CN103368170A - Converter and control method of multi-end soft direct current power transmission system - Google Patents
Converter and control method of multi-end soft direct current power transmission system Download PDFInfo
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Abstract
The invention relates to a converter control method of a multi-end soft direct current power transmission system, and a converter adopting the control method and a soft direct current power transmission system, when the direct current bus voltage is positioned between a preset voltage upper limit value udc_ref_high and a preset voltage lower limit value udc_ref_low, the converter is operated in a constant power control mode; when the direct current bus voltage is not positioned between the preset voltage upper limit value udc_ref_high and the preset voltage lower limit value udc_ref_low, the converter is operated in a direct current bus voltage control mode; when the bus voltage is higher than the set upper limit value, the converter adjusts the direct current bus voltage to be steady at the upper limit value; and when the bus voltage is lower than the lower limit value, the converter adjusts the direct current bus voltage to be steady at the lower limit value. By adopting the method, the coordinating control on the direct current voltage and the tide can be performed at the same time, and the method is suitable for the large-scale distributed multi-end soft direct current system engineering with multiple drop points.
Description
Technical field
The present invention relates to the converter control method of a kind of multiterminal flexible DC power transmission system, the flexible DC power transmission system that uses the converter of this control method and use this converter.
Background technology
Technology of HVDC based Voltage Source Converter to be can turn-off power electronic device and voltage-source type converter (VSC) as the basis, mostly is the BtB topological structure and realizes delivery of electrical energy take underground cable and submarine cable as transmission medium.Wherein voltage-source type converter (VSC) is the basic composition unit of this transmission system.The topological structure that is applied at present Practical Project has the topological structures such as two level, three level and modular multilevel.
Multi-terminal HVDC transmission (MTDC) system refers to contain the DC transmission system of a plurality of converting plants or a plurality of Inverter Station.Its distinguishing feature is to realize that multiple feed, many drop points are subjected to electricity, provide a kind of more flexibly, power transmission mode efficiently.The MTDC transmission system is mainly used in: by a plurality of load centers of a plurality of Energy Base transmission of electric energy to a distant place; Can not use big city or the center of industry in overhead transmission line corridor; DC power transmission line medial fascicle access load or power supply; Utilize DC power transmission line to realize the non-contact same period etc. of electrical network between several isolated AC system.Along with high-power electric and electronic is controlled further developing of switching device technology entirely, the research of Novel Control, the progressively reduction of direct current transportation cost and the raising that the quality of power supply requires, mixing MTDC technology of transmission of electricity based on current source converter (csc) (Current Source Converted CSC) and the voltage-source type converter (Voltage Source Converter VSC) of routine, MTDC technology of transmission of electricity based on FACTS, and will be rapidly developed based on the novel MTDC technology of VSC, will greatly improve operational reliability and the practicality of MTDC transmission system, enlarge the range of application of MTDC transmission system, for electrical network provides more novel interconnected pattern, for many drop points of big city direct current supply are subjected to electricity that new approaches are provided, for other forms of new forms of energy access electrical network provides new method, for the foundation in high-quality electric energy storehouse provides new way.
Different from traditional C/S C-MTDC system, the direct voltage direction is constant during the counter-rotating of VSC-MTDC system load flow, the counter-rotating of direct current direction, and do not need mechanically actuated operation, and speed, reliability is higher.It is a kind ofly not only to have higher reliability but also have flexible and changeable control mode, so VSC-MTDC is the suitable scheme that makes up MTDC transmission system in parallel.
The VSC-MTDC system has more technical advantage at aspects such as operational flexibility, reliabilities than two end systems, but its operation control relatively also wants complicated.Be that basic control mode in current source type direct current transportation (CSC-HVDC) system is the same with Current Control, DC voltage control is the basic controlling in the VSC-HVDC system.In the VSC-MTDC system, the current conversion station of sampling DC voltage control is equivalent to an active balance node, plays power-balance and stable DC voltage, and its control performance and reliability have also just determined operation characteristic and the reliability of whole system.
VSC-MTDC direct voltage and trend coordination control strategy have following several: (1) master-slave mode voltage control method, characteristics are that control is simple, and controllability is the strongest, but needs high speed communication that system command is coordinated; (2) voltage drop method, advantage is not need the upper strata controller to carry out adjusted value to coordinate, to mutual communication require low, has certain extensibility, shortcoming is that the slope configuration is complicated, it is accurately to carry out power flow control that trend control is subjected to system's main electrical scheme and direct current cables parameter influence, greatest drawback; (3) based on the direct voltage control method for coordinating of voltage deviation, the characteristics of the method are without the communication independent regulation, flexible configuration, extensibility are strong, but have that direct voltage is coordinated concurrently and tide optimization control aspect, be subjected to the restriction of control structure own, its control performance is limited, wherein second order voltage deviation method is cut off trend control automatically when carrying out voltage deviation control, therefore voltage coordination and trend control can not be carried out simultaneously, and also there is this problem in three rank voltage deviation methods, and the control ability in each stage is limited simultaneously.
Summary of the invention
The converter control method that the purpose of this invention is to provide a kind of multiterminal flexible DC power transmission system, the flexible DC power transmission system that uses the converter of this control method and use this converter, in order to solve direct voltage and trend in the existing VSC-MTDC system coordinate to control can not carry out simultaneously problem.
For achieving the above object, the solution of the present invention comprises: the converter control method of a kind of multiterminal flexible DC power transmission system, the flexible DC power transmission system that uses the converter of this control method and use this converter.
The converter control method of a kind of multiterminal flexible DC power transmission system: when DC bus-bar voltage is in predefined upper voltage limit value u
Dc_ref_highAnd lower limit u
Dc_ref_lowBetween the time, converter runs on decides power control mode; When DC bus-bar voltage is in predefined upper voltage limit value u
Dc_ref_highAnd lower limit u
Dc_ref_lowIn the time of in addition, converter runs on the DC bus-bar voltage control model, and when busbar voltage was higher than the capping value, converter was regulated DC bus-bar voltage and is stable at higher limit, when busbar voltage was lower than lower limit, converter was regulated DC bus-bar voltage and is stable at lower limit.
Converter in this control method adopts the Direct Current Control method based on rotating coordinate system, and its outer shroud control based on rotating coordinate system comprises for generation of active current instruction i
DrefPower controller, power controller comprises meritorious flow controller and dc voltage controller, decides power control mode when converter runs on, the power flow control device is output as active current instruction i
DrefInput; When converter runs on the DC bus-bar voltage control model, dc voltage controller is output as active current instruction i
DrefInput.
Dc voltage controller comprises voltage lower bound controller and the high limit of voltage controller in this control method.
Adopt the converter of this control method: when DC bus-bar voltage is in predefined upper voltage limit value u
Dc_ref_highAnd lower limit u
Dc_ref_lowBetween the time, converter runs on decides power control mode; When DC bus-bar voltage is in predefined upper voltage limit value u
Dc_ref_highAnd lower limit u
Dc_ref_lowIn the time of in addition, converter runs on the DC bus-bar voltage control model, and when busbar voltage was higher than the capping value, converter was regulated DC bus-bar voltage and is stable at higher limit, when busbar voltage was lower than lower limit, converter was regulated DC bus-bar voltage and is stable at lower limit.
This converter adopts the Direct Current Control method based on rotating coordinate system, and its outer shroud control based on rotating coordinate system comprises for generation of active current instruction i
DrefPower controller, power controller comprises meritorious flow controller and dc voltage controller, decides power control mode when converter runs on, the power flow control device is output as active current instruction i
DrefInput; When converter runs on the DC bus-bar voltage control model, dc voltage controller is output as active current instruction i
DrefInput.
The dc voltage controller of this converter comprises voltage lower bound controller and the high limit of voltage controller.
Adopt the multiterminal flexible DC power transmission system of this control method: each converter is according to the different upper voltage limit value u of different set of load importance in this DC transmission system
Dc_ref_highAnd lower limit u
Dc_ref_low
The invention has the beneficial effects as follows: the DC transmission system that adopts this control method and this converter, converter can be according to automatically switch self operational mode of the running status of direct current system: at one end or the multiterminal DC bus-bar voltage when skew occurs with running mode switching by deciding power control mode to the DC voltage control pattern, DC bus-bar voltage is stabilized in the bound scope of setting the expansion of preventing accident; Can when breaking down, direct current system preferentially guarantee the power supply of critical load according to the different voltage bound of different set of load importance.Adopt the multi-terminal system dc point of this method to fix, control structure is simple, and system configuration is flexible, and extensibility is strong, is fit to be applied to the distributed multiterminal flexible direct current system engineering of extensive many drop points.
Description of drawings
Fig. 1 is the structure diagram of multiterminal flexible DC power transmission;
Fig. 2 a is modular multilevel flexible DC power transmission converter equivalent circuit;
Fig. 2 b is modular multilevel flexible DC power transmission converter control block diagram;
Fig. 3 a is the power controller control block diagram with DC bus-bar voltage high-low pressure limit control function;
Fig. 3 b is the power controller external control performance plot with DC bus-bar voltage high-low pressure limit control function;
Fig. 4 is modular multilevel Converter emulate system architecture figure;
Fig. 5 a is that modular multilevel flexible DC power transmission converter multi-terminal system alternating voltage no-voltage is fallen the l-G simulation test alternating voltage waveform;
Fig. 5 b is that modular multilevel flexible DC power transmission converter multi-terminal system alternating voltage no-voltage is fallen l-G simulation test DC bus-bar voltage waveform;
Fig. 5 c is that modular multilevel flexible DC power transmission converter multi-terminal system alternating voltage no-voltage is fallen l-G simulation test direct current waveform;
Fig. 6 a is modular multilevel flexible DC power transmission converter multi-terminal system Power operation l-G simulation test DC voltage waveform;
Fig. 6 b is modular multilevel flexible DC power transmission converter multi-terminal system Power operation l-G simulation test direct current waveform.
Embodiment
The present invention will be further described in detail below in conjunction with accompanying drawing.
The structure diagram of multiterminal flexible DC power transmission system is as shown in Figure 1: flowing take power from AC to DC side is positive direction, and S1, S3, S4 are power supply, and Load2, Load5 are power load.Fig. 2 a is the equivalent circuit of flexible DC power transmission system converter, wherein P
s, Q
sMeritorious and the reactive power for AC, I
A1, I
B1, I
C1, U
Sa, U
Sb, U
ScBe respectively electric current and the voltage of AC three-phase, U
Ca, U
Cb, U
CcBe the alternating voltage after consuming through the converter impedance, P
c, I
DcBe power and the electric current of this converter input direct-current electrical network, to flow as positive direction U from AC to DC side
DcBe the Converter DC-side terminal voltage, the specific works mode does not repeat them here.Fig. 2 b is flexible DC power transmission converter control block diagram; this control block diagram is related decides power control mode; the principle of DC voltage control (deciding voltage control) mode own, measure and number in the figure etc. all belong to prior art; do not repeat them here; particular content is with reference to paper " based on flexible DC power transmission control strategy and the simulation study of dq0 synchronous coordinate " (protecting electrical power system and detection, 22 phases of 37 volumes).Increase each symbol marking explanation.
The concrete control method of the converter of multiterminal flexible DC power transmission is as follows:
Set the higher limit u of converter
Dc_ref_highWith lower limit u
Dc_ref_lowAnd rectification and inversion balance function.When normal operation, busbar voltage is in setting voltage higher limit u
Dc_ref_highWith lower limit u
Dc_ref_lowIn the scope, the control converter runs on and decides power control mode after the computing of process balance function; When DC bus-bar voltage is in predefined upper voltage limit value u
Dc_ref_highAnd lower limit u
Dc_ref_lowIn the time of in addition, run on the DC bus-bar voltage control model through switching converter after the computing of balance function, when busbar voltage surpassed higher limit, the control bus voltage stabilization was in higher limit, when busbar voltage was lower than lower limit, the control bus voltage stabilization was in lower limit.Decide power control mode when converter runs on, will keep active power according to its power command value P
OrderControl, the output of power flow control device is as active current instruction i among Fig. 2 b at this moment
DrefInput; When converter runs on the DC bus-bar voltage control model, will switch original by its power command value P
OrderBe controlled to by d-c bus voltage value U
DcControl, the output of dc voltage controller is as active current instruction i among Fig. 2 b
DrefInput, in this way, converter can be stably switches in two kinds of mode of operations mutually, has solved an original converter and can not only be operated in the problem of deciding power control mode but also being operated in stable DC busbar voltage pattern.Finish the power controller control block diagram of pattern handover operation shown in Fig. 3 a, Fig. 3 a is based on the tuning controller structure that the voltage deviation principle proposes, and power controller comprises DC voltage control part and relevant trend control section.Wherein the high lower bound controller of voltage is the PI controller, thereby direct voltage is controlled in the adjusting that is used for gaining merit when direct voltage surpasses deviation range, the power flow control device is based on the PI controller of inverse steady state model, and this controller is used for direct voltage and carries out fast trend closed-loop control within high lower bound scope the time; Since the output of three controllers all by the adder addition as the active current instruction, thereby for condition has been created in the competition of voltage controller and flow controller, and the balance function just is based on the output that the high lower bound controller of direct voltage Output rusults is adjusted flow controller, and then carry out the coordination control of direct voltage and meritorious trend according to pre-configured parameter, this balance function can carry out different configurations according to the direct voltage of system and the coordination requirement of meritorious trend, the simplyst be configured to a constant, this constant and voltage controller output combine, and compare analysis in flow controller, actual DC busbar voltage in conjunction with current converter has the meritorious situation of output, based on the active current instruction of dc voltage stability and tide optimization distribution principle final decision output.The input of this tuning controller has 5 variablees, be respectively the high limit of voltage instruction Udc_ref_High, voltage lower bound instruction Udc_ref_Low, active power instruction P_ref, DC bus-bar voltage Udc and the actual active-power P of converter AC, be output as the active current instruction Id_ref of converter; Wherein the PI parameter of the high lower bound controller of voltage and power flow control device is configured based on dynamic characteristic by ssystem transfer function; The output violent change of voltage lower bound controller is the meritorious restriction of rectification that this end converter participates in coordinating control, wherein lower bound Pvdc_Low_lower is set to zero, the configuration of high limit Pvdc_Low_upper has determined that directly this end participates in the meritorious ability of rectification that voltage is coordinated control, and actual incorporation engineering demand is configured; The output violent change of the high limit of voltage controller is the meritorious restriction of inversion that this end converter participates in coordinating control, wherein high limit Pvdc_High_upper is set to zero, the configuration of lower bound Pvdc_High_lower has determined that directly this end participates in the meritorious ability of inversion that voltage is coordinated control, and actual incorporation engineering demand is configured; Weigh the various ways that disposes of function, but three kinds of schemes are arranged totally: the first scheme is that the high lower bound controller of direct voltage is fully preferential, this moment is when surpassing high limit limit value when direct voltage, meritorious trend will change to satisfy the direct voltage maximum stability, and actual meritorious trend is no longer equal with instruction; This scheme is suitable for having the AC network end that very strong urgent trend supports; First scheme is preferential for meritorious trend, this moment, this end converter carried out to a certain degree DC voltage control at direct voltage above the high lower bound initial stage, but trend is preferential because the balance function is configured to gain merit, when carrying out stable state, meritorious trend still guarantees to be the closed loop command value, this scheme can be carried out DC voltage control at the dynamic initial stage, still guarantees the trend conveying after stablizing, and this scheme is suitable for having the AC network end that the urgent trend of certain transient state supports; The third scheme limits coordination mode for meritorious trend, this moment, direct voltage surpassed height in limited time, the direct voltage that trend is also carried out change to a certain degree supports, but also can consider the delivery requirements of this end trend, the AC power flow change amount that causes owing to coordinative role under this kind mode is between one, two two schemes, and this scheme is suitable for converter must guarantee the to a certain degree AC network end of trend conveying; And last be to guarantee that this end converter moves under the capacity that allows, wherein Id_upper is this end converter maximal integer mass flow active current limit value, Id_lower is the maximum inversion active current of this end converter limit value, and the active current amplitude limit value generally is set as the maximum continuously operating load electric current that current transformer allows.
External characteristic with Active Power Controller of DC bus-bar voltage high-low pressure limit control function meets the requirement such as Fig. 3 b:
In control procedure, when busbar voltage exceeded the upper lower limit value that sets, power controller was operated in the DC voltage control pattern, and this moment, voltage constant was the corresponding upper lower limit value that sets; When busbar voltage is in the upper lower limit value scope, switches to and decide power control mode, at this moment power invariability.
DC bus-bar voltage high-low pressure limit value of selected each end, each holds the limit value can be consistent, also can elect different value as, and the difference that this limit value is selected will cause that the trend allocation priority is different.In the following simulation example, to the different priority of the corresponding load setting of different converters---be different upper lower limit values.
Validity below by simulating, verifying direct voltage high-low pressure limit control method.
According to above control strategy, in MATLAB/SIMULINK software, built the simulation model of modular multilevel flexible DC power transmission converter multi-terminal system.This model is by five Converter DC-side concurrent connecting systems, and the wiring sketch as shown in Figure 4.Wherein 1# converter rated power is 350MW, and the rated power of 2# converter is 100MW, and the rated power of 3# converter is 100MW, and the rated power of 4# converter is 200MW, and the rated power of 5# converter is 100MW, and the dc bus rated voltage is 400kV.The 1# converter is for to decide the DC bus-bar voltage operational mode, and 2-5# converter is decides power mode of operation.2#, 3#, 4#, 5# are the power controller with DC bus-bar voltage high-low pressure limit control function, and wherein 4# low pressure is limited to 370kV, all the other low pressure are limited to 380kV.
Emulation one: the 1# converter is for to decide the DC bus-bar voltage pattern, and the busbar voltage instruction is 400kV; The 2# converter is taken out power 50MW from DC side, and the 3# converter is taken out power 100MW from DC side, and the 4# converter is taken out power 100MW from DC side, and the 5# converter is taken out power 100MW from DC side.0.6S the time 1# converter grid side generation three-phase no-voltage fall fault.Fig. 5 a is 1# converter alternating voltage waveform, and Fig. 5 b is the DC bus-bar voltage waveform, and Fig. 5 c is 1-5# converter dc bus current waveform (flowing to DC side as positive direction take the converter AC).The 1# converter is out of service can find out the 0.6S fault from simulation waveform after, its direct current is reduced to 0A, 2#, 3#, 5# converter are cut to the DC bus-bar voltage state of a control by the power mode of deciding before, and busbar voltage is stabilized in lower limit 380kV, the 4# converter still keeps the 100MW Power operation.
Emulation two: the 1# converter is for to decide the DC bus-bar voltage pattern, and the busbar voltage instruction is 400kV; 0.2S2# begin to take out power 100MW from DC side, the 3# converter is taken out power 50MW from DC side, 5# takes out power 100MW from DC side, and 4# begins to take out power 150MW from DC side during 0.5S, and 4# transfers to DC side and send power 100MW during 0.7S; 1.0S2# send power 70MW to direct current, 3# send power 70MW to direct current, 5# begins to send power 70MW to direct current, and 1.3S4# send power 200MW to direct current, and 1.7S4# transfers to from DC side and takes out power 20MW.Fig. 6 a, 6b are the simulation waveform of this test.Limited owing to the 1# power delivery in the time of from waveform, can finding out 0.5S, the power summation that 2-5#4 converter taken out has exceeded the conveying capacity of 1# converter, the 1# current conversion station transferred rectification square to and moved to maximum power output this moment, DC bus-bar voltage is fallen, 2#, 3#, 5# cuts to DC bus-bar voltage at 0.5S and controls, busbar voltage is stabilized in its lower limit 380kV, the summation that 2-5# takes out power from DC side when 0.7S transfers 50MW to, this moment, the 1# converter power can satisfy the service requirement of all the other four converters, the 1# converter is controlled at 400kV with busbar voltage again, 2#, 3#, 5# transfers original power of deciding to and controls, and its through-put power returns to power command value.1.0S2#, 3#, 5# transfers to the DC side power output, this moment, 4# was also to the DC side power output, 4 converters are 310MW to DC side power output summation, system normally moves, when 1.3S, 4# increases to 200MW to the DC side power output and has increased 100WM, this moment, 4 converters were 410MW to DC side conveying gross power, the transmittability that has exceeded the 1# converter, this moment, the 1# converter transferred the operation of inversion direction maximum power output to, DC bus-bar voltage raises, 2#, 3#, control 5#1.3S cut to DC bus-bar voltage, busbar voltage is stabilized in its higher limit 400kV, 2-5# send the summation of power to transfer 190MW to DC side when 1.7S, and this moment, the 1# converter power can satisfy the service requirement of all the other four converters, and the 1# converter is controlled at 400kV with busbar voltage again, 2#, 3#, 5# transfers original power of deciding to and controls, and its through-put power returns to power command value.
Above simulating, verifying the validity of this control method.
Claims (7)
1. the converter control method of a multiterminal flexible DC power transmission system is characterized in that, when DC bus-bar voltage is in predefined upper voltage limit value u
Dc_ref_highAnd lower limit u
Dc_ref_lowBetween the time, converter runs on decides power control mode; When DC bus-bar voltage is in predefined upper voltage limit value u
Dc_ref_highAnd lower limit u
Dc_ref_lowIn the time of in addition, converter runs on the DC bus-bar voltage control model, and when busbar voltage was higher than the capping value, converter was regulated DC bus-bar voltage and is stable at higher limit, when busbar voltage was lower than lower limit, converter was regulated DC bus-bar voltage and is stable at lower limit.
2. the converter control method of a kind of multiterminal flexible DC power transmission according to claim 1 system, it is characterized in that, converter adopts the Direct Current Control method based on rotating coordinate system, and its outer shroud control based on rotating coordinate system comprises for generation of active current instruction i
DrefPower controller, power controller comprises meritorious flow controller and dc voltage controller, decides power control mode when converter runs on, the power flow control device is output as active current instruction i
DrefInput; When converter runs on the DC bus-bar voltage control model, dc voltage controller is output as active current instruction i
DrefInput.
3. the converter control method of a kind of multiterminal flexible DC power transmission according to claim 2 system is characterized in that described dc voltage controller comprises voltage lower bound controller and the high limit of voltage controller.
4. a converter that adopts the described control method of claim 1 is characterized in that, when DC bus-bar voltage is in predefined upper voltage limit value u
Dc_ref_highAnd lower limit u
Dc_ref_lowBetween the time, converter runs on decides power control mode; When DC bus-bar voltage is in predefined upper voltage limit value u
Dc_ref_highAnd lower limit u
Dc_ref_lowIn the time of in addition, converter runs on the DC bus-bar voltage control model, and when busbar voltage was higher than the capping value, converter was regulated DC bus-bar voltage and is stable at higher limit, when busbar voltage was lower than lower limit, converter was regulated DC bus-bar voltage and is stable at lower limit.
5. converter according to claim 4 is characterized in that, converter adopts the Direct Current Control method based on rotating coordinate system, and its outer shroud control based on rotating coordinate system comprises for generation of active current instruction i
DrefPower controller, power controller comprises meritorious flow controller and dc voltage controller, decides power control mode when converter runs on, the power flow control device is output as active current instruction i
DrefInput; When converter runs on the DC bus-bar voltage control model, dc voltage controller is output as active current instruction i
DrefInput.
6. converter according to claim 5 is characterized in that, described dc voltage controller comprises voltage lower bound controller and the high limit of voltage controller.
7. a multiterminal flexible DC power transmission system that adopts control method claimed in claim 1 is characterized in that, each converter is according to the different upper voltage limit value u of different set of load importance in this DC transmission system
Dc_ref_highAnd lower limit u
Dc_ref_low
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