CN109873443B - Method for predicting direct-current continuous commutation failure under power grid fault based on critical voltage - Google Patents
Method for predicting direct-current continuous commutation failure under power grid fault based on critical voltage Download PDFInfo
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Abstract
The invention discloses a method for predicting direct-current continuous commutation failure under a power grid fault based on critical voltage, which comprises the following steps of: calculating critical voltage U of continuous commutation failure of direct current inverter station based on effect of quantized low-voltage current-limiting control and turn-off angle control of direct current inverter station on primary commutation failure recovery processth(ii) a By comparing the instantaneous converter bus voltage of the power grid fault with the critical voltage U of the continuous phase change failure of the DC inverter stationthAnd judging whether the phase commutation failure occurs again in the first phase commutation failure recovery process of the direct current inverter station. The method fills the blank of LCC-HVDC continuous commutation failure prediction, has the advantages of simple principle, high accuracy and high response speed, and can provide basis and reference for LCC-HVDC continuous commutation failure suppression and research and implementation of AC/DC power grid emergency control.
Description
Technical Field
The invention relates to the technical field of power system protection and control, in particular to a method for predicting direct current continuous commutation failure under a power grid fault based on critical voltage.
Background
With the wide application of the direct current transmission technology in the aspects of large-capacity and long-distance transmission, regional power grid interconnection and the like, the number of alternating current and direct current hybrid power grids with strong direct current and weak alternating current is increasing. High-voltage direct-current transmission (LCC-HVDC) based on a power grid commutation converter is a main form of direct-current transmission, but LCC-HVDC inversion stations are easily affected by adverse factors such as alternating-current side voltage fluctuation and the like, and commutation failure is easy to occur. If the control measures are improper, continuous commutation failure is also easily caused, repeated power impact is generated on an alternating current power grid, and therefore the converter station is locked. When the load-bearing capacity of the alternating current power grid is weak, the converter station is locked to possibly cause the transfer of active power flow, so that the normally-operated alternating current power transmission line is protected and maloperated, and cascading failure is caused. Meanwhile, the converter station is locked to cause power imbalance of a power grid at a transmitting end and a receiving end, so that a system generator tripping is forced to reduce load and even to be automatically disconnected, and a severe challenge is brought to the safe operation of a power system.
Predicting commutation failure and thereby applying control is a primary means to avoid commutation failure or to reduce the impact of commutation failure on the grid. Although the defense capability of LCC-HVDC commutation failure can be improved to a certain extent through the optimization of the control strategy, the first commutation failure is generally difficult to avoid. The commutation failure is easy to occur again in the recovery process after the initial commutation failure, so that more commutation failures are induced, and continuous commutation failures are formed. At this point, the system is again disturbed, with greater severity and extent. Therefore, the continuous commutation failure becomes a hot problem in the field of direct current transmission. The existing research mainly focuses on optimizing the controller parameters to improve the sensitivity and rapidity of the controller, accelerate the recovery of a direct current system and reduce the probability of phase commutation failure in the recovery process.
Because it cannot be accurately predicted whether the commutation failure occurs again in the commutation recovery process, the existing measures for suppressing the continuous commutation failure are conservative, the recovery characteristics of an alternating current-direct current system can be improved only to a certain extent, and the effect of suppressing the continuous commutation failure is limited. However, whether continuous commutation fails or not cannot be judged in advance, so that reactive power compensation devices, FACTS, new energy power supplies and the like are not applied to blocking of LCC-HVDC continuous commutation failures at present in order to avoid negative effects caused by intervention of power grid control when continuous commutation fails. Therefore, if the occurrence of continuous commutation failure can be accurately predicted, the recovery characteristic of LCC-HVDC can be effectively improved by adjusting the switching or the regulation of the reactive power compensation device of the power grid and by FACTS and the rapid power control of the new energy power supply. The prediction of LCC-HVDC continuous commutation failure has important significance for inhibiting the continuous commutation failure and ensuring the safety and stability of a power grid.
In the process of the first commutation failure and the recovery thereof, the drop of the turn-off angle and the alternating-current bus voltage triggers the starting of control systems such as a low-voltage current-limiting control (VDCOL) and a constant turn-off angle controller (CEAC) of the LCC-HVDC, so as to promote the commutation recovery. The role of these control systems is a key factor in determining whether a commutation failure has occurred. However, because the time from the ac grid fault to the first commutation failure of the inverter station is very short, and the control system has little influence on whether the first commutation failure occurs, the existing research ignores or simplifies the function of the controller in the prediction of the first commutation failure, and is difficult to be applied to the prediction of the continuous commutation failure.
Therefore, how to quickly and accurately predict whether the commutation failure occurs again in the first commutation failure recovery process of the direct current inversion station becomes a problem which needs to be solved by a person skilled in the art urgently.
Disclosure of Invention
Therefore, the problem to be solved by the invention is how to quickly and accurately predict whether the commutation failure occurs again in the first commutation failure recovery process of the direct current inversion station.
In order to solve the technical problems, the invention adopts the following technical scheme:
the method for predicting the direct-current continuous commutation failure under the power grid fault based on the critical voltage comprises the following steps:
s1, calculating the critical voltage U of the continuous commutation failure of the DC inverter station based on the effect of the quantized DC inverter station low-voltage current-limiting control and the turn-off angle control on the first commutation failure recovery processth；
S2, comparing the instantaneous converter bus voltage of the power grid fault with the critical voltage U of the continuous phase change failure of the direct current inverter stationthAnd judging whether the phase commutation failure occurs again in the first phase commutation failure recovery process of the direct current inverter station.
Preferably, step S1 includes the steps of:
s101, when the power grid fails, determining a turn-off angle of the direct current system based on a commutation reactance value of the direct current inversion station and a turn-off angle controller parameter at the moment of direct current commutation voltage dropDecreasing rate kγ；
S102, decreasing the slope k according to the turn-off angleγAnd calculating the critical voltage U of the continuous phase change failure of the direct current inverter station by taking the leading trigger angle and the turn-off angle when the fault does not occur as boundary conditionsth。
Preferably, in step S101, an off-angle decreasing slope table is queried based on the commutation reactance value of the dc inverting station and the off-angle controller parameter, so as to determine an off-angle decreasing slope k of the dc systemγOff angle falling slope kγThe method for obtaining is as follows:
s1011, acquiring simulation test data;
s1012, fitting commutation reactance values of various direct current inverter stations and a first commutation failure recovery curve of the turn-off angle of the direct current inverter station under the turn-off angle controller parameters based on simulation test data, and making a turn-off angle decline slope table of the turn-off angle in the first commutation failure recovery process.
Preferably, in step S1012, γ is determined based on the formulamax+kγt fitting the first commutation failure recovery curve gamma of the turn-off angle of the DC inverter station, where gamma ismaxRecovering the instantaneous turn-off angle k after the first commutation failure of the DC inverter stationγThe descending slope of a turn-off angle in the recovery process after the first commutation failure of the DC inversion station is shown, and t is kγA corresponding time, wherein:
wherein n is the total number of sampling samples of the first commutation failure recovery curve gamma of the turn-off angle of the direct current inversion station, i is 1,2, …, n, gammaiFor the instantaneous value of the turn-off angle, t, in the ith sampleiIs the sampling instant of the ith sample.
Preferably, in step S102, the critical voltage U of the dc inverter station for continuous phase change failure is calculated based on the following formulath：
In the formula, N is the number of 6 pulsating current converters in each pole; kpProportional factor of PI controller for turning off angle controller, TiAn integration time constant of a PI controller which is a turn-off angle controller; gamma rayrefSetting value of the turn-off angle controller; gamma raythIs the critical angle of closure; c1、C2And C3Are all calculated coefficients, wherein:
in the formula, βrefThe steady state value of the advance trigger angle when the fault does not occur;
C3＝XrIdNb
in the formula, XrThe phase-change reactance value of the direct current inversion station is obtained; u shapedNIs a DC voltage reference value, IdNIs a reference value of the direct current; k and b are calculation coefficients, wherein:
wherein, UdhUpper threshold value, U, of DC voltagedlThe lower threshold value is the DC voltage; i isdhIs the upper limit of the direct current, IdlThe lower limit of the direct current.
Preferably, in step S2, the ac bus voltage U of the dc inverter station at the moment of the fault is collectedr0If the continuous phase change of the DC inverter station fails, the critical voltage UthAC bus voltage U of DC inverter station at moment of being greater than or equal to faultr0If not, judging that the commutation failure occurs again in the first commutation failure recovery processThe commutation failure will not occur again in the first commutation failure recovery process.
In summary, the invention discloses a method for predicting direct current continuous commutation failure under a power grid fault based on critical voltage, which comprises the following steps: calculating critical voltage U of continuous commutation failure of direct current inverter station based on effect of quantized low-voltage current-limiting control and turn-off angle control of direct current inverter station on primary commutation failure recovery processth(ii) a By comparing the instantaneous converter bus voltage of the power grid fault with the critical voltage U of the continuous phase change failure of the DC inverter stationthAnd judging whether the phase commutation failure occurs again in the first phase commutation failure recovery process of the direct current inverter station. The method fills the blank of LCC-HVDC continuous commutation failure prediction, has the advantages of simple principle, high accuracy and high response speed, and can provide basis and reference for LCC-HVDC continuous commutation failure suppression and research and implementation of AC/DC power grid emergency control.
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For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
fig. 1 is a block diagram of an implementation of a method for predicting failure of dc continuous commutation under a grid fault based on a critical voltage according to an embodiment of the present disclosure;
FIG. 2 is a diagram of an example of LCC-HVDC in an embodiment of the present invention;
fig. 3 is a diagram illustrating an effect of the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the invention discloses a method for predicting direct-current continuous commutation failure under grid fault based on critical voltage, which comprises the following steps:
s1, calculating the critical voltage U of the continuous commutation failure of the DC inverter station based on the effect of the quantized DC inverter station low-voltage current-limiting control and the turn-off angle control on the first commutation failure recovery processth；
S2, comparing the instantaneous converter bus voltage of the power grid faultCritical voltage U failing to change phase continuously with DC inverter stationthAnd judging whether the phase commutation failure occurs again in the first phase commutation failure recovery process of the direct current inverter station.
According to the invention, through comparison of the converter bus voltage at the moment of the power grid fault and the continuous commutation failure critical voltage, whether the direct current inverter station has the secondary commutation failure in the first commutation failure recovery process or not can be judged at the initial stage of the power grid fault, the principle is simple, the accuracy is high, the response speed is high, and the method can provide a basis and a reference for research and implementation of LCC-HVDC continuous commutation failure suppression and alternating current and direct current power grid emergency control.
In specific implementation, step S1 includes the following steps:
s101, when a power grid fails, determining a turn-off angle drop slope k of a direct current system based on a commutation reactance value of a direct current inversion station and a turn-off angle controller parameter at the moment of direct current commutation voltage dropγ；
S102, decreasing the slope k according to the turn-off angleγAnd calculating the critical voltage U of the continuous phase change failure of the direct current inverter station by taking the leading trigger angle and the turn-off angle when the fault does not occur as boundary conditionsth。
In specific implementation, in step S101, an off-angle decreasing slope table is queried based on the commutation reactance value of the dc inverter station and the off-angle controller parameter, so as to determine an off-angle decreasing slope k of the dc systemγOff angle falling slope kγThe method for obtaining is as follows:
s1011, acquiring simulation test data;
in the invention, the simulation test data comprises the instantaneous value of the turn-off angle and the corresponding moment in the commutation recovery process of the first commutation failure of direct current under the power grid fault.
S1012, fitting commutation reactance values of various direct current inverter stations and a first commutation failure recovery curve of the turn-off angle of the direct current inverter station under the turn-off angle controller parameters based on simulation test data, and making a turn-off angle decline slope table of the turn-off angle in the first commutation failure recovery process.
In the invention, the shutdown angle descending slope table comprises a plurality of commutation reactance values, shutdown angle controller parameters and corresponding shutdown angle descending slopes.
Specifically, in step S1012, γ is determined based on the formula γmax+kγt fitting the first commutation failure recovery curve gamma of the turn-off angle of the DC inverter station, where gamma ismaxRecovering the instantaneous turn-off angle k after the first commutation failure of the DC inverter stationγThe descending slope of a turn-off angle in the recovery process after the first commutation failure of the DC inversion station is shown, and t is kγA corresponding time, wherein:
wherein n is the total number of sampling samples of the first commutation failure recovery curve gamma of the turn-off angle of the direct current inversion station, i is 1,2, …, n, gammaiFor the instantaneous value of the turn-off angle, t, in the ith sampleiIs the sampling instant of the ith sample.
The first commutation failure recovery curve refers to a curve of the direct current inverter station turn-off angle changing with time during the period from recovery to stabilization or secondary instability, and an analytic expression of the curve is as follows:
wherein, t1The time when the fault occurs; t is t2For the step increase of the turn-off angle to the maximum turn-off angle gammamaxTime of day; t is t4The commutation failure moment occurs again in the commutation recovery process.
In step S102, a threshold voltage U of the dc inverter station that fails to continuously commutate is calculated based on the following formulath：
In the formula, N is the number of 6 pulsating current converters in each pole (positive pole or negative pole); kpProportional factor of PI controller for turning off angle controller, TiIntegration time of PI controller for turning off angle controllerAn inter constant; gamma rayrefSetting value of the turn-off angle controller; gamma raythIs the critical angle of closure; c1、C2And C3Are all calculated coefficients, wherein:
according to CEAC analytic formula:
obtaining after derivation:
to pair
Performing equivalent transformation:
combining the derived CEAC analytic expression, the dynamic equation of the off-angle recovery process β can be obtained as:
further, the analytical expression of the turn-off angle is obtained as follows:
β is the dynamic value of the leading trigger angle under the action of CEAC;
in the formula, βrefThe steady state value of the advance trigger angle when the fault does not occur;
C3＝XrIdNb
in the formula, XrThe phase-change reactance value of the direct current inversion station is obtained; u shapedNIs a DC voltage reference value, IdNIs a reference value of the direct current; k and b are calculation coefficients, wherein:
wherein, UdhUpper threshold value, U, of DC voltagedlThe lower threshold value is the DC voltage; i isdhIs the upper limit of the direct current, IdlThe lower limit of the direct current.
The control action in the phase change recovery process comprises fixed turn-off angle control and low-voltage current limiting control.
The low-voltage current limiting control equation is as follows:
wherein, UdIs the direct current voltage at the side of the inverter station.
In step S2, the ac bus voltage U of the dc inverter station at the moment of the fault is collectedr0If the continuous phase change of the DC inverter station fails, the critical voltage UthAC bus voltage U of DC inverter station at moment of being greater than or equal to faultr0If not, the commutation failure is judged not to occur again in the first commutation failure recovery process.
To verify the effectiveness of the method of the present invention, the analysis and calculation are performed by taking the wiring diagram of the calculation system shown in fig. 2 as an example. The LCC-HVDC12 pulse monopole high-voltage direct current system has the rated voltage of 500kV and the reference capacity of 1000MW, and the phase-change reactance value of the direct current inversion station determines the proportional coefficient and the integral time constant of a PI controller of a turn-off angle controller; and determining the upper and lower limits of the direct current of the VDCOL and the upper and lower threshold values of the direct current voltage. The method takes the three-phase short-circuit faults of different moments and different degrees at the alternating-current bus M of the inverter station as scenes to verify the accuracy of the continuous commutation failure prediction method.
Selecting a descending slope k of the off-angle recovery process according to the commutation reactance value of the DC inversion station and the parameter value of the constant off-angle controllerγCalculating to obtain the critical voltage U of the continuous phase change failure of the DC inversion station by using the instantaneous turn-off angle and the advanced trigger angle value before the faultth. According to the instantaneous AC bus voltage U of the DC inversion stationr0Critical voltage U failing to change phase continuously with DC inverter stationthAnd (3) comparison:
when U is turnedth≥Ur0In time, the LCC-HVDC can generate commutation failure again in the first commutation failure recovery process;
when U is turnedth＜Ur0In the process, the LCC-HVDC cannot generate commutation failure again in the first commutation failure recovery process;
FIG. 3 is a graph showing the predicted effect of the present invention on the occurrence of LCC-HVDC continuous commutation failure. In the diagram, the abscissa is the fault moment, and the ordinate is the transition resistance; the number is the voltage of the bus M at the moment of failure, yellow indicates that only a first commutation failure has occurred, and blue and purple indicate that commutation failure has again occurred during the recovery from the first commutation failure. The calculation example shows that the method has higher prediction accuracy in continuous commutation failure prediction, can provide basis and reference for LCC-HVDC continuous commutation failure suppression and research and implementation of AC/DC power grid emergency control, and greatly improves the safety of the system.
Finally, it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that, while the invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (2)
1. The method for predicting the direct-current continuous commutation failure under the power grid fault based on the critical voltage is characterized by comprising the following steps of:
s1, calculating the critical voltage U of the continuous commutation failure of the DC inverter station based on the effect of the quantized DC inverter station low-voltage current-limiting control and the turn-off angle control on the first commutation failure recovery processth；
S2, comparing the instantaneous converter bus voltage of the power grid fault with the critical voltage U of the continuous phase change failure of the direct current inverter stationthJudging whether the phase commutation failure occurs again in the first phase commutation failure recovery process of the direct current inverter station;
step S1 includes the following steps:
s101, when a power grid fails, determining a turn-off angle drop slope k of a direct current system based on a commutation reactance value of a direct current inversion station and a turn-off angle controller parameter at the moment of direct current commutation voltage dropγ；
S102, decreasing the slope k according to the turn-off angleγAnd calculating the critical voltage U of the continuous phase change failure of the direct current inverter station by taking the leading trigger angle and the turn-off angle when the fault does not occur as boundary conditionsth；
In step S101, an off-angle decreasing slope table is queried based on the commutation reactance value of the dc inverter station and the off-angle controller parameter, thereby determining an off-angle decreasing slope k of the dc systemγOff angle falling slope kγThe method for obtaining is as follows:
s1011, acquiring simulation test data;
s1012, fitting commutation reactance values of various direct current inverter stations and a first commutation failure recovery curve of the turn-off angle of the direct current inverter station under the parameters of the turn-off angle controller based on simulation test data, and making a turn-off angle decline slope table of the turn-off angle in the first commutation failure recovery process;
in step S1012, γ is determined based on the formulamax+kγt fitting the first commutation failure recovery curve gamma of the turn-off angle of the DC inverter station, where gamma ismaxRecovering the instantaneous turn-off angle k after the first commutation failure of the DC inverter stationγThe descending slope of a turn-off angle in the recovery process after the first commutation failure of the DC inversion station is shown, and t is kγA corresponding time, wherein:
wherein n is the total number of sampling samples of the first commutation failure recovery curve gamma of the turn-off angle of the direct current inversion station, i is 1,2, …, n, gammaiFor the instantaneous value of the turn-off angle, t, in the ith sampleiIs the sampling time of the ith sampling sample;
in step S102, a critical voltage U of the continuous phase change failure of the DC inverter station is calculated based on the following formulath：
In the formula, N is the number of 6 pulsating current converters in each pole; kpProportional factor of PI controller for turning off angle controller, TiAn integration time constant of a PI controller which is a turn-off angle controller; gamma rayrefSetting value of the turn-off angle controller; gamma raythIs the critical angle of closure; c1、C2And C3Are all calculated coefficients, wherein:
in the formula, βrefThe steady state value of the advance trigger angle when the fault does not occur;
C3＝XrIdNb
in the formula, XrThe phase-change reactance value of the direct current inversion station is obtained; u shapedNIs a DC voltage reference value, IdNIs a reference value of the direct current; k and b are calculation coefficients, wherein:
wherein, UdhUpper threshold value, U, of DC voltagedlThe lower threshold value is the DC voltage; i isdhIs the upper limit of the direct current, IdlThe lower limit of the direct current.
2. The method for predicting the continuous direct-current commutation failure under the grid fault based on the critical voltage as claimed in claim 1, wherein in step S2, the alternating-current bus voltage U of the direct-current inversion station at the moment of the fault is collectedr0If the continuous phase change of the DC inverter station fails, the critical voltage UthAC bus voltage U of DC inverter station at moment of being greater than or equal to faultr0If not, the commutation failure is judged not to occur again in the first commutation failure recovery process.
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