CN110661274B - Composite dynamic power support system and coordination control method thereof - Google Patents
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
- H02J3/16—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
- H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/10—Flexible AC transmission systems [FACTS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
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Abstract
The invention discloses a composite dynamic power support system suitable for a high-voltage direct-current transmission weak receiving end system and a coordination control method thereof. The system comprises a phase modulator, a battery energy storage system, an energy storage bidirectional grid-connected converter and a control module; the energy storage active power control, the energy storage reactive power control, the bidirectional grid-connected conversion control and the phase modulator excitation control respectively control an energy storage output active power reference value, an energy storage output reactive power reference value, an energy storage output power actual value and the excitation voltage of the phase modulator. The invention can rapidly and simultaneously provide sufficient active power and reactive power so as to improve the lowest point of the voltage and the frequency of the receiving end alternating current system after the commutation failure fault of the direct current transmission system occurs and accelerate the recovery process, thereby meeting the requirement of the high-capacity active power and reactive power reserve of the high-voltage direct current transmission weak receiving end alternating current power grid.
Description
Technical Field
The invention belongs to the technical field of control and protection of power systems, and particularly relates to a composite dynamic power support system and a coordination control method thereof.
Background
With the rapid development of long-distance large-capacity power transmission systems, the scale of the influence of direct-current commutation failure on alternating-current systems is continuously increasing. The stable operation of the receiving-end alternating current system is seriously influenced by the commutation failure of the inversion station, and particularly when the grid structure of the receiving-end system is weak, the frequency of the commutation failure is obviously improved.
In order to reduce the adverse effect caused by commutation failure, the main measures can be divided into two categories: by adjusting the inverter controller and by configuring additional reactive power compensation devices. The new generation of high-capacity phase modulator can meet the requirement of high-capacity dynamic active and reactive power of a high-voltage direct-current transmission transmitting end system and a high-voltage direct-current transmission receiving end system, and is already put into use in northwest and east China. It can work under the condition of strong instantaneous overload, increase the short-circuit capacity of weak AC system and provide inertial response. The energy storage system is combined with the phase modulator, so that stronger power support can be provided for the weak alternating current network after a commutation failure fault occurs. Therefore, in order to realize the coordination between the phase modulator and the energy storage system and exert the synergistic interaction of the phase modulator and the energy storage system, a reasonable and feasible control method is needed.
The time scale from occurrence to recovery of a single commutation failure is typically hundreds of milliseconds, so response speed is critical. The existing control method has more steps or needs to rely on a scheduling instruction, and the rapidity cannot be guaranteed. The invention obtains the voltage of the phase modulator, the voltage of the commutation bus and the frequency of the receiving-end power grid through real-time measurement, quickly obtains the power output of the phase modulator and the stored energy after the commutation failure occurs, and can provide voltage and frequency support in time. And by reasonably setting parameters of each sub-controller, the power requirements of different stages of commutation failure and the difference of the reactive capacities of the energy storage and phase modulators are fully considered, and the reasonability of power output target distribution is ensured. The invention combines the energy storage system and the phase modulator through a control method, and better realizes the synergistic effect in the aspect of providing sufficient active and reactive power support. The control method can exert respective advantages of the energy storage and phase modulation machine after the fault, the provided dynamic active and reactive supports have the characteristics of high speed, large capacity and the like, and the requirements of the high-voltage direct-current transmission system on high-capacity dynamic active power and reactive power during the fault can be met.
Disclosure of Invention
The invention aims to provide a composite dynamic power support system and a coordination control method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
a composite dynamic power support system comprises a phase modulator, a battery energy storage system, an energy storage bidirectional grid-connected converter and a control module; the phase modulator is connected to the high-voltage bus through a step-up transformer; the direct current side of the energy storage bidirectional grid-connected converter is connected with a battery energy storage system, and the alternating current side of the energy storage bidirectional grid-connected converter is connected to a high-voltage bus through a transformer; the control module comprises an energy storage active power controller, an energy storage reactive power controller, a bidirectional grid-connected conversion controller and a phase modulator excitation controller; the energy storage active power controller and the energy storage reactive power controller are connected to the bidirectional grid-connected conversion controller together; the phase modulator excitation controller is connected with the phase modulator; the bidirectional grid-connected conversion controller is connected with the energy storage bidirectional grid-connected converter.
Further, a composite dynamic power support system based on claim 1, comprising energy storage active power control, energy storage reactive power control, bidirectional grid-connected transformation control and phase modulator excitation control;
the energy storage active power control is used for realizing the frequency adjustment of the alternating current bus; the energy storage reactive power control is used for participating in the voltage regulation of the alternating current bus; the phase modulator excitation control is used for realizing the adjustment of the high-voltage bus voltage; and the bidirectional grid-connected conversion control realizes the tracking of the actual output power of the energy storage system on the reference power.
Further, in the energy storage active power control, when the generated energy is not matched with the load, and when the phase commutation failure or the direct current blocking occurs in the direct current power transmission system, an active power reference value calculation formula adopted is as follows:
PB,ref＝KP(fG-fG,ref)+KI∫∫(fG-fG,ref)
in the formula PB,refReference value of active power, K, for the output of the energy-storing active power controllerPAnd KIRespectively a proportionality coefficient and an integral coefficient, fGIs the grid frequency, fG,refIs the grid reference frequency.
Further, in the energy storage reactive power control, when the commutation fails or the dc blocking occurs, based on the time-varying droop control, the reactive power reference value calculation formula adopted by the energy storage reactive power control is as follows:
in the formula QB,refOutputting a no-power reference value, K, for an energy-storage reactive power controllerDIs a sag factor, UG,refFor high-voltage bus voltage rating, UGIs a measured value of the voltage of the high-voltage bus, VfIs the phase modulator excitation voltage; g (t) is a time-varying function, g (t) and VfAnd the two are used as weighting factors of droop coefficients in the energy storage reactive power control.
Further, the bidirectional grid-connected transformation control is vector control based on grid voltage orientation, under a d-q framework, the output active power reference values PB and ref of the energy storage system and the output reactive power reference values QB and ref of the energy storage system are known, and then the current reference values of the d axis and the q axis are calculated by the following equation
The d axis is based on a grid voltage vector, UG and q are equal to 0, a current reference value is calculated from power reference and UG and d, a difference value between reference current and estimated current is sent to a proportional-integral controller to realize unsteady state deviation control, the output of the proportional-integral controller is transformed from d-q to alpha-beta coordinate, corresponding switch driving signals Sa, Sb and Sc of a bidirectional grid-connected converter are obtained through space vector pulse width modulation, and the tracking of the actual output power of the energy storage system to the reference power is realized; the position of the voltage vector of the power grid is obtained through measurement; firstly, detecting instantaneous values ua, ub and uc of voltage at the low-voltage side of the energy storage grid-connected converter, and then carrying out coordinate transformation from a three-phase static coordinate system (abc) to a two-phase static coordinate system (alpha beta) to obtain expressions u alpha and u beta of the grid voltage under an alpha-beta coordinate, thereby obtaining voltage vector positions, namely the voltage vector positions
Further, the excitation control of the phase modulator adopts a static excitation regulator, and the proper excitation voltage V is calculated from the voltage measurement value of the high-voltage bus and the voltage measurement value of the phase modulatorfThe voltage of the high-voltage bus is adjusted; excitation voltage signal VfAnd sending the data to an energy storage reactive power controller as a weighting factor of a droop coefficient in the energy storage reactive power control method.
Compared with the prior art, the invention has the following technical effects:
the time scale from occurrence to recovery of a single commutation failure is typically hundreds of milliseconds, so response speed is critical. The existing control method has more steps or needs to rely on a scheduling instruction, and the rapidity cannot be guaranteed. The invention obtains the voltage of the phase modulator, the voltage of the commutation bus and the frequency of the receiving-end power grid through real-time measurement, quickly obtains the power output of the phase modulator and the stored energy after the commutation failure occurs, and can provide voltage and frequency support in time. And by reasonably setting parameters of each sub-controller, the power requirements of different stages of commutation failure and the difference of the reactive capacities of the energy storage and phase modulators are fully considered, and the reasonability of power output target distribution is ensured. The invention combines the energy storage system and the phase modulator through a control method, and better realizes the synergistic effect in the aspect of providing sufficient active and reactive power support. The control method can exert respective advantages of the energy storage and phase modulation machine after the fault, the provided dynamic active and reactive supports have the characteristics of high speed, large capacity and the like, and the requirements of the high-voltage direct-current transmission system on high-capacity dynamic active power and reactive power during the fault can be met.
Drawings
Fig. 1 is a connection diagram of a receiving-end composite dynamic power support system of a high-voltage direct-current power transmission system;
FIG. 2 is a general structure diagram of a cooperative control of a composite dynamic power support system;
FIG. 3 is a control schematic diagram of an energy storage grid-connected converter;
FIG. 4 is a graph of simulation results;
fig. 5 is a simulation result diagram.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
For better clarity of the description of the objects, technical solutions and advantages of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a connection diagram of a receiving-end composite dynamic power support system of a high-voltage direct-current transmission system. The coordination control method of the composite dynamic power support system is implemented by the composite dynamic power support system, and the composite dynamic power support system comprises a phase modulator, a battery energy storage system, an energy storage bidirectional grid-connected converter and a control module. The phase modulator is connected to the high-voltage bus through a step-up transformer; the direct current side of the energy storage bidirectional grid-connected converter is connected with a battery energy storage system, and the alternating current side of the energy storage bidirectional grid-connected converter is connected to a high-voltage bus through a transformer; the control module comprises an energy storage active power controller, an energy storage reactive power controller, a bidirectional grid-connected conversion controller and a phase modulator excitation controller; the energy storage active power controller and the energy storage reactive power controller are connected to the bidirectional grid-connected conversion controller together; the phase modulator excitation controller is connected with the phase modulator; the bidirectional grid-connected conversion controller is connected with the energy storage bidirectional grid-connected converter. The system is suitable for a high-voltage direct-current transmission weak receiving end power grid, when phase commutation failure or direct-current locking occurs, the energy storage system releases active power to achieve frequency response, and meanwhile, the energy storage system and the phase modulator provide a large amount of reactive power together to achieve voltage support.
Referring to fig. 2, a general structure diagram of a cooperative control of a composite dynamic power support system is shown. The coordination control method of the composite dynamic power support system is characterized by comprising an energy storage active power control method, an energy storage reactive power control method, a bidirectional grid-connected transformation control method and a phase modulator excitation control method.
The coordination control method of the composite dynamic power support system is characterized by comprising the following steps: the energy storage active power control method aims to realize frequency adjustment of an alternating current bus. When the power generation and the load are not matched, the frequency of the power grid fluctuates. When a commutation failure or dc blocking occurs in a dc power transmission system, a large active power shortage occurs in the receiving ac system, which usually results in a very severe frequency drop. In order to provide active power support for system frequency recovery, an active power reference value calculation formula adopted by the energy storage active power control method based on proportional-integral control is as follows:
PB,ref＝KP(fG-fG,ref)+KI∫∫(fG-fG,ref)
in the formula PB,refReference value of active power, K, for the output of the energy-storing active power controllerPAnd KIRespectively a proportionality coefficient and an integral coefficient, fGIs the grid frequency, fG,refIs the grid reference frequency.
The coordination control method of the composite dynamic power support system is characterized by comprising the following steps: the energy storage reactive power control method participates in the voltage regulation of the alternating current bus. When the phase commutation failure or the direct current blocking occurs in the sending terminal inversion station, a large amount of dynamic reactive power is needed to improve the lowest point of the bus voltage and shorten the time for recovering the system voltage. In order to provide reactive power for system frequency recovery, based on time-varying droop control, the reactive power reference value calculation formula adopted by the energy storage reactive power control method is as follows:
in the formula QB,refOutputting a no-power reference value, K, for an energy-storage reactive power controllerDIs a sag factor, UG,refFor high-voltage bus voltage rating, UGIs a measured value of the voltage of the high-voltage bus, VfIs the phase modulator exciting voltage. g (t) is a time-varying function, and g (t) is selected in consideration ofAnd (2) carrying out: at the initial stage of commutation failure, the phase modulator releases reactive power which is several times of rated capacity due to good sub-transient characteristics, and meanwhile, due to sudden drop of system voltage, the energy storage system also releases a large amount of reactive power instantly, but because the reactive power released by the phase modulator at the moment is far greater than that of the energy storage system, the influence of the energy storage system on system voltage is small and the influence on frequency is large, and at the moment, the power of the energy storage system is more suitable for frequency modulation, so that at the sub-transient stage, g (t) is 0, and the output of the energy storage reactive power is limited at the initial stage of commutation failure. g (t) and VfAnd the energy storage reactive power control method are used together as weighting factors of droop coefficients in the energy storage reactive power control method.
The coordination control method of the composite dynamic power support system is characterized by comprising the following steps: the phase modulator excitation control adopts a static excitation regulator, and calculates proper excitation voltage V from a high-voltage bus voltage measurement value and a phase modulator terminal voltage measurement valuefAnd the adjustment of the voltage of the high-voltage bus is realized. Excitation voltage signal VfAnd sending the data to an energy storage reactive power controller as a weighting factor of a droop coefficient in the energy storage reactive power control method.
Referring to fig. 3, a bidirectional grid-connected conversion control block diagram is shown. The coordination control method of the composite dynamic power support system is characterized by comprising the following steps: the bidirectional grid-connected transformation control method is based on vector control of grid voltage orientation. Under the d-q framework, the output active power reference value P of the known energy storage systemB,refAnd the output reactive power reference value Q of the energy storage systemB,refThen the d-axis and q-axis current reference values are calculated by the following equation
Since the d-axis is based on the grid voltage vector, UG,q0, so that when used without taking into account other losses, can be derived from the power reference and UG,dCalculating current parameterAnd (4) taking the value into consideration. The difference value between the reference current and the estimated current is sent to a proportional-integral controller to realize unsteady state deviation control, and the output of the proportional-integral controller is transformed from d-q to alpha-beta coordinates to obtain a corresponding switch driving signal S of the bidirectional grid-connected converter through space vector pulse width modulationa、SbAnd ScAnd tracking the actual output power of the energy storage system to the reference power is realized. The control performance of the bidirectional grid-connected transformation control method mainly depends on accurate acquisition of the grid voltage vector position. The position of the grid voltage vector in the method is obtained through measurement. Firstly, detecting the voltage instantaneous value u of the low-voltage side of the energy storage grid-connected convertera、ub、ucAnd then obtaining an expression u of the power grid voltage under the alpha-beta coordinate through coordinate transformation from the three-phase static coordinate system (abc) to the two-phase static coordinate system (alpha beta)α、uβTo obtain a voltage vector position, i.e.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Referring to fig. 4 and 5, in order to verify the advantages of the present invention, detailed system simulation is performed in Matlab/Simulink, and as can be seen from the results, by rapidly providing dynamic power support, the present invention can fully improve the transient and sub-transient characteristics of frequency and voltage, shorten the recovery time after voltage and frequency faults, and achieve good frequency modulation and voltage regulation effects.
Claims (2)
1. A coordination control method of a composite dynamic power support system is characterized in that the composite dynamic power support system comprises a phase modulator, a battery energy storage system, an energy storage bidirectional grid-connected converter and a control module; the phase modulator is connected to the high-voltage bus through a step-up transformer; the direct current side of the energy storage bidirectional grid-connected converter is connected with a battery energy storage system, and the alternating current side of the energy storage bidirectional grid-connected converter is connected to a high-voltage bus through a transformer; the control module comprises an energy storage active power controller, an energy storage reactive power controller, a bidirectional grid-connected conversion controller and a phase modulator excitation controller; the energy storage active power controller and the energy storage reactive power controller are connected to the bidirectional grid-connected conversion controller together; the phase modulator excitation controller is connected with the phase modulator; the bidirectional grid-connected converter controller is connected with the energy storage bidirectional grid-connected converter;
the method comprises energy storage active power control, energy storage reactive power control, bidirectional grid-connected conversion control and phase modulator excitation control;
the energy storage active power control is used for realizing the frequency adjustment of the alternating current bus; the energy storage reactive power control is used for participating in the voltage regulation of the alternating current bus; the phase modulator excitation control is used for realizing the adjustment of the high-voltage bus voltage; the tracking of the actual output power of the energy storage system to the reference power is realized by bidirectional grid-connected transformation control;
in the energy storage active power control, when the generated energy is not matched with the load, and when the phase commutation failure or the direct current blocking occurs in the direct current power transmission system, the calculation formula of the adopted active power reference value is as follows:
PB,ref＝KP(fG-fG,ref)+KI∫(fG-fG,ref)
in the formula PB,refReference value of active power, K, for the output of the energy-storing active power controllerPAnd KIRespectively a proportionality coefficient and an integral coefficient, fGIs the grid frequency, fG,refIs the grid reference frequency;
in the energy storage reactive power control, when the commutation fails or direct current blocking occurs, based on the time-varying droop control, the reactive power reference value calculation formula adopted by the energy storage reactive power control is as follows:
in the formula QB,refOutputting a no-power reference value, K, for an energy-storage reactive power controllerDIs a sag factor, UG,refFor high-voltage bus voltage rating, UGIs a measured value of the voltage of the high-voltage bus, VfIs the phase modulator excitation voltage; g (t) is a time-varying function, g (t) and VfThe energy storage reactive power control parameters are used as weighting factors of droop coefficients in energy storage reactive power control;
the bidirectional grid-connected transformation control is vector control based on grid voltage orientation, and under a d-q framework, the output active power reference value P of the known energy storage systemB,refAnd the output reactive power reference value Q of the energy storage systemB,refThen the d-axis and q-axis current reference values are calculated by the following equation
The d-axis being based on the grid voltage vector, UG,q0, from power reference and UG,dCalculating a current reference value, sending a difference value between the reference current and the estimated current to a proportional-integral controller to realize unsteady state deviation control, and obtaining corresponding switch driving signals Sa, Sb and Sc of the bidirectional grid-connected converter through space vector pulse width modulation after the output of the proportional-integral controller is converted from d-q to alpha-beta coordinates to realize the tracking of the actual output power of the energy storage system to the reference power; the position of the voltage vector of the power grid is obtained through measurement; firstly, detecting the voltage instantaneous value u of the low-voltage side of the energy storage grid-connected convertera、ub、ucAnd then obtaining an expression u of the power grid voltage under the alpha-beta coordinate through coordinate transformation from the three-phase static coordinate system (abc) to the two-phase static coordinate system (alpha beta)α、uβThereby to makeObtaining the voltage vector position, i.e.
2. The method as claimed in claim 1, wherein the excitation control of the phase modulator is performed by a static excitation regulator, and the excitation voltage V is calculated from the measured voltage of the high-voltage bus and the measured voltage of the phase modulatorfThe voltage of the high-voltage bus is adjusted; excitation voltage signal VfAnd sending the data to an energy storage reactive power controller as a weighting factor of a droop coefficient in the energy storage reactive power control method.
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| CN111181175B (en) * | 2020-01-10 | 2023-09-19 | 广西大学 | Excitation system based on cooperative control theory and stabilizing method thereof |
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| CN113224801B (en) * | 2021-04-25 | 2022-06-03 | 杭州电子科技大学 | Power coordination control method suitable for direct-current interconnected micro-grid system |
| CN114552613B (en) * | 2021-12-31 | 2023-05-26 | 南方电网调峰调频发电有限公司 | Reactive power integrated control method, device, equipment and medium for chain type energy storage device |
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