Stabilizator elektromagnetičkih njihanja sinkronoga generatora zasnovan na sinergijskoj teoriji upravljanja

doctoral thesis

• Title (english): Power system stabilizer of synchronous generator based on synergetic control theory
• Author: Stjepan Tusun
• Mentor: Igor Erceg (mentor)
• Committee member: Igor Erceg (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Electric Machines, Drives and Automation); Zagreb
• Defense date and country: 2017, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Electromechanical Engineering
• Universal decimal classification (UDC): 621 - Mechanical engineering. Nuclear technology. Machinery

Abstract

Ovaj doktorski rad rezultat je istraživanja nelinearnih struktura upravljanja uzbudom sinkronoga generatora s ciljem razvoja jedinstvenog algoritma regulacije napona i stabilizacije elektromehaničkih njihanja sinkronoga generatora. U sklopu istraživanja razvijen je decentralizirani stabilizator elektromehaničkih njihanja zasnovan na sinergijskoj teoriji upravljanja (Decentralized Synergetic Power System Stabilizer – DSPSS). Regulacijski zahtjevi na sustav uzbude opisani su pomoću invarijantne mnogostrukosti koja je definirana kao linearna kombinacija promjene napona generatora, kutne brzine i djelatne snage. Uvođenjem invarijantne mnogostrukosti u prostor stanja sustava i primjenom sinergijske teorije upravljanja izveden je optimalni zakon upravljanja uzbudom koji osigurava regulaciju napona i stabilizaciju elektromehaničkih njihanja sinkronoga generatora. Pri sintezi upravljačkog zakona korišten je model sinkronoga generatora trećeg reda koji uzima u obzir prijelaznu izraženost stroja. Za izvod decentraliziranog upravljačkog zakona koriste se samo lokalno dostupne veličine izražene u dq koordinatnom sustavu generatora pomoću Parkove transformacije. Radi provjere djelovanja i podešenja parametara algoritama upravljanja uzbudom generatora u programskom paketu Matlab/Simulink izgrađen je simulacijski model sinkronoga generatora i sustava uzbude. Simulacijskim modelom opisane su ključne komponente laboratorijskog postava koji je korišten za eksperimentalna ispitivanja. Verifikacija simulacijskog modela obavljena je usporedbom eksperimentalnih i simulacijskih odziva na poremećaje u sustavu. Razvijeni stabilizator ispitan je i na simulacijskom modelu višestrojnog sustava, gdje je njegovo djelovanje uspoređeno s djelovanjem stabilizatora tipa PSS4B na tipične poremećaje u sustavu. Eksperimentalno ispitivanje razvijenog DSPSS-a provedeno je na laboratorijskom modelu sinkronoga generatora snage 83 kVA. U tu svrhu posebno je razvijen digitalni sustav upravljanja temeljen na National Instruments CompactRIO platformi. Klasični regulator napona, stabilizator tipa PSS2A i DSPSS implementirani su na digitalni sustav upravljanja pomoću standardnih LabView funkcija. Snimljeni su odzivi sustava na skokovite promjene postavne veličine napona i mehaničke snage generatora. Također, provedeni su eksperimenti značajnih poremećaja u sustavu, kao što su isklop/uklop prijenosnog voda te dvopolni i tropolni kratki spoj. Za pojedini sustav upravljanja prikazani su eksperimentalni odzivi i izračunati su numerički pokazatelji kvalitete odziva karakterističnih signala. Usporedbom eksperimentalno dobivenih odziva i numeričkih pokazatelja kvalitete utvrđeno je da sustav s DSPSS-om ima bolja dinamička svojstva, te da je robusniji na promjene radne točke i parametara sustava nego klasični sustav s regulatorom napona i stabilizatorom tipa PSS2A.

Abstract (english)

This thesis is a result of the research in the field of nonlinear excitation control in order to develop a unique algorithm which ensures damping of power system oscillations and regulation of synchronous generator voltage. In the thesis a decentralized synergetic power system stabilizer (DSPSS) has been developed. The control objectives for the excitation control system have been described using invariant manifold which has been defined as a linear combination of the generator terminal voltage, rotor speed, and active power deviation. By applying the synergetic control theory and introducing invariant manifolds into the state space of the studied system, the nonlinear control law, which ensures generator voltage regulation and power system oscillations damping, has been derived. The third order model of synchronous generator that takes into account transient saliency has been used. By using the Park’s transformation, the generator voltages and currents have been expressed in the dq coordinate system and the decentralized synergetic power system stabilizer (DSPSS) has been derived. Control law of DSPSS uses only locally available measurements. The simulation model of synchronous generator and excitation system was developed using software package Matlab/Simulink for parameters tuning and testing of excitation control algorithms. Components of the laboratory model, which has been used for experimental testing, have been modeled using standard libraries. Verification of the simulation model has been carried out by comparing the experimental and simulation response to disturbances in the system. Also, a multi-machine simulation model has been used to compare performances of the developed nonlinear stabilizer to the performances of stabilizer PSS4B. The DSPSS control law has been experimentally tested on an 83 kVA synchronous generator laboratory model. Classical voltage regulator, stabilizer PSS2A, and DSPSS have been implemented on a National Instruments CompactRIO platform. Automatic voltage regulator, stabilizer PSS2A, and DSPSS have been implemented on a digital control system using standard LabView functions. System responses to generator’s reference voltage and mechanical power change, connection and disconnection of the transmission line, two-pole and three-pole short circuit experiments have been conducted. For each control structure, experimental responses have been presented and numerical performance indices of the characteristic signal have been calculated. Comparing numerical performance indices for systems’ responses it has been established that the system with DSPSS damps better electromechanical oscillations and it is more robust to operating point changes as well as system’s parameters changes than the system with PSS2A.

• Keywords: regulator napona generatora; sinergijska teorija upravljanja; sinergijski stabilizator elektromehaničkih njihanja; sinkroni generator
• Keywords (english): automatic voltage regulator; synergetic control theory; synergetic power system stabilizer; synchronous generator
• Language: croatian
• URN:NBN: urn:nbn:hr:168:253960
• Study programme: Title: Electrical Engineering and Computing; Study programme type: university; Study level: postgraduate; Academic / professional title: Doktor znanosti elektrotehnike i računarstva (Doktor znanosti elektrotehnike i računarstva)
• Type of resource: Text
• Extent: 161 str. ; 30 cm.
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-04-09 14:56:32