Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011


I. GII THIU


V


V

sau:

Hnh 1.1 hnh sn ut in nng
Cc khu chnh ca h thng gm c
ua in th c




pht in
.
thng kch thch
H



H

- T

- C


- D
I


H V , cc

T HK H
6 X
SX
G N T T

L

Ha bnh.
T
on
P
T
AVR
PSS . P
PSS
L C


II. M HNH MY PHT IN NG
H
thng qua
( )




Hnh2.1: Q
V
( ) ( ) ( ) ( )
d fd d d
G s e s L s i s A+ = A A

(2.1
)





on thin h thng iu khin kch t cho m pht th in
Towards the complete control for excitaion system of hydropower plants
Dr. Ngun ng Quang
1
1
B mn t ng ha , rng BK Ni
1
e-MAIL: quangnh@mail.hut.edu.vn

Abstract
M cho my
nh my P
P
AVR AVR AVR
PSS N L
C

T q
364
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

( ) ( )
q q q
L s i s A+ = A
(2.2
)
T
G()

L
d
()
L
q
()
Theo Kundur [2] ta c
1 d d
( ) ( ) ( ) ( )
d ad f d ad d
s L i s L i s L i s + = + +
(2.3)
1 ad d
( ) ( ) ( ) ( )
fd ffd f d ad d
s L i s L i s L i s + = + +
(2.4)
1 11 ad 1 d
( ) ( ) ( ) ( )
d ad f d d d
s L i s L i s L i s + = + +
(2.5)
v
fd fd
( ) ( ) (0) ( )
fd fd fd
e s s s R i s = + + +
(2.6)
1d 1d 1 1
0 ( ) (0) ( )
d d
s s R i s = + + + (2.7)
V (2.1) v (2.2)

2
4 5 4 6
2
1 2 1 3
1 ( )
( )
1 ( )
d d
T T s T T s
L s L
T T s TT s
+ + +
=
+ + +
(2.8
d
0 2
1 2 1 3
1
( )
1 ( )
k
sT
G s G
T T s TT s
+
=
+ + +

(2.9)

0
1
3 1
1
5 1
1
1
1
ad
fd
ad fd
fd
ad fd
d
d ad fd
ad l
d
d ad l
L
G
R
L L
T
R
L L
T L
R L L
L L
T L
R L L
=
+
=
| |
= +
|
|
+
\ .
| |
= +
|
+
\ .
1d
d
1d
1
2
1
4
6 1
1
1
1
k
ad d
d
ad l
fd
fd ad l
ad fd l
d
d ad l ad fd fd l
L
T
R
L L
T
R
L L
T L
R L L
L L L
T L
R L L L L L L
=
+
=
| |
= +
|
+
\ .
| |
= + |
|
+ +
\ .

(2.
10)

III. T NG IU CHNH IN P (AVR)
H
(A V
Regulator - AVR) AVR
-
, do
m

A. C s tnh ton b iu khin AVR
Gi tr u c
2 2
q d t
E E E + =
(3.1)
Vi s i nh, s dng php tuyn tnh ha, c
th vi c:
q
to
qo
d
to
do
t
E
E
E
E
E
E
E A + A = A
(3.2)
Thay cc biu thc
d q
E E A A ,

(

A + A + A = A
q q
t
d
d d
t
q
fd
t
q
t
I s X
E
E
I s X
E
E
E s G
E
E
E ). ( ). ( ). ( .
0
0
0
0
0
0

(3.3)
E
fd
n p kch t trong h i
so v n p kch t t vo my pht ch
khng ti e
fd
; E
fd
=G
0
e
fd
=(L
adu
/R
fd
)e
fd .
Trong cc

0
hin gi tr i
ng ti trng thi nh. T g trnh ta
nhn th u cc my pht E
t
khng ch ph
thu n p kch t m cn ph thuc vo dng
n ti I
d
v I
q.
trng thi lm
vic nh c
sau (theo tc gi P. Kundur [1]):
| |
| |
o
sin cos
sin cos
0
0
t q t a t
t a t q
i
q
d
I X I R E
I R I X
tg
E
E
+ +

= =
(3.4
)
V u kin lm vic nh mc v dng
nh mc: Et=1.0; It=1.0; Thng qua hm truyn
ny ta thit k b PID cho my pht
php t
1
r
PI R
r
T s
R K
T s
+
=
(3.5)
B. S dng tn hiu ph nhm nng cao cht lng
b AVR
Theo tc gi M.S Ghazizadeh [4], b u khin AVR
bao gm mt b b li phn tn hiu ny nhm nng
cao ch ng cho b AVR. Cu trc kh
sau:

K
G
My pht
E
tref
Ua
Uex
Uaux
Id
Iq
Et
Hnh 3-1 C AVR
i vi s i nh ta c biu thc:
aux a ex
U U U A + A = A
(3.6)
Thay biu thc (2.10) vo (2.4) trn, kt
qu c:
(
(

A + A A + A = A
q q
q
d
d d aux ex
t
q
a ex
t
q
t
I s X
E
E
I s X U s G s G
E
E
u s G s G
E
E
E ). ( ). ( ). ( ). ( . ). ( ). ( .
0
0
0
0
0
0

(3.7)
365
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

Tn hiu
aux
U A c chn sao cho:
(
(

A A = A

q q
q
d
d d ex aux
I s X
E
E
I s X s G s G U ). ( ). ( )) ( ). ( (
0
0 1
(3.8)
N y s tn ti quan h n sau:
a ex
t
q
t
u s G s G
E
E
E A = A ). ( ). ( .
0
0

(3.9)
N y b u ph U
aux
, ta thu
c mi quan h n gi u cc v
tn hiu ra t b u ch n p AVR (U
a
), da vo
quan h ny c th tng h c b u chnh AVR
d
C. B n nh cng sut PSS
B nh cng sut PSS s dng tn hiu ph
nng cao ch ng ca h thng ch c b
AVR T ng tn hi u vo ca b PSS l s
i ca vn t u cc rotor, tn s u cc,
hoc cng su u cc. nh ch ng
ca h thng tc l d ng ca h thng.
Nh hin m hnh tuyn
tnh ho ca h thng kch t bao gm b AVR v
PSS
2
2
2
m e
d
T T H
dt
o A
A A =
(3.10
)
1 2 e q
T K K E o A = A + A
(3.11
)
3 3 4
d ' '
0 3 0 3
1 1
q f
d d
K K K
E E
sT K sT K
o A = A A
+ +

(3.12
)
5 6 t q
E K K E o A = A + A
(3.13
)
Trong cc hng s K
1
K
6
ngoi tr h s K
3
ch
ph thuc vo tr khng mch kch t c lp vi
cng sut th t phn khng ca ti
kch t c D
m hnh b kch t vi T

d0
T
3

Hnh 3-2 C AVR-PSS
T m hnh trn chng ta c th nhn thy r u
vo ca b PSS l tn hi u cc rotor thc cht
c s tr pha so vi tn hi u vo khi kch t do
PSS c ht phi c tc dng b li s lch
pha gi u vo kch t u cc gy ra.
B PSS truyn th hnh 3-2 bao
gm 3 khi chnh: mt khi b pha, mt khi
washout, mt khi khuy i.
Khi b pha c tc dc b li s c ca tn
hi u vo b kch t v momen khe h khng kh.
Tng b CPSS gm 1 hoc 2 khi b pha vi tnh
ton pha cn b cc tn s khc nhau.
Kh w t b lc thng
cao, vi hng s th Tw l cho php cc
ng c
r
c th thng qua.
IV. NNG CAO CHT LNG IU KHIN
PI


N



.
Lyapunov.
A. B n nh cng sut PSS thit k trc tip theo
Lyapunov
P a trn vic tm m u
khi L V()
gian trng thi ca h th ng. Nguyn tc chung
ca h u khin kch t a vo
u khin do Machowski 5 M

H i cho ta thy m my pht lm
vic vi ti v hn v gi pha ca n.
GS

MBA
ng dy
L

Hnh 4-1: M hnh my pht kt ni vi ti v hn

Hnh 4-2 th
T
d
, x
d

v x
q
, x
q

n khng dc
trc d, q ton phn lc (c du `
).
d
dt
o
e = A (4.1)
m e
d
M P P
dt
e A
=

(4.2)
'
' q
do f q
dE
T E E
dt
=

(4.3)
366
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

'
' d
qo d
dE
T E
dt
=

(4.4)
Tr

'
'
' '
cos
d d d
q q s
d d
x x x
E E V
x x
o

=

(4.5)
'
'
' '
sin
q q q
d d s
q q
x x x
E E V
x x
o

=

(4.6)
V

' '
' 2
' ' ' '
sin os sin 2
2
q s q d
d s s
d
d q q d
E V x x
E V V
E c
x x x x
o o o

= +

(4.7)
Gi tr cc trng thi ca h m nh c k
hiu d u l

(4.
8)
C (4.3) v (4.4) l t cho
'
do
T v
'
qo
T ri th Ed v Eq (4.5) v (4.6) vo ta
c
'
'
' '
cos
q
f q s
d d
dE
e E V
dt x x
o |
o
| |
=
|
\ .
(4.9)
'
'
' '
sin
d
d s
q q
dE
E V
dt x x
c
o
| |
=
|
|
\ .

(4.10
)


'
f
f
do
E
e
T
=

(4.11
)
'
'
' ' ' '
; ; ;
q q q
d d d
do qo do qo
x x x
x x x
T T T T
o c |

= = = =

(4.12
)
C ng trnh (4.1) , (4.12) v (4.9) v (4.10) to
thnh h n m t trng thi ca
h vi cc bin trng thi l
' '
, , ,
q d
E E e o A
m (4.9) v (4.10)
bng 0
^ ^ ^
'
' '
0 ' cos f
q s
d d
e E V
x x
o |
o
| |
=
|
\ .
(4.13)
^ ^
'
' '
0 ' sin
d s
q q
E V
x x
c
o
| |
=
|
|
\ .

(4.14)
C (4.9) v (4.13), (4.10) v
(44) c
'
^ ^ ^
' '
' '
' cos cos
q
f
f q q s
d d
dE
e e E E V
dt x x
o |
o o
| | | | | |
= +
| | |
\ . \ . \ .

(4.1
5)
'
^ ^
' '
' '
' sin sin
d
d d s
q q
dE
E E V
dt x x
c
o o
| | | |
= +
| |
\ . \ .

(4.1
6)
La chn hm Lyapunov
' '
q d
k p
E E
V V V V V = + + +

(4.17)
T
( )
^
2
0
1
( )
2
t
k
d
V M dt Md M
dt
e
e
e
e e
A

A =
A | |
= = A = A
|
\ .
} }

(3.18)
| |
^
( )
p m e
V P P d
o
o
o o =
}

(3.19)

' '
2 2
^ ^
' ' ' '
' '
1 1
1 1
' ; '
2 2 q d
q q d d
E E
d q
V E E V E E
x x
o c
|
( (
= =
( (


(3.20)
Nh V
V c
(4.21)
T
( )
2
' '
1 1
0 d
d
qo q q
V E
T x x
-
= s

(4.22)
2
' ' ' '
1 1 1 1
q
q q f f q q
do d d do d d
V E E E E E E
T x x T x x
- . . .
| | | || |
= +
| | |
\ . \ .\ .

(4.23)
Vy lun m v khng ph thuc vic ta la
chn c u khin th no. Vic thit k b
u khin theo Lyapunov ch ph thuc vo ,

2
' '
1 1
q q
do d d
E E
T x x
.
| |

|
\ .
lun m vy vi
mong mun cng m cng tt, ta phi thit k
lu u khin sao cho
' '
1 1
f f q q
do d d
E E E E
T x x
. .
| || |

| |
\ .\ .
lun m.
Do x
d
> x
d

nn ta c th chn c u khin

f f q q
E E K E E
. .
| | | |
=
| |
\ . \ .

(4.24)
Vi K>>1 th c th kh nh lun m
Vy c u khin ca ta l
f f q q
E E K E E
. .
| |
= +
|
\ .
(4.25)


Hnh 4-3: B u khi PSS xut
Vic tnh ton
q
E
.
ta c th ly trc tip tn hiu
u ra t b AVR bi thc cht t m nh
mong mun th
q f
E E
. .
= m
f
E
.
l u ra ca
b AVR.
C c gi l cu trc phn tng c

367
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011


Hnh 4-4: B u khin AVR-PSS phn tng
V. M PHNG H THNG
A. M phng vi h thng AVR

Hnh 5-1: Khi m phng trn Simulink

Trong khi m phng trn hnh 5.1 th bn trong khi
AVR l khi sau

Hnh 5-2: Cu trc b AVR c s dng tn hiu ph

0 0.5 1 1.5 2 2.5
0
1
2
t(s)
E
t
(
p
u
)
0 0.5 1 1.5 2 2.5
0
1
2
3
t(s)
V
f
(
p
u
)
0 0.5 1 1.5 2 2.5
0
1
2
t(s)
P
e
(
p
u
)

() T


0 0.5 1 1.5 2 2.5 3 3.5 4
0
1
2
t(s)
E
t
(
p
u
)
0 0.5 1 1.5 2 2.5 3 3.5 4
0
1
2
t(s)
V
f
(
p
u
)
0 0.5 1 1.5 2 2.5 3 3.5 4
0
0.5
1
t(s)
P
e
(
p
u
)

() Tng hp ti b thay
i
Hnh 5-3 ng ca b AVR
M PSS


Hnh 5-4: Cu hnh b PSS truyn thng

0 2 4 6 8 10 12 14 16 18 20
0.4
0.5
0.6
0.7
0.8
0.9
1
1.1
t(s)
E
t
(
p
u
)


0 2 4 6 8 10 12 14 16 18 20
-2
-1
0
1
2
3
t(s)
V
f
(
p
u
)
c PSS
Khng PSS

Hnh 5-5 ng ca b PSS so vi AVR
C th ni b PSS kt hp AVR i ch ng tt
u so vi khi ch c b AVR. H thng d
dng d ng c n
nh nhanh cng su u cc my pht
368
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

M L
-
20 25 30 35
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
t(s)
E
t
(
p
u
)


Fuzzy
Lyapunov

Hnh 5.6 u cc Et
20 25 30 35 40 45
0
0.5
1
1.5
2
2.5
3
t(s)
V
f ( p
u
)


Lyapunov
Fuzzy

Hnh 5.7 n p kch t Vf
Nhng kt qu m ph y tnh n
nh v chnh xc ca b u khi xut. H
th m bo gi u cc khi c s
nhiu ln ca h thng l ngn mch xy ra trong 0.2s.
Mc tiu quan trng l kh nh kh nhanh
khi c nhiu ln xy ra (hi ng ngn mch pha
) t yu cu quan trng trong vi
gi ch ng h th u khin kch t.
VI. TRIN KHAI THC NGHIM
H


[3]
H
V

- M
-
- Q
T 6

T H

- (

)
- H

-
- L
- C -line
v off-line

Hnh 6.1: Cu hnh phn cng b u khin
H
H
240MW Q



Hnh 6.2 i n kh ng

Hnh 6.3 n dp t
VII. KT LUN
H

T
H 2004 H


V


369
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011



V
REFERENCES
[1] N T T H
H DA-2002
[2] P. Kundur, Power System Control Stability,
McGraw-Hill, Inc, 2001.
[3] Q N D
system for hydro-w I
symposium on dynamics and control, 2011
(submitted).
[4] MS Gzz FM H A
Generator Transfer Function Regulator For
I E IEEE Transon Power
Systems, Vol.13,No. 2, 1998, pp. 435-441.
[5] JMw S R E
f w IEE
Proc-Gener, Transm, Distrib, Vol.145,No. 5,
1998, pp. 537-546.
[6] JMw S R E
f w IEE
Proc-Gener, Transm, Distrib, Vol.145,No. 5,
1998, pp. 537-546.
[7] IEEE Recommended Practice for Excitation
System Models for Power System Stability
Studies,IEEE Std 421.5-1992,

Ngun ng Quang
K T
H 99
N 2000 T
S
tm Robotics(ACFR).
T N H Q
T
99
H




370