CN108021719A - A kind of wind farm grid-connected passive control method - Google Patents
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Abstract
The invention discloses a kind of wind farm grid-connected passive control method, step：1) mathematical model of the transverter of VSC HVDC systems under a b c three-phase static coordinate systems is established, is converted by part, obtains the mathematical model under d q synchronous rotating frames；2) according to the canonical form of PCHD models, the PCHD models of VSC HVDC systems are established, and verify the passivity of the VSC HVDC systems based on PCHD models；3) the PCHD models of transverter in VSC HVDC systems are directed to, according to IDA PB control principles, desired interconnection and damping matrix is configured, designs the IDA PB controllers of transverter in VSC HVDC systems；4) when there is big interference or inaccurate parameter, steady-state error can be produced, integral equalization theorem is utilized on the basis of above-mentioned IDA PB controllers, steady-state error be eliminated using integrator, and keep system Existence of Global Stable at the same time.In Exponential Stability IDA PB controllers, integral equalizer is added.Lyapunov functions are constructed from the dissipation characteristic of system capacity function, explicit physical meaning, can obtain preferable controller.
Description
Technical field
The invention belongs to intelligent grid field, more particularly to a kind of wind farm grid-connected control.
Background technology
In recent years, marine wind electric field is because with many advantages such as land land resource, wind energy utilization height are not take up, obtaining
Develop rapidly.But the distribution of marine wind electric field disperses and away from main power grid, long distance powedr transmission problem, which becomes, restricts its development
One of key issue.Due to the intermittence of wind-power electricity generation, and the continuous expansion of wind power plant scale, marine wind electric field it is grid-connected
Power grid power quality can be had an impact, it is therefore necessary to cause enough attention.
The reduction of the fast lifting and cost of all-controlling power electronics device capacity, greatly develops the new energy such as wind-powered electricity generation in addition
The opportunity of grid-connected technology of transmission of electricity upgrading, VSC-HVDC (Voltage-Source Converter High- caused by the power generation of source
Voltage Direct Current) technology of transmission of electricity showed in China application demand increase, using capacity boost newly becoming
Gesture.With being continuously increased for wind-power electricity generation capacity and fed distance, how by the electric energy sent with preferable economy and stabilization
It is the emphasis studied both at home and abroad in recent years that property, which is transported to power grid, and the flexible DC power transmission based on voltage source converter is applied to
In wind-electricity integration system, there are many irreplaceable technologies and the advantage of economic aspect.
VSC-HVDC is a kind of new based on voltage source converter, self-turn-off device and pulsewidth modulation (PWM) technology
Type technology of transmission of electricity, the technology of transmission of electricity have can to passive network power, be not between commutation failure, current conversion station without communication with
And the advantages that being readily configured MTDC transmission system.Its " flexibility " just shows that electricity can be adaptively adjusted according to current conditions in it
Can quality.In simple terms, flexible DC transmission technology is exactly the state that can independently control its output voltage, so that quickly,
Neatly adjust its output power.At present, the domestic theoretical research for having substantially carried out flexible DC power transmission, but to flexible straight
It is not deep enough to flow the control method research of transmission of electricity, shortage emulation experiment, the especially at sea grid-connected aspect of wind power plant.Therefore,
Patent of the present invention proposes a kind of interconnection based on Port-Controlled dissipation Hamilton (PCHD) model with damping the passive of configuration
(IDA-PB) method, to improve the runnability of transmission system.
The content of the invention
The purpose of the present invention is improving the control method of VSC-HVDC, make flexible direct current power transmission system in different service conditions
There is down more preferable dynamic and static state performance and robustness.Since traditional PI control methods are based on linear, VSC-HVDC is one
A complicated non-linear, multi-input multi-output system, in face of internal system and external disturbance when, cannot show good performance.
It is, therefore, desirable to provide a kind of new control method, realizes the large capacity long distance powedr transmission that flexible direct current power transmission system is stablized.
In order to solve the above-mentioned technical problem, the present invention proposes a kind of emerging non linear robust based on system capacity dissipativeness
Control theory-IDA-PB the methods based on PCHD models, comprises the following steps：
Step 1: establishing mathematical model of the transverter of VSC-HVDC systems under a-b-c three-phase static coordinate systems, pass through
Part is converted, and obtains the mathematical model under d-q synchronous rotating frames；
Step 2: according to the canonical form of PCHD models, the PCHD models of VSC-HVDC systems are established, and verifies and is based on
The passivity of the VSC-HVDC systems of PCHD models；
Step 3: for the PCHD models of transverter in VSC-HVDC systems, according to IDA-PB control principles, configuration is wished
Interconnection and damping matrix, design VSC-HVDC systems in transverter IDA-PB controllers；
Step 4: when there is big interference or inaccurate parameter, steady-state error can be produced, in above-mentioned IDA-PB controllers
On the basis of utilize integral equalization theorem, steady-state error is eliminated using integrator, and keeps system Existence of Global Stable at the same time.It is steady in index
Determine in IDA-PB controllers, add integral equalizer.
Further, in step 1, according to the topological structure of VSC-HVDC systems and the circuit structure of voltage source converter, build
Vertical mathematical model of the VSC-HVDC systems under a-b-c three phase static synchronous coordinate systems, by Park Transformation, is derived in d-q
Mathematical model under rotating coordinate system, and draw the expression formula of the active power and reactive power under d-q coordinate systems, when d axis
When being positioned at points of common connection PCC in voltage phasor, to idIt is independently controlled with iq, and then realizes active power and idle
The decoupling control of power.
Further, in step 2, mathematical model of the VSC-HVDC systems under dq rotating coordinate systems is converted into PCHD moulds
The canonical form of type, obtains system capacity function.PCHD system storage energy change rates are drawn by system capacity function, and then are tested
Demonstrate,prove whether PCHD system models are Strictly passive control system.
Further, in step 3, according to IDA-PB control principles, steady state equilibrium point it is expected by choosing, configuration closed loop system
The interconnection matrix and damping matrix of system, construct closed loop storage function, change the original energy function of system, so that closed-loop system
Reach canonical form, realize IDA-PB controller designs.
Further, in step 4, in design injection damping matrix RaInner parameter during add integral equalization device,
New system identifier A-PB controllers are obtained, steady-state error caused by big interference occur to eliminate, so as to improve VSC-HVDC systems
The runnability of system.
Compared with prior art, the present invention its remarkable advantage is：(1) from the dissipation characteristic structure of system capacity function
Lyapunov functions are made, meet Lyapunov stable theories, there is clear and definite physical significance, make full use of this characteristic to obtain
To preferable controller；(2) Hamilton's equation has general affine nonlinear structure, based on the control designed by PCHD models
Device is in the nature a kind of nonlinear control method, has specific aim to the nonlinear characteristic of VSC-HVDC systems；(3) controlled with IDA-PB
Method processed simplifies the controller design of PCHD systems, and stable mechanism is very clear, can be reduced by injecting damping matrix and is
Influence of the parameter of uniting to control performance, it is ensured that the non-growth property of energy function simultaneously has minimum value in equalization point；(4) controller
Can realize the decoupling control of transverter input variable, obtained IDA-PB control laws are simple, without calculus calculate, have compared with
High engineering practical value.
Brief description of the drawings
Fig. 1 is the flow chart of the passive way of wind farm grid-connected control.
Fig. 2 is the topology diagram of both ends VSC-HVDC systems.
Fig. 3 is the circuit structure of one end voltage source converter.
Fig. 4 is the control block diagram of IDA-PB controllers.
Fig. 5 is IDA-PB control system schematic diagrams.
In figure, 1 is establishes mathematical model of the VSC-HVDC systems under dq rotating coordinate systems, and 2 be to establish VSC-HVDC systems
The PCHD models of system, 3 is design the IDA-PB controllers of transverter in VSC-HVDC systems, and 4 be design device containing integral equalization
IDA-PB controllers.
Embodiment
In order to solve the above-mentioned technical problem, the present invention proposes a kind of emerging non linear robust based on system capacity dissipativeness
Control theory-IDA-PB the methods based on PCHD models, comprises the following steps：
Step 1: establishing mathematical model of the transverter of VSC-HVDC systems under a-b-c three-phase static coordinate systems, pass through
Part is converted, the mathematical model under obtained d-q synchronous rotating frames；
Step 2: according to the canonical form of PCHD models, the PCHD models of VSC-HVDC systems are established, and verifies and is based on
The passivity of the VSC-HVDC systems of PCHD models；
Step 3: for the PCHD models of transverter in VSC-HVDC systems, according to IDA-PB control principles, configuration is wished
Interconnection and damping matrix, design VSC-HVDC systems in transverter IDA-PB controllers；
Step 4: when there is big interference or inaccurate parameter, steady-state error can be produced, in above-mentioned IDA-PB controllers
On the basis of utilize integral equalization theorem, steady-state error is eliminated using integrator, and keeps system Existence of Global Stable at the same time.It is steady in index
Determine in IDA-PB controllers, add integral equalizer.
Further, in step 1, by between points of common connection (PCC) and transverter exchange side be coupled transformer loss and
Leakage reactance is uniformly equivalent to resistance R and reactance L, and assumes that three-phase main circuit parameter is identical, usa, usb, uscFor PCC1 or PCC2
Locate abc three-phase symmetrical phase voltages；ia, ib, icFor abc three-phase line currents；ua, ub, ucIt is mutually electric for transverter exchange side abc three-phases
Pressure；Udc(Udc1Or Udc2) it is DC voltage；idcFor DC current in DC line；RLFor DC power transmission line resistance.VSC-
Mathematical model under the transverter abc three-phase static coordinate systems of HVDC systems one end is：
By Park vectors matrix and its inverse-transform matrix by the mathematical model (formula under transverter three-phase static coordinate system
(1)) mathematical model that conversion is obtained under dq synchronous rotating frames is：
Active power d under dq synchronous rotating framessWith reactive power qsIt is represented by：
When d axis is positioned at PCC in voltage phasor, usq=0, thenSo respectively
Control idAnd iq, it is possible to achieve PsAnd QsDecoupling control.
Further, in step 2, according to the canonical form of PCHD models, the PCHD models of VSC-HVDC systems are established, and
The passivity of the VSC-HVDC systems based on PCHD models of verification.The mark of port control Hamilton system (PCHD) model turns form
For：
In formula, x is state variable, x ∈ Rn；J (x), g (x) are system interconnection structure matrix, and wherein J (x) is antisymmetry square
Battle array；R (x) is the system damping matrix of hemihedrism positive definite；H (x) is system capacity function, i.e. Hamiltonian function；U, y is respectively to be
The input and output port variable of system.
The PCHD models of transverter are derived below, take the state variable to be
X=[X1 X2]T=[Lisd Lisq]T=M [isd isq]T (5)
The Hamilton energy function of system is
It is by the PCHD canonical forms that formula (2) is rewritten as shown in formula (4)：
It can obtain
The interconversion rate that system capacity can be obtained by formula (6) is
From R (x) >=0,The energy that i.e. system is stored is not more than the energy being externally supplied, therefore is
Unite as Strictly passive control system.
Further, in step 3, for the PCHD models of transverter in VSC-HVDC systems, controlled according to IDA-PB former
Reason, configures desired interconnection and damping matrix, designs the IDA-PB controllers of transverter in VSC-HVDC systems.Controller is set
Meter target is by configuring desired interconnection and damping matrix, changing the original energy function of system, so that closed-loop system has
Form as shown in formula (9)：
In formula, the new energy function H of systemd(x)=H (x)+Ha(x), Jd(x)=- Jd T(x),Rd(x)=- Rd T(x)≥0。
Particular form is taken in closed-loop system interconnection and damping matrix, and storage function takes the situation of state deviation quadratic form
Under, the design of controller carries out in accordance with the following steps.
First, choose and it is expected steady state equilibrium point, i.e. system balancing state.During VSC-HVDC transmission system steady-state operations, shape
I in state variabled,iqSteady-state value i* d,i* qCan be by active power, reactive power decoupling gained, systematic steady state voltage UdcIt is expected
Balanced voltage U* dc, therefore, system it is expected that equilibrium state is：
Secondly, the interconnection matrix J of closed-loop system is configureddWith damping matrix Rd.By IDA-PB control principles, to given J
(x), R (x), H (x), g (x) and the desired equalization point x of system*∈Rn, it is necessary to function β (x) is found, Ja(x), Ra(x) and one
Vector function K (x), meets：
Wherein, injection damping matrix is
Then closed loop storage function H is constructedd(x) to meet IDA-PB theorem conditions.Construct desired closed loop storage function Hd
(x) it is following deviation quadratic form form：
By IDA-PB theorems, can obtain：
Ha(x)=Hd(x)-H(x) (14)
It can be verified by formula (15), system meets integral condition, balanced arrangement condition and Lyapunov stability conditions,
Therefore the H that above-mentioned construction obtainsd(x), Ha(x), K (x) meets IDA-PB theorems.
Further, in step 4, when there is big interference or inaccurate parameter, steady-state error can be produced, in above-mentioned IDA-
Integral equalization theorem is utilized on the basis of PB controllers, steady-state error is eliminated using integrator, and keeps system global steady at the same time
It is fixed.In Exponential Stability IDA-PB controllers, integral equalizer is added, can obtain the new controller of system is：
In formula, ri1＞ 0；ri2＞ 0.
By formula (16) and (17), formula (11) is solved, the mathematical model of closed-loop control system can be obtained：
By integral equalization theorem, in IDA-PB theorems, related equalization point x*Conclusion it is constant.Therefore formula (16) and
(17) controller shown in can eliminate steady-state error on the basis of Exponential Stability.
Claims (5)
1. a kind of wind farm grid-connected passive control method, it is characterised in that comprise the following steps：
Step 1: establishing mathematical model of the transverter of VSC-HVDC systems under a-b-c three-phase static coordinate systems, pass through part
Conversion, obtains the mathematical model under d-q synchronous rotating frames；
Step 2: according to the canonical form of PCHD models, the PCHD models of VSC-HVDC systems are established, and verifies and is based on PCHD moulds
The passivity of the VSC-HVDC systems of type；
Step 3: for the PCHD models of transverter in VSC-HVDC systems, it is mutual desired by configuration according to IDA-PB control principles
Connection and damping matrix, design the IDA-PB controllers of transverter in VSC-HVDC systems；
Step 4: when there is big interference or inaccurate parameter, steady-state error can be produced, on the basis of above-mentioned IDA-PB controllers
It is upper to utilize integral equalization theorem, steady-state error is eliminated using integrator, and keep system Existence of Global Stable at the same time.In Exponential Stability
In IDA-PB controllers, integral equalizer is added.
2. passive control method as claimed in claim 1, it is characterised in that in step 1, the d-q synchronously rotating reference frames
Mathematical model under system, and then derive the decoupling control expression formula of active power and reactive power.
3. passive control method as claimed in claim 1, it is characterised in that in step 2, the PCHD models, ask for be
The Hamilton energy function of system.
4. passive control method as claimed in claim 1, it is characterised in that in step 3, the desired interconnection of the configuration
Matrix, adds new damping matrix to change the original energy function of system.
5. passive control method as claimed in claim 4, it is characterised in that in step 4, the IDA-PB controllers are set
During meter, integral equalization device is added.
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| CN111259565A (en) * | 2020-02-10 | 2020-06-09 | 华北电力大学 | Dynamic simulation method and system for voltage source type current converter |
| CN112711846A (en) * | 2020-12-27 | 2021-04-27 | 中国电建集团河南省电力勘测设计院有限公司 | VSC-based HVDC system state space model establishing method |
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Cited By (9)
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| CN113595116A (en) * | 2021-07-30 | 2021-11-02 | 西安热工研究院有限公司 | Method for establishing MPC discrete mathematical model of energy storage converter |
| CN113595116B (en) * | 2021-07-30 | 2024-04-30 | 西安热工研究院有限公司 | Method for establishing MPC discrete mathematical model of energy storage converter |
| CN114050732A (en) * | 2021-10-28 | 2022-02-15 | 西安理工大学 | Photovoltaic power generation grid-connected inverter control method based on active damping |
| CN114221367A (en) * | 2022-01-21 | 2022-03-22 | 国网湖南省电力有限公司 | Energy storage converter operation optimization control method and device and energy storage converter |
| CN114221367B (en) * | 2022-01-21 | 2024-04-19 | 国网湖南省电力有限公司 | Energy storage converter operation optimization control method and device and energy storage converter |
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