring LCU is configured with two independent GOOSE boards, namely GOOSE set A of station 2 and GOOSE set B of station 3, each having two virtual boards, and two independent devices are configured on the governor side, namely governor set A and governor set B.

[0020] As a preferred technical solution of the present invention, ST02B01 and ST03B03 of station 2 communicate with excitation set A.

[0021] As a preferred technical solution of the present invention, ST02B03 and ST03B01 of station 3 communicate with excitation set B.

[0022] As a preferred technical solution of the present invention, the GOOSE communication judgment logic includes a disconnection monitoring logic and an alarm monitoring logic.

[0023] As a preferred technical solution of the present invention, the GOOSE information in the disconnection monitoring logic is based on the multicast propagation of publishing or subscribing to the unit, and the heartbeat message mechanism is used to detect the link. T0 is the heartbeat time, and T0 is taken as 5s. By optimizing, the current T0 is set to 1s. If the receiving end does not receive the next frame of GOOSE message within 4T0 time, a communication interruption is reported, and the GOOSE disconnection alarm is started; a single network does not affect GOOSE communication;

[0024] The alarm monitoring logic is set with two independent GOOSE links, which simultaneously receive and send the same measurement point information. When both links are interrupted, the main and standby of the device are switched.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: In the solution of the present invention: Under the IEC61850 communication mode of the present invention, a single-phase handshake and a dual-channel control mode are adopted. On the premise of ensuring the correct issuance of instructions by the monitoring system, the rapid interaction between the governor and the monitoring system is carried out, improving the reliability of the power closed-loop mode.

[0026] The present invention mainly solves the problem of poor regulation performance of the governor power closed-loop mode in the communication mode. The computer monitoring system communicates with the governor system by using the IEC61850 communication mode, realizes data interaction through the MMS service, and utilizes the reliability of data communication in this mode to realize the active power regulation power closed-loop control of the hydropower unit, improving the regulation ability and level of the unit. Description of the Drawings

[0027] Figure 1Schematic diagram of the model composition structure provided by the present invention;

[0028] Figure 2 Schematic diagram of the GOOSE network module provided by the present invention;

[0029] Figure 3 Schematic diagram of the data interaction module provided by the present invention;

[0030] Figure 4 Schematic diagram of the active power distribution module in the power closed-loop mode provided by the present invention;

[0031] Figure 5 Schematic diagram of the governor power closed-loop control blocking logic module provided by the present invention;

[0032] Figure 6 Logic block diagram of governor set A and governor set B provided by the present invention;

[0033] Figure 7 Schematic diagram of the GOOSE board structure provided by the present invention. Detailed implementation manners

[0034] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention.

[0035] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention. It should be noted that, without conflict, the embodiments in the present invention and the features and technical solutions in the embodiments may be combined with each other. It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0036] Embodiment 1: Please refer to Figures 1-7 , a governor power closed-loop control method based on IEC61850 communication, including a governor power closed-loop module with IEC61850 communication as the transmission method, characterized in that the governor power closed-loop module includes S1, a GOOSE network module, S2, a data interaction module, S3, an active power distribution module in the power closed-loop mode, and S4, a governor power closed-loop control blocking logic module.

[0037] S1. The GOOSE network module is built based on IEC61850 communication, uses network signals instead of hard wiring for communication, and is networked in a cross-redundant manner. The network consists of a GOOSE communication module and a network switch.

[0038] S2. The data interaction module exchanges data between the governor device and the monitoring LCU through the MMS service of IEC61850.

[0039] S3. The active power distribution module in the power closed-loop mode;

[0040] S3.1. After the unit LCU of the computer monitoring system receives the assigned active power regulation target value, it sends the power setpoint Pc to the governor in a communication manner through the GOOSE network.

[0041] S3.2. The monitoring system judges the accuracy of the sent power setpoint Pc.

[0042] S3.3. When the deviation between the power setpoint Pc and the governor power setpoint feedback value, that is, the power value Pf detected and received by the governor, is < Pd, it is judged that the instruction is correct.

[0043] S3.4. When the instruction is correct, the monitoring system issues an execution order to the governor. The governor compares and subtracts the power setpoint Pc with the unit power sample Pg to form a power deviation amount.

[0044] S3.5. The power deviation is processed through parameters of preset deviation limit and power dead zone, that is, when the power deviation amount is greater than the power dead zone, the load needs to be adjusted.

[0045] S4. Build the governor power closed-loop control blocking logic, which specifically includes the following steps:

[0046] S4.1. When the governor power closed-loop input condition is met, a fault occurs in the monitoring LCU GOOSE module; S4.2. The difference between the monitored communication active power setpoint and the governor feedback value is too large.

[0047] S4.3. The deviation between the power sample value (Pt) of the governor device and the power sample value (Pg) of the monitoring LCU is too large, exceeding the preset value Py.

[0048] S4.4. Any one of the following occurs: the remote input handle of the governor device power closed-loop is withdrawn.

[0049] S4.5. The power mode automatically switches to the opening mode, and the single-machine PID regulation is exited, but the opening mode is not allowed to automatically switch to the power mode under any circumstances.

[0050] S2. The data interaction module further includes the following steps: S2.1, data acquisition; S2.2, data distribution; S2.3, data comparison module; S2.4, data confirmation and distribution.

[0051] The monitoring LCU is configured with two independent GOOSE boards, namely GOOSE set A of station 2 and GOOSE set B of station 3, each having two virtual boards. Two independent devices are configured on the governor side, namely governor set A and governor set B.

[0052] ST02B01 and ST03B03 of station 2 communicate with excitation set A.

[0053] ST02B03 and ST03B01 of station 3 communicate with excitation set B.

[0054] The GOOSE communication judgment logic includes disconnection monitoring logic and alarm monitoring logic.

[0055] The GOOSE information in the disconnection monitoring logic is based on the multicast propagation of publishing or subscribing to the unit. The heartbeat message mechanism is used to detect the link. T0 is the heartbeat time, and T0 is taken as 5s. Through optimization, the current T0 is set to 1s. If the receiving end does not receive the next frame of GOOSE message within 4T0 time, a communication interruption is reported, and the GOOSE disconnection alarm is started; a single network does not affect GOOSE communication.

[0056] The alarm monitoring logic is set with two independent GOOSE links, which simultaneously receive and send the same measurement point information. When both links are interrupted, the main and standby of the device are switched.

[0057] Embodiment 2: A governor power closed-loop control method based on IEC61850 communication. This governor power closed-loop control method based on IEC61850 communication mainly solves the problem of poor regulation performance of the governor power closed-loop mode in the communication mode. The computer monitoring system communicates with the governor system by using the IEC61850 communication method, realizes data interaction through the MMS service, and utilizes the reliability of data communication in this way to realize the active power regulation closed-loop control of the hydropower unit and improve the regulation ability and level of the unit.

[0058] The governor power closed-loop module with IEC61850 communication as the transmission method realizes that the active power regulation rate, regulation accuracy and response rate of the unit meet the requirements in the frequency modulation market environment.

[0059] Build a GOOSE network module based on IEC61850 communication, adopt the communication method of using network signals instead of hard wiring, and network according to the cross-redundancy method to ensure network redundancy. The network consists of a GOOSE communication module and a networking switch.

[0060] The data interaction module realizes the data exchange between the governor device and the monitoring LCU through the MMS service of IEC61850. The data stream information is transmitted stably and reliably, realizing the interaction of telemetry, telecontrol, remote regulation commands, events, alarms, and input information.

[0061] In the active power distribution module under the power closed-loop mode, after the unit LCU of the computer monitoring system receives the allocated active power regulation target value, it issues the power setpoint Pc to the governor in a communication manner through the GOOSE network. At the same time, the monitoring system judges the accuracy of the issued power setpoint Pc. When the deviation between the power setpoint Pc and the governor power setpoint feedback value (i.e., the power value Pf detected and received by the governor) < Pd, it is judged that the command is correct. When the command is correct, the monitoring system issues an execution order to the governor. The governor compares and subtracts the power setpoint Pc with the unit power sample Pg to form a power deviation amount. The power deviation is processed by the parameters of the preset deviation limit and power dead zone, that is, when the power deviation amount is greater than the power dead zone, the load needs to be adjusted.

[0062] The governor power closed-loop control blocking logic is designed, including that when the governor power closed-loop input condition is met, if any one of the following 4 items occurs, the power mode automatically switches to the opening mode and the single-machine PID regulation is exited, but the opening mode is not allowed to automatically switch to the power mode under any circumstances.

[0063] (1) The GOOSE module of the monitoring LCU fails;

[0064] (2) The difference between the monitored communication active power setpoint and the governor feedback value is too large;

[0065] (3) The deviation between the power sample value (Pt) of the governor device and the power sample value (Pg) of the monitoring LCU is too large, exceeding the preset value Py;

[0066] The remote input handle of the governor device power closed-loop is withdrawn.

[0067] Under this IEC61850 communication method, a single-phase handshake and dual-channel control mode are adopted. On the premise of ensuring the correctness of the commands issued by the monitoring system, the rapid interaction between the governor and the monitoring system is carried out, improving the reliability of the power closed-loop mode.

[0068] The monitoring LCU is configured with two independent GOOSE boards, namely Station 2 (GOOSE Set A) and Station 3 (GOOSE Set B), each with two virtual boards. The governor side is configured with two independent devices, namely Governor Set A and Governor Set B.

[0069] ST02B01 and ST03B03 communicate with Excitation Set A;

[0070] ST02B03 and ST03B01 communicate with Excitation Set B.

[0071] 2. GOOSE Communication Judgment Logic

[0072] 1) Link Breakage Monitoring Principle

[0073] GOOSE information is based on the multicast dissemination of the publish / subscribe mechanism. The heartbeat message mechanism is used for link detection. T0 is the heartbeat time. In domestic engineering practice, the standard value of T0 is 5s. Through optimization, the current T0 is set to 1s. If the receiving end does not receive the next frame of GOOSE message within 4T0 time, a communication interruption is reported, and the GOOSE link breakage alarm is activated. A single network does not affect GOOSE communication.

[0074] 2) Alarm Monitoring Logic

[0075] Two GOOSE links are independent and receive and send the same measured point information simultaneously. When both links are interrupted, the main and standby devices of the device are switched.

[0076] The working principle of the present invention, IEC61850, is a globally applicable standard in the field of power system automation. It provides a common communication standard and enables seamless connection of the system by standardizing a series of operations of devices. In the governor power closed-loop control, the application of IEC61850 is mainly reflected in information exchange, data sharing, and real-time communication.

[0077] The working principle of the governor power closed-loop control is to form a power deviation signal by collecting the operating state and power output of the governor in real time and comparing them with the set target power. After being processed by the control algorithm, this signal is output to the governor actuator to adjust the output power of the governor until the set target power value is reached, thus forming a closed-loop control system.

[0078] The working process of the present invention: Initialization settings: Set the target power value and control parameters (including the proportional, integral, and differential coefficients of the PID controller). Configure the IEC61850 communication parameters, including the IP address, port number, and device model.

[0079] 2. Data acquisition: Through the IEC61850 communication protocol, the operating state and power output data of the governor are collected in real time. Data acquisition includes the speed, torque, current, and voltage parameters of the governor.

[0080] 3. Power calculation: Calculate the actual output power of the governor based on the collected data. The calculation is performed according to the power formula of the motor or other relevant algorithms.

[0081] 4. Power deviation calculation: Compare the actual output power with the target power and calculate the power deviation value. The power deviation value reflects the gap between the current output power of the governor and the target power.

[0082] 5. Control algorithm processing: Input the power deviation value into the control algorithm (including the PID controller) to obtain a control signal. The control algorithm is adjusted and optimized as needed to achieve better control effects.

[0083] 6. Output control signal: Send the control signal to the actuator of the speed governor (including the frequency converter and motor controller) through the IEC61850 communication protocol. The actuator adjusts the output power of the speed governor according to the received control signal.

[0084] 7. Real-time monitoring and feedback: Continuously monitor the operating status and power output of the speed governor during the entire control process. If any abnormal situation is found or the power deviation exceeds the set range, take timely measures for processing and adjustment.

[0085] 8. System optimization and upgrade: Optimize and upgrade the control system according to the actual operating conditions and requirements. Improve the performance and reliability of the system by modifying control parameters, adding new functions, or improving the communication protocol.

[0086] The above embodiments are only used to illustrate the present invention and do not limit the technical solutions described in the present invention. Although this specification has described the present invention in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation manners. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and their improvements that do not depart from the spirit and scope of the invention are covered by the scope of the claims of the present invention.

Claims

1. A governor power closed-loop control method based on IEC61850 communication, including a governor power closed-loop module with IEC61850 communication as the transmission method, characterized in that, The governor power closed-loop module includes S1, the GOOSE network module, S2, the data interaction module, S3, the active power distribution module in the power closed-loop mode, and S4, the governor power closed-loop control locking logic module.

2. The speed governor power closed-loop control method based on IEC61850 communication according to claim 1, wherein S1. The GOOSE network module is constructed based on IEC61850 communication, adopts the communication method of using network signals instead of hard wiring, and is networked in a cross-redundant manner. The network consists of a GOOSE communication module and a network switch. S2. The data interaction module exchanges data between the governor device and the monitoring LCU through the MMS service of IEC61850.

3. A governor power closed-loop control method based on IEC61850 communication according to claim 1, characterized in that, S3. The active power distribution module in the power closed-loop mode. S3.

1. After receiving the assigned active power regulation target value, the unit LCU of the computer monitoring system issues the power reference Pc to the governor in a communication manner through the GOOSE network. S3.

2. The monitoring system judges the accuracy of the issued power reference Pc. S3.

3. When the deviation between the power reference Pc and the governor power reference feedback value, that is, the power value Pf detected and received by the governor, is < Pd, it is judged that the instruction is correct. S3.

4. When the instruction is correct, the monitoring system issues an execution order to the governor. The governor compares and subtracts the power reference Pc with the unit power sampling Pg to form a power deviation. S3.

5. The power deviation is processed by the parameters of the preset deviation limit and power dead zone, that is, when the power deviation is greater than the power dead zone, the load needs to be adjusted.

4. A governor power closed-loop control method based on IEC61850 communication according to claim 1, characterized in that, S4. Construct the governor power closed-loop control locking logic, which specifically includes the following steps: S4.

1. When the conditions for the governor power closed-loop to be put into operation are met, a fault occurs in the monitoring LCU GOOSE module; S4.

2. The difference between the monitored communication active power setting value and the governor feedback value is too large. S4.

3. The deviation between the power sampling value (Pt) of the governor device and the power sampling value (Pg) of the monitoring LCU is too large, exceeding the preset value Py. S4.

4. Any one of the following conditions occurs: the remote switch for the governor device power closed-loop is withdrawn. S4.

5. The power mode is automatically switched to the opening mode, and the single-unit PID regulation is withdrawn, but the opening mode is not allowed to be automatically switched to the power mode under any circumstances.

5. A governor power closed-loop control method based on IEC61850 communication according to claim 4, characterized in that, S2. The data interaction module further includes the following steps: S2.

1. Data acquisition; S2.

2. Data distribution; S2.

3. Data comparison module; S2.

4. Data confirmation and distribution.

6. A governor power closed-loop control method based on IEC61850 communication according to claim 4, characterized in that The monitoring LCU is configured with two independent GOOSE boards, namely GOOSE Set A of Station 2 and GOOSE Set B of Station 3, each with two virtual boards. The governor side is configured with two independent devices, namely Governor Set A and Governor Set B.

7. A governor power closed-loop control method based on IEC61850 communication according to claim 6, characterized in that, ST02B01 and ST03B03 of Station 2 communicate with Excitation Set A.

8. A governor power closed-loop control method based on IEC61850 communication according to claim 7, characterized in that, ST02B03 and ST03B01 of Station 3 communicate with Excitation Set B.

9. A governor power closed-loop control method based on IEC61850 communication according to claim 8, characterized in that, The GOOSE communication judgment logic includes disconnection monitoring logic and alarm monitoring logic.

10. A governor power closed-loop control method based on IEC61850 communication according to claim 9, characterized in that The GOOSE information in the broken link monitoring logic is based on the multicast propagation of the published or subscribed units, and the heartbeat message mechanism is used to detect the link. T0 is the heartbeat time, and T0 is set to 5s. By optimizing, the current T0 is set to 1s. If the receiving end does not receive the next frame of GOOSE message within 4T0 time, it reports communication interruption and starts the GOOSE broken link alarm; a single network does not affect GOOSE communication; The alarm monitoring logic is set with two independent GOOSE links, which simultaneously receive and send the same measured point information. When both links are interrupted, the main and standby of the device are switched.

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