CN111753413A - Electromagnetic transient equivalent modeling method and system for hybrid brake resistance converter - Google Patents
Electromagnetic transient equivalent modeling method and system for hybrid brake resistance converter Download PDFInfo
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Abstract
The invention relates to an electromagnetic transient equivalent modeling method and system of a hybrid brake resistance converter, which comprises the following steps: 1) analyzing the sub-module topological structure of the hybrid brake resistance converter, and performing equivalent modeling on each main element in the sub-module; 2) analyzing the operation state of the hybrid brake resistance converter submodule in the operation process, and obtaining thevenin equivalent circuits of submodules in different states based on the equivalent models of the main elements in the step 1), so as to obtain a branch thevenin equivalent circuit of the hybrid brake resistance converter; 3) and substituting the branch circuit Thevenin equivalent circuit of the hybrid brake resistance converter into the flexible direct system network for solving to obtain a system electromagnetic transient simulation result containing the hybrid brake resistance converter. The invention can be widely applied to the field of electromagnetic transient simulation of the hybrid brake resistance converter.
Description
Technical Field
The invention relates to the technical field of electromagnetic transient simulation of offshore wind power sent out through a flexible direct system, in particular to an electromagnetic transient equivalent modeling method and system for a hybrid brake resistance converter of the offshore wind power sent out through the flexible direct system.
Background
In the offshore wind power output system through flexible direct current, a sending end converter station needs to adopt fixed alternating voltage and fixed frequency control to provide reliable grid-connected voltage for an offshore wind farm, so that active power input into the flexible direct current system cannot be directly controlled by the flexible direct current converter station. When the power transmission capacity of the flexible-straight system is reduced due to faults of the flexible-straight system, if power is continuously fed into the wind power plant, the power balance of the flexible-straight system is broken, the power surplus problem is caused, and the time for cutting off the wind turbine generator by using the safety control device cannot be matched with the development speed of voltage and current under the condition of the power surplus. Surplus power is accumulated in a flexible direct current system, direct current voltage of the system is rapidly increased, overvoltage and overcurrent stress of system equipment can be broken through, a converter valve is locked, the flexible direct current system stops running, voltage of a grid connection point of a wind power plant can fluctuate simultaneously, a wind turbine generator is off-grid in a large area, large impact can be generated on a power grid, and serious economic loss is caused. Therefore, a braking resistance converter or the like with flexibly controllable power must be introduced.
Because the offshore platform is short in area and difficult to operate and maintain, the brake resistance converter is not suitable to be arranged on the alternating current side of the offshore transmitting-end converter station, but is arranged on the direct current side of the onshore receiving-end converter station, the three technical routes of centralized type, distributed type and mixed type can be divided according to the operating characteristics of the power electronic devices and the brake resistance, and sub-modules of each technical route can be divided into various topological structures. When the electromagnetic transient simulation analysis of the offshore wind power through the flexible direct-transmission system is carried out, a part of the braking resistance converters can directly adopt a single IGBT device model or an MMC half-bridge sub-module integrated model existing in a power system transient simulation software PSCAD/EMTDC element library for equivalence. However, the hybrid braking resistance converter adopts a brand-new sub-module topological structure, although a single sub-module topology can be built by using existing element modules such as IGBTs, diodes, capacitors, resistors and the like, the hybrid braking resistance converter in an actual flexible-direct system usually comprises hundreds of sub-modules, and the trigger instructions of the IGBT devices in each sub-module are not consistent, so that the single sub-module topological structure cannot be used for equivalence; if hundreds of sub-module topologies are manually built in the PSCAD/EMTDC, huge time and energy are consumed, a simulation model interface is not clear at a glance any more, a signal interface is easy to make mistakes, more importantly, too many element modules occupy too much memory, the operation speed of the PSCAD/EMTDC is seriously influenced, and even the flexible and direct system simulation model cannot operate.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an electromagnetic transient equivalent modeling method and system for a hybrid brake resistance converter, based on the operating states of the IGBT T1 and the IGBT T2 in each submodule of the hybrid brake resistance converter, converting the submodule topology structures with different states into corresponding simplified equivalent circuits, and further obtaining a davinan equivalent circuit of a full branch of the hybrid brake resistance converter, thereby providing a practical, efficient, clear, simple and feasible electromagnetic transient equivalent modeling method for a hybrid brake resistance converter adopting a brand new submodule topology structure.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect of the present invention, a method for modeling an electromagnetic transient equivalent of a hybrid brake resistance converter is provided, which includes the following steps:
1) analyzing the sub-module topological structure of the hybrid brake resistance converter, and performing equivalent modeling on each main element in the sub-module;
2) analyzing the operation state of the hybrid brake resistance converter submodule in the operation process, and obtaining thevenin equivalent circuits of the submodule in different operation states based on the equivalent models of the main elements in the step 1), so as to obtain a branch thevenin equivalent circuit of the hybrid brake resistance converter;
3) and substituting the branch circuit Thevenin equivalent circuit of the hybrid brake resistance converter into the flexible direct system network for solving to obtain a system electromagnetic transient simulation result containing the hybrid brake resistance converter.
Further, in the step 1), the method for equivalently modeling each main element in the submodule of the hybrid brake resistance converter includes the following steps:
1.1) analyzing a sub-module topological structure of the hybrid brake resistance converter to obtain main elements contained in the sub-module, wherein the main elements comprise a first IGBT, a second IGBT, a diode, a capacitor, a voltage-sharing resistor and a voltage-limiting resistor element;
1.2) analyzing equivalent resistances of the IGBT and the anti-parallel diode thereof in a conducting state and a turn-off state, and enabling the IGBT and the anti-parallel diode thereof to be equivalent to a variable resistance controlled by an IGBT trigger instruction;
1.3) analyzing the equivalent resistance of the diode in a conducting state and a clamping state, and enabling the diode to be equivalent to a variable resistance controlled by an operating state;
1.4) carrying out equivalent analysis on the capacitance and enabling the capacitance to be equivalent to an equivalent historical voltage source vCEQ(T- Δ T) and equivalent resistance rCEQA Thevenin equivalent circuit formed by connecting in series.
Further, in the step 1.2), the equivalent of the IGBT and the anti-parallel diode thereof as the variable resistance controlled by the IGBT trigger instruction means:
when the trigger instruction is 1, the IGBT is conducted and is equivalent to a resistor with the resistance value of 0.01 omega;
when the trigger command is 0, the IGBT is turned off and is equivalently in an open circuit state;
in the step 1.3), the equivalence of the diode as the variable resistor controlled by the operating state means that:
when the diode is in a conducting state, the diode is equivalent to a resistor with the resistance value of 0.01 omega;
when the diode is in the clamped state, it is equivalent to an open state.
Further, the stepsStep 1.4), the equivalent history voltage source v of the capacitorCEQ(T- Δ T) and equivalent resistance rCEQThe calculation formulas of (A) and (B) are respectively as follows:
in the formula, delta T is simulation step length; c is the sub-module capacitor; i.e. iC(T- Δ T) is the submodule capacitance historical current; v. ofC(T- Δ T) is the voltage between the historical terminals of the sub-module capacitor.
Further, in the step 2), a method for obtaining a branch circuit thevenin equivalent circuit of the hybrid brake resistance converter includes the following steps:
2.1) equating the sub-module topological structure of the hybrid brake resistance converter to be in a form of series-parallel connection of a resistor and a voltage source based on the equivalent model of each main element in the sub-module of the hybrid brake resistance converter obtained in the step 1);
2.2) arranging and combining the trigger instructions of the first IGBT and the second IGBT in the submodule to obtain the running state of the submodule of the hybrid brake resistance converter;
2.3) carrying out further simplified equivalent analysis on each submodule in different running states in the hybrid brake resistance converter, and calculating to obtain port voltage v of each submoduleSMAnd the capacitance current iC(t)；
2.4) the number of submodules which are conducted based on the first IGBT in the hybrid brake resistance converter and the port voltage v of the submodules in different operation states in the step 2.3)SMThe hybrid brake resistance converter is equivalent to a branch historical voltage source varmEQ(T-Delta T) and branch equivalent resistance rarmEQA branch circuit Thevenin equivalent circuit formed by connecting in series.
Further, in the step 2.2), the obtaining of the operation state of the submodule of the hybrid braking resistance converter by arranging and combining the triggering command FT1 of the first IGBT and the triggering command FT2 of the second IGBT in the submodule includes:
operating state 1: FT1 is 1 and FT2 is 1, the first IGBT and the second IGBT are both turned on, and the diode is in a clamped state;
operation state 2: FT1 is 1 and FT2 is 0, the first IGBT is on, the second IGBT is off, and the diode is in a clamped state;
operating state 3: FT1 is 0 and FT2 is 1, the first IGBT is turned off, the second IGBT is turned on, and the diode is in an on state;
operation state 4: FT1 is 0 and FT2 is 0, both the first IGBT and the second IGBT are turned off, and the diode is in an on state.
Further, in the step 2.3), the port voltage v of each submodule in different operation states in the hybrid brake resistance converter is measuredSMAnd the capacitance current iCThe calculation formula of (t) is respectively as follows:
operating State 1
The expressions of the port voltage and the capacitance current of the submodule are respectively as follows:
vSM_1(t)＝0.01Ω·iarm(t)，
wherein v isSM_1(t) port voltages of the submodules in the operating state 1 and the operating state 2; i.e. iC_1(t) the capacitance current of the submodule in the running state 1 and the running state 2; r isCEQThe equivalent resistance of the capacitor is shown, and delta T is a simulation step length; t is time; r isSEQTo simplify the equivalent resistance, the expression is:
rSEQ＝(rloss+0.01Ω)//rJ，
wherein r islossIs a voltage limiting resistor; r isJIs a voltage-sharing resistor;
operating State 2
The expressions of the port voltage and the capacitance current of the submodule are the same as the operation state 1, and the simplified equivalent resistance r at the momentSEQThe expression of (a) is:
rSEQ＝rJ，
operating State 3
The expressions of the port voltage and the capacitance current of the submodule are respectively as follows:
vSM_2(t)＝rO·iarm(t)+vOC(t-ΔT)，
wherein v isSM_2(t) port voltages of the sub-modules in the operating state 3 and the operating state 4; i.e. iC_2(t) the capacitance current of the submodule in the running state 1 and the running state 2; at this time, the equivalent resistance r is simplifiedSEQThe expression of (a) is:
rSEQ＝(rloss+0.01Ω)//rJ，
operating state 4
The expressions of the port voltage and the capacitance current of the submodule are the same as the operation state 3, and at the moment, the equivalent resistance r is simplifiedSEQThe expression of (a) is:
rSEQ＝rJ。
further, in the step 2.4), the branch history voltage source v of the branch Thevenin equivalent circuitarmEQ(T- Δ T) and branch equivalent resistance rarmEQThe calculation formulas of (A) and (B) are respectively as follows:
in the formula, n is the number of sub-modules for conducting the first IGBT in the hybrid brake resistance converter; n is the total number of sub-modules in the hybrid braking resistance converter; r isO,yIs the equivalent resistance of the y-th sub-module; r ismIs a brake resistor; v. ofOC,y(T- Δ T) is the equivalent historical voltage source for the y-th sub-module.
Further, in the step 3), the method for solving by substituting the branch circuit thevenin equivalent circuit of the hybrid brake resistance converter into the flexible direct system network includes the following steps:
3.1) initialization data: sub-module capacitance current i in hybrid brake resistance converter at assumed initial momentC(0) 0, voltage v between capacitor terminals of submodule at initial timeC(0)＝UdcNN, an initial time variable T ═ Δ T, the number N of submodules in which the first IGBT is turned on at the initial time is 0, and a cyclic variable i, j, k is 0, where U isdcNIs rated direct current voltage;
3.2) calculating an equivalent historical voltage source v of a sub-module capacitor in the hybrid braking resistance converter according to the sub-module capacitor current at the current moment and the capacitor equivalent modelCEQ(T- Δ T) and capacitance equivalent resistance rCEQ；
3.3) carrying out cycle calculation on the submodule based on the conduction condition of the second IGBT in the submodule to obtain the simplified equivalent resistance r of each submoduleSEQ；
3.4) performing cycle calculation on the submodule based on the conduction condition of the first IGBT in the submodule: if the first IGBT is conducted, updating the number of sub-modules conducted by the first IGBT, wherein n is n + 1; if the first IGBT is turned off, calculating an equivalent historical voltage source v of the submoduleOC(T- Δ T) and submodule equivalent resistance rO；
3.5) calculating the equivalent historical voltage source v of the branch circuit according to the number of the sub-modules which are conducted by the first IGBT and the equivalent historical voltage source and the equivalent resistance of the sub-modulesarmEQ(T- Δ T) and branch equivalent resistance rarmEQ；
3.6) equivalent historical voltage source v with brancharmEQ(T- Δ T) and branch equivalent resistance rarmEQThe branch circuit Thevenin equivalent circuit formed by series connection replaces a hybrid braking resistance converter, is substituted into a flexible direct system network and is solved by an EMTDC simulation tool to obtain a branch current iarm(t)；
3.7) carrying out cycle calculation on the submodule based on the conduction condition of the first IGBT in the submodule to obtain a submodule capacitance current iC(t) and based on the sub-module capacitance currentiC(t) calculating the voltage v between the capacitor terminals of the submoduleC(t)；
3.8) updating the time variable T to T + delta T, and jumping to the step 3.2) to start the simulation calculation of the next simulation time until the simulation end time is reached.
In a second aspect of the present invention, an electromagnetic transient equivalent modeling system of a hybrid brake resistance converter is provided, which includes: the component equivalent module is used for analyzing the sub-module topological structure of the hybrid brake resistance converter and carrying out equivalent modeling on each main component in the sub-module; the circuit equivalent module is used for analyzing the operation state of the hybrid braking resistance converter submodule in the operation process, and obtaining thevenin equivalent circuits of the submodule in different operation states based on the equivalent models of all main elements so as to obtain a branch thevenin equivalent circuit of the hybrid braking resistance converter; and the electromagnetic transient simulation module is used for substituting the branch Thevenin equivalent circuit of the hybrid braking resistance converter into the flexible direct system network for solving to obtain a system electromagnetic transient simulation result containing the hybrid braking resistance converter.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. according to the invention, based on the operation states of two IGBTs in each submodule of the hybrid braking resistance-variable converter, the IGBTs and the diodes in the submodule of the hybrid braking resistance-variable converter are converted into variable resistors, and meanwhile, a capacitor in the submodule is converted into a Thevenin equivalent circuit consisting of a capacitor equivalent historical voltage source and a capacitor equivalent resistor by using a trapezoidal integration method, so that the topological structures of the submodules in different operation states are respectively converted into different simplified equivalent circuits, and the modeling of the sub-modules is facilitated subsequently. 2. The invention provides a practical, high-efficiency, clear-flow, simple and feasible electromagnetic transient equivalent modeling method for a hybrid brake resistance converter adopting a brand-new sub-module topological structure, can effectively avoid the problems of time and labor waste, complexity, error easiness, serious influence on simulation speed and the like caused by manually building hundreds of sub-module actual models, and has huge practical value and wide application prospect in actual scenes such as the process that offshore wind power is sent out through a flexible-straight system and the like.
Drawings
FIG. 1 is a schematic diagram of a sub-module topology of a hybrid brake resistance converter to which the present invention is directed;
FIG. 2 is an equivalent circuit diagram of a submodule of a hybrid brake resistance converter to which the present invention is directed;
fig. 3 is an equivalent circuit diagram of the sub-modules of the present invention when FT1 is 1 and FT2 is 1;
fig. 4 is an equivalent circuit diagram of the sub-modules of the present invention when FT1 is 1 and FT2 is 0;
fig. 5 is an equivalent circuit diagram of the sub-modules of the present invention when FT1 is 0 and FT2 is 1;
fig. 6 is an equivalent circuit diagram of the sub-modules of the present invention when FT1 is 0 and FT2 is 0;
fig. 7 is a simplified equivalent circuit diagram of the sub-module when FT1 is 1 in the present invention;
fig. 8 is a simplified equivalent circuit diagram of the sub-module when FT1 is 0 in the present invention;
FIG. 9 is a flow chart of electromagnetic transient simulation calculations for a hybrid brake resistance converter provided by the present invention;
fig. 10 is a waveform diagram of dc voltage and branch current when an actual model of a hybrid brake resistance converter is manually built according to an embodiment of the present invention;
fig. 11 is a waveform diagram of dc voltage and branch current when the electromagnetic transient equivalent modeling method of the hybrid brake resistance converter is adopted in the embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
The invention provides an electromagnetic transient equivalent modeling method of a hybrid brake resistance converter, which comprises the steps of firstly converting an IGBT and a diode in each submodule of the hybrid brake resistance converter into a variable resistor based on the running states of the IGBT T1 and the IGBT T2 in each submodule of the hybrid brake resistance converter, and simultaneously converting a capacitor in each submodule into a Thevenin equivalent circuit consisting of a capacitor equivalent historical voltage source and a capacitor equivalent resistor by utilizing a trapezoidal integration method, thereby converting a topological structure of each submodule into a simplified equivalent circuit; secondly, solving a simplified equivalent circuit of each submodule to obtain a submodule equivalent historical voltage source and a submodule equivalent resistance; and finally, converting the hybrid braking resistance converter into a Thevenin equivalent circuit formed by connecting a branch equivalent history voltage source and a branch equivalent resistor in series based on the sum of the branch voltage of the hybrid braking resistance converter, the port voltage of the sub-module switched on by all the IGBT T1, the port voltage of the sub-module switched off by all the IGBT T1 and the voltage between braking resistance ends, substituting the Thevenin equivalent circuit into a flexible direct system network to obtain the branch current, and further reversely deducing the voltage between the sub-module capacitance current and the sub-module capacitance end, so that the sub-module capacitance history voltage source at the next simulation moment can be obtained, and the analogy can be used for solving. Specifically, the method comprises the following steps:
1) analyzing the topological structure of each submodule in the hybrid brake resistance converter, and performing equivalent modeling on each main element in the submodules;
2) analyzing the operation state of the hybrid brake resistance converter submodule in the operation process, and obtaining thevenin equivalent circuits of the submodule in different operation states based on the equivalent models of the main elements in the step 1), so as to obtain a branch thevenin equivalent circuit of the hybrid brake resistance converter;
3) and substituting the branch circuit Thevenin equivalent circuit of the hybrid brake resistance converter into the flexible direct system network for solving to obtain a system electromagnetic transient simulation result containing the hybrid brake resistance converter.
In the step 1), the method for analyzing the topological structure of each submodule in the hybrid brake resistance converter and equivalently modeling each main element in the submodule comprises the following steps:
1.1) as shown in FIG. 1, analyzing the topological structure of the submodule of the hybrid brake resistance converter to obtain the main elements contained in the submodule, including IGBT T1, IGBT T2, diode D, capacitor C and equalizing resistor rJVoltage limiting resistor rlossEtc.
1.2) analyzing the equivalent resistance of the IGBT and the anti-parallel diode thereof in the on state and the off state, and equating the IGBT and the anti-parallel diode thereof to a variable resistance controlled by the IGBT triggering instruction according to the analysis result.
The IGBT and the anti-parallel diode thereof can be equivalent to a variable resistor controlled by an IGBT triggering instruction, when the triggering instruction is 1, the IGBT is conducted and can be equivalent to a resistor with a smaller resistance value, and the resistance value is usually 0.01 omega; when the trigger command is 0, the IGBT is turned off and can be equivalent to a resistor with a larger resistance value, and the IGBT can be equivalent to an open circuit state for simplifying analysis.
1.3) analyzing the equivalent resistance of the diode in a conducting state and a clamping state, and equating the diode to a variable resistance controlled by an operating state according to the analysis result.
The diode can be equivalent to a variable resistor controlled by an operating state, and when the diode is in a conducting state, the diode can be equivalent to a resistor with a smaller resistance value, which is usually 0.01 omega; when the diode is in a clamping state, the diode can be equivalent to a resistor with a larger resistance value, and can be equivalent to an open circuit state for simplifying analysis.
1.4) carrying out equivalent analysis on the capacitance and enabling the capacitance to be equivalent to a historical voltage source vCEQ(T- Δ T) and resistance rCEQA Thevenin equivalent circuit formed by connecting in series.
The capacitor can be equivalent to a historical voltage source v by utilizing a trapezoidal integration methodCEQ(T- Δ T) and resistance rCEQA Thevenin equivalent circuit formed by connecting in series.
The relation between the voltage between the sub-module capacitor terminals and the sub-module capacitor current is as follows:
in the formula, C is a sub-module capacitor; i.e. iC(t) is the sub-module capacitance current; v. ofC(t) is the voltage between the capacitor terminals of the submodule; v. ofC(T- Δ T) is the voltage between the historical ends of the sub-module capacitor; delta T is the simulation step length; i.e. iC(T- Δ T) is the submodule capacitance history current.
The equivalent resistance r of the sub-module capacitor can be obtainedCEQAnd an equivalent history voltage source vCEQ(T-. DELTA.T) are:
in the step 2), the method for obtaining the branch Thevenin equivalent circuit of the hybrid brake resistance converter comprises the following steps:
2.1) as shown in fig. 2, the topological structure of the sub-module of the hybrid brake resistance converter is equivalent to a mode of connecting a resistor and a voltage source in series and parallel based on the equivalent model of each main element in the sub-module of the hybrid brake resistance converter obtained in the step 1).
Wherein, the resistance rT1、rT2Equivalent variable resistances of the IGBT T1, the IGBT T2 and the anti-parallel diode thereof respectively; resistance rDIs the equivalent variable resistance of the diode D; i.e. iarmThe current passing through the hybrid braking resistance converter branch circuit; v. ofSMIs the sub-module port voltage.
2.2) arranging and combining the trigger commands of the IGBT T1 and the IGBT T2 in the sub-modules to obtain the operation state of the sub-modules of the hybrid brake resistance converter.
In the operation process, the trigger instruction FT1 of the IGBT T1 and the trigger instruction FT2 of the IGBT T2 in the submodule are independent, so the following 4 operation states can be obtained according to the permutation and combination of the trigger instructions:
operating state 1:
as shown in fig. 3, FT1 is 1 and FT2 is 1, the IGBT T1 and the IGBT T2 are turned on, and the diode D is in a clamped state;
operation state 2:
as shown in fig. 4, FT1 is 1 and FT2 is 0, IGBT T1 is on and IGBT T2 is off, and diode D is in the clamped state;
operating state 3:
as shown in fig. 5, FT1 is 0 and FT2 is 1, IGBT T1 is off and IGBT T2 is on, and diode D is in the on state;
operation state 4:
as shown in fig. 6, FT1 is 0 and FT2 is 0, the IGBT T1 and the IGBT T2 are turned off, and the diode D is in an on state.
2.3) carrying out further simplified equivalent analysis on each submodule in different running states in the hybrid brake resistance converter, and calculating to obtain port voltage v of each submoduleSMAnd the capacitance current iC(t)。
Operating State 1
As shown in fig. 7, since the diode D in the operating state 1 can be equivalent to an open circuit state, the sub-module circuit diagram can be further simplified into two independent equivalent circuits, which are solved below.
At this time, the port voltage v of the sub-moduleSMThe expression of (a) is as follows:
vSM_1(t)＝0.01Ω·iarm(t) (4)
in the formula iarmAnd (t) is the current passing through the hybrid brake resistance converter branch.
The sub-module capacitor is in a discharge state, and a historical voltage source v based on the sub-module capacitorCEQ(T- Δ T) to obtain a capacitance current iC(t) is:
in the formula, rCEQIs the equivalent resistance of the sub-module capacitance, rSEQTo simplify the equivalent resistance.
Simplified equivalent resistance rSEQComprises the following steps:
rSEQ＝(rloss+0.01Ω)//rJ(6)
in the formula, rlossIs a voltage limiting resistor; r isJIs a voltage equalizing resistor.
Operating State 2
As shown in fig. 7, since the diode can be equivalently in an open circuit state in the operating state 2, the circuit diagram of the sub-module can be further simplified into two independent equivalent circuits, and the port voltage v of the sub-module is now equal to the port voltage vSMCapacitance current iC(t) andthe operating states 1 are identical, except for the simplified equivalent resistance rSEQIn the operating state 2, there are:
rSEQ＝rJ(7)
operating State 3
As shown in FIG. 8, since the IGBT T1 can be equivalently in the open state in the operation state 3, the sub-module circuit diagram can be further simplified to be the sub-module equivalent history voltage source vOC(T- Δ T) and submodule equivalent resistance rOThe submodule Thevenin equivalent circuit formed by connecting in series has the following expression:
rO＝rCEQ//rSEQ+0.01Ω (8)
in the formula, the equivalent resistance r is simplifiedSEQComprises the following steps:
rSEQ＝(rloss+0.01Ω)//rJ(10)
at this time, the port voltage v of the sub-moduleSMAnd the capacitance current iCThe calculation formula of (t) is respectively as follows:
vSM_2(t)＝rO·iarm(t)+vOC(t-ΔT) (11)
operating state 4
As shown in fig. 8, since the IGBT T1 can be equivalently in the open state in the operating state 4, the sub-module circuit diagram thereof can be further simplified to be the sub-module equivalent history voltage source vOC(T- Δ T) and submodule equivalent resistance rOThe Thevenin equivalent circuit of the submodule formed by series connection has the same port voltage and capacitance current as those in the operating state 3, except that the equivalent resistance r is simplifiedSEQIn operating state 4, there are:
rSEQ＝rJ(13)
2.4)based on the number of sub-modules which are conducted by IGBT T1 in the hybrid brake resistance converter and the port voltage v of the sub-modules in different operation states in the step 2.3)SMThe hybrid brake resistance converter is equivalent to a branch historical voltage source varmEQ(T-Delta T) and branch equivalent resistance rarmEQA branch circuit Thevenin equivalent circuit formed by connecting in series.
The hybrid braking resistance converter consists of hundreds of sub-modules and 1 braking resistor rmThe hybrid braking resistance converter is composed of a plurality of sub-modules which are connected in series, if the number of the sub-modules which are connected with each other by the IGBT T1 in the hybrid braking resistance converter at the moment T is N, the number of the sub-modules which are connected with each other by the IGBT T1 is N-N, wherein N is the total number of the sub-modules in the hybrid braking resistance converter, and the voltage v between the branch terminals of the hybrid braking resistance converter is varm(t) is the port voltage v of n sub-modulesSM_1(t), N-N sub-module port voltages vSM_2(t) and a braking resistor rmThe sum of the terminal voltages is shown as follows:
wherein,
in the formula, rO,yIs the equivalent resistance of the y-th sub-module; r ismIs a brake resistor; v. ofOC,y(T- Δ T) is the equivalent historical voltage source for the y-th sub-module.
It can be seen that the hybrid brake resistance converter can be equivalent to a branch historical voltage source v in the electromagnetic transient simulation processarmEQ(T-Delta T) and branch equivalent resistance rarmEQA branch circuit Thevenin equivalent circuit formed by connecting in series.
In the step 3), the branch Thevenin equivalent circuit of the hybrid brake resistance converter is substituted into the flexible system network for solving, and the solution can be obtainedSolving the current i passing through the branch of the hybrid braking resistance converterarm(t), the sub-module capacitance current i is obtained by using the equations (5) and (12)C(t), further, the voltage v between capacitor terminals of each submodule is obtained from the formula (1)CAnd (t), calculating the equivalent historical voltage source of each sub-module capacitor at the next moment by using the formula (3) again. Specifically, the method comprises the following steps:
3.1) initialization data: the invention assumes that the capacitance current i of a submodule in a hybrid braking resistance-variable converter at the initial momentC(0) 0, voltage v between capacitor terminals of submodule at initial timeC(0)＝UdcNN, an initial time variable T ═ Δ T, the number N of submodules turned on at the initial time IGBT T1 ═ 0, and a cyclic variable i, j, k ═ 0, where U isdcNIs rated direct current voltage;
3.2) calculating the equivalent resistance r of the sub-module capacitor in the hybrid braking resistance converter according to the sub-module capacitor current at the current moment, the sub-module capacitor end-to-end voltage and a capacitor equivalent model (namely formulas (2) and (3))CEQAnd an equivalent history voltage source vCEQ(t-ΔT)；
3.3) carrying out cycle calculation on the submodule based on the conduction condition of the IGBT T2 in the submodule to obtain the simplified equivalent resistance r of each submoduleSEQ；
If the IGBT T2 is on, it is calculated according to equation (6) or (10), and if the IGBT T2 is off, it is calculated according to equation (7) or (13);
3.4) performing cycle calculation on the submodule based on the conduction condition of the IGBT T1 in the submodule: if the IGBT T1 is conducted, updating the number of sub-modules conducted by the IGBT T1, wherein n is n + 1; if the IGBT T1 is turned off, calculating the equivalent historical voltage source v of the submoduleOC(T- Δ T) and submodule equivalent resistance rO；
3.5) calculating the equivalent historical voltage source v of the branch circuit according to the number of the sub-modules which are conducted by the IGBT T1 and the equivalent historical voltage source and the equivalent resistance of the sub-modulesarmEQ(T- Δ T) and branch equivalent resistance rarmEQ；
3.6) equivalent historical voltage source v with brancharmEQ(T- Δ T) and branch equivalent resistance rarmEQSeries-connected branch circuits of thevenin, etcThe effect circuit replaces a hybrid braking resistance converter, is substituted into a flexible direct system network and is solved by an EMTDC simulation tool to obtain a branch current iarm(t)；
3.7) carrying out cycle calculation on the submodule based on the conduction condition of the IGBT T1 in the submodule to obtain a submodule capacitance current iC(t) and based on the sub-module capacitance current iC(t) calculating the voltage v between the capacitor terminals of the submodule by using the formula (1)C(t)；
If the IGBT T1 is switched on, calculating the sub-module capacitance current according to the formula (5), and if the IGBT T1 is switched off, calculating the sub-module capacitance current according to the formula (12);
3.8) updating the time variable T to T + delta T, and jumping to the step 3.2) to start the simulation calculation of the next simulation time until the simulation end time is reached.
Based on the electromagnetic transient equivalent modeling method of the hybrid brake resistance converter, the invention also provides an electromagnetic transient equivalent modeling system of the hybrid brake resistance converter, which comprises the following steps: the component equivalent module is used for analyzing the sub-module topological structure of the hybrid brake resistance converter and carrying out equivalent modeling on each main component in the sub-module; the circuit equivalent module is used for analyzing the operation state of the hybrid braking resistance converter submodule in the operation process, and obtaining thevenin equivalent circuits of the submodule in different operation states based on the equivalent models of all main elements so as to obtain a branch thevenin equivalent circuit of the hybrid braking resistance converter; and the electromagnetic transient simulation module is used for substituting the branch Thevenin equivalent circuit of the hybrid braking resistance converter into the flexible direct system network for solving to obtain a system electromagnetic transient simulation result containing the hybrid braking resistance converter.
Example one
To further demonstrate the effectiveness and feasibility of the present invention, the invention is further illustrated by the following examples:
establishing a flexible direct system model with direct-current voltage of +/-400 kV in power system transient simulation software PSCAD/EMTDC, and respectively modeling a hybrid brake resistance converter by adopting the following two modes: (1) using existing elementsThe method comprises the following steps that a module manually builds an actual model with N submodules connected with a brake resistor in series; (2) the invention provides an electromagnetic transient equivalent modeling method for a hybrid brake resistance converter. The specific simulation parameters are as follows: considering that the manual modeling workload is large and the influence on the simulation speed is large in the method (1), simplifying the number of the sub-modules, and taking N as 10; the sub-module capacitance C is 45 uF; submodule voltage limiting resistor rloss92 Ω; submodule voltage equalizing resistor rJ150k Ω; suppose that the three-phase earth fault occurs at 1s on the side of the receiving end converter transformer network, and the fault duration is 0.6 s.
As shown in fig. 10, if a manually-built actual model is used to model the hybrid braking resistance converter, the dc voltage and the branch current rapidly increase after the fault occurs, and then the dc voltage is stabilized at a set value under the energy consumption action of the hybrid braking resistance converter, after the fault is cleared, the hybrid braking resistance converter stops operating, the dc voltage recovers to a rated value, and the branch current decreases to 0.
As shown in fig. 11, if the hybrid brake resistance converter electromagnetic transient equivalent modeling method provided by the present invention is adopted, the variation trend and the variation amplitude of the waveforms of the direct current voltage and the branch current during the fault period and after the fault is cleared are both consistent with the waveforms shown in fig. 10 when the actual model is adopted.
The embodiment shows that the electromagnetic transient equivalent modeling method for the hybrid brake resistance converter can highly simulate the external voltage and current change characteristics of the hybrid brake resistance converter, and the effectiveness and feasibility of the method are verified. In an actual flexible-direct system with hundreds of sub-modules of the hybrid braking resistance converter, the method for manually building an actual model for the hybrid braking resistance converter is not applicable, and the electromagnetic transient equivalent modeling method provided by the invention has great practical value and wide application prospect.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
A specific embodiment is given above, but the invention is not limited to the described embodiment. The basic idea of the present invention lies in the above solution, and it is obvious to those skilled in the art that it is not necessary to spend creative efforts to design various modified models, formulas and parameters according to the teaching of the present invention. Variations, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.
Claims (10)
1. An electromagnetic transient equivalent modeling method of a hybrid brake resistance converter is characterized by comprising the following steps of:
1) analyzing the sub-module topological structure of the hybrid brake resistance converter, and performing equivalent modeling on each main element in the sub-module;
2) analyzing the operation state of the hybrid brake resistance converter submodule in the operation process, and obtaining thevenin equivalent circuits of the submodule in different operation states based on the equivalent models of the main elements in the step 1), so as to obtain a branch thevenin equivalent circuit of the hybrid brake resistance converter;
3) and substituting the branch circuit Thevenin equivalent circuit of the hybrid brake resistance converter into the flexible direct system network for solving to obtain a system electromagnetic transient simulation result containing the hybrid brake resistance converter.
2. A method of electromagnetic transient equivalent modeling of a hybrid brake resistance converter as recited in claim 1, wherein: in the step 1), the method for performing equivalent modeling on each main element in the submodule of the hybrid brake resistance converter comprises the following steps:
1.1) analyzing a sub-module topological structure of the hybrid brake resistance converter to obtain main elements contained in the sub-module, wherein the main elements comprise a first IGBT, a second IGBT, a diode, a capacitor, a voltage-sharing resistor and a voltage-limiting resistor element;
1.2) analyzing equivalent resistances of the IGBT and the anti-parallel diode thereof in a conducting state and a turn-off state, and enabling the IGBT and the anti-parallel diode thereof to be equivalent to a variable resistance controlled by an IGBT trigger instruction;
1.3) analyzing the equivalent resistance of the diode in a conducting state and a clamping state, and enabling the diode to be equivalent to a variable resistance controlled by an operating state;
1.4) carrying out equivalent analysis on the capacitance and enabling the capacitance to be equivalent to an equivalent historical voltage source vCEQ(T- Δ T) and equivalent resistance rCEQA Thevenin equivalent circuit formed by connecting in series.
3. A method of electromagnetic transient equivalent modeling of a hybrid brake resistance converter as recited in claim 2, wherein: in the step 1.2), the equivalent of the IGBT and the anti-parallel diode thereof as the variable resistor controlled by the IGBT trigger instruction means:
when the trigger instruction is 1, the IGBT is conducted and is equivalent to a resistor with the resistance value of 0.01 omega;
when the trigger command is 0, the IGBT is turned off and is equivalently in an open circuit state;
in the step 1.3), the equivalence of the diode as the variable resistor controlled by the operating state means that:
when the diode is in a conducting state, the diode is equivalent to a resistor with the resistance value of 0.01 omega;
when the diode is in the clamped state, it is equivalent to an open state.
4. A method of electromagnetic transient equivalent modeling of a hybrid brake resistance converter as recited in claim 2, wherein: in the step 1.4), the equivalent history voltage source v of the capacitorCEQ(T- Δ T) and equivalent resistance rCEQThe calculation formulas of (A) and (B) are respectively as follows:
in the formula, delta T is simulation step length; c is the sub-module capacitor; i.e. iC(T- Δ T) is the submodule capacitance historical current; v. ofC(T- Δ T) is the voltage between the historical terminals of the sub-module capacitor.
5. A method of electromagnetic transient equivalent modeling of a hybrid brake resistance converter as recited in claim 1, wherein: in the step 2), the method for obtaining the branch Thevenin equivalent circuit of the hybrid brake resistance converter comprises the following steps:
2.1) equating the sub-module topological structure of the hybrid brake resistance converter to be in a form of series-parallel connection of a resistor and a voltage source based on the equivalent model of each main element in the sub-module of the hybrid brake resistance converter obtained in the step 1);
2.2) arranging and combining the trigger instructions of the first IGBT and the second IGBT in the submodule to obtain the running state of the submodule of the hybrid brake resistance converter;
2.3) carrying out further simplified equivalent analysis on each submodule in different running states in the hybrid brake resistance converter, and calculating to obtain port voltage v of each submoduleSMAnd the capacitance current iC(t)；
2.4) the number of submodules which are conducted based on the first IGBT in the hybrid brake resistance converter and the port voltage v of the submodules in different operation states in the step 2.3)SMThe hybrid brake resistance converter is equivalent to a branch historical voltage source varmEQ(T-Delta T) and branch equivalent resistance rarmEQA branch circuit Thevenin equivalent circuit formed by connecting in series.
6. A method of electromagnetic transient equivalent modeling of a hybrid brake resistance converter as recited in claim 5, wherein: in the step 2.2), the triggering instruction FT1 of the first IGBT and the triggering instruction FT2 of the second IGBT in the submodule are arranged and combined to obtain the operating state of the submodule of the hybrid braking resistance converter, which includes:
operating state 1: FT1 is 1 and FT2 is 1, the first IGBT and the second IGBT are both turned on, and the diode is in a clamped state;
operation state 2: FT1 is 1 and FT2 is 0, the first IGBT is on, the second IGBT is off, and the diode is in a clamped state;
operating state 3: FT1 is 0 and FT2 is 1, the first IGBT is turned off, the second IGBT is turned on, and the diode is in an on state;
operation state 4: FT1 is 0 and FT2 is 0, both the first IGBT and the second IGBT are turned off, and the diode is in an on state.
7. A method of electromagnetic transient equivalent modeling of a hybrid brake resistance converter as recited in claim 6, wherein: in the step 2.3), the port voltage v of each submodule in different operation states in the hybrid brake resistance converterSMAnd the capacitance current iCThe calculation formula of (t) is respectively as follows:
operating State 1
The expressions of the port voltage and the capacitance current of the submodule are respectively as follows:
vSM_1(t)＝0.01Ω·iarm(t)，
wherein v isSM_1(t) port voltages of the submodules in the operating state 1 and the operating state 2; i.e. iC_1(t) the capacitance current of the submodule in the running state 1 and the running state 2; r isCEQThe equivalent resistance of the capacitor is shown, and delta T is a simulation step length; t is time; r isSEQTo simplify the equivalent resistance, the expression is:
rSEQ＝(rloss+0.01Ω)//rJ，
wherein r islossIs a voltage limiting resistor; r isJIs a voltage-sharing resistor;
operating State 2
The expressions of the port voltage and the capacitance current of the submodule are the same as the operation state 1, and the simplified equivalent resistance r at the momentSEQThe expression of (a) is:
rSEQ＝rJ，
operating State 3
The expressions of the port voltage and the capacitance current of the submodule are respectively as follows:
vSM_2(t)＝rO·iarm(t)+vOC(t-ΔT)，
wherein v isSM_2(t) port voltages of the sub-modules in the operating state 3 and the operating state 4; i.e. iC_2(t) the capacitance current of the submodule in the running state 1 and the running state 2; at this time, the equivalent resistance r is simplifiedSEQThe expression of (a) is:
rSEQ＝(rloss+0.01Ω)//rJ，
operating state 4
The expressions of the port voltage and the capacitance current of the submodule are the same as the operation state 3, and at the moment, the equivalent resistance r is simplifiedSEQThe expression of (a) is:
rSEQ＝rJ。
8. a method of electromagnetic transient equivalent modeling of a hybrid brake resistance converter as recited in claim 5, wherein: in the step 2.4), the branch history voltage source v of the branch Thevenin equivalent circuitarmEQ(T- Δ T) and branch equivalent resistance rarmEQThe calculation formulas of (A) and (B) are respectively as follows:
in the formula, n is the number of sub-modules for conducting the first IGBT in the hybrid brake resistance converter; n is the total number of sub-modules in the hybrid braking resistance converter; r isO,yIs the equivalent resistance of the y-th sub-module; r ismIs a brake resistor; v. ofOC,y(T- Δ T) is the equivalent historical voltage source for the y-th sub-module.
9. A method of electromagnetic transient equivalent modeling of a hybrid brake resistance converter as recited in claim 1, wherein: in the step 3), the method for solving by substituting the branch Thevenin equivalent circuit of the hybrid brake resistance converter into the flexible direct system network comprises the following steps:
3.1) initialization data: sub-module capacitance current i in hybrid brake resistance converter at assumed initial momentC(0) 0, voltage v between capacitor terminals of submodule at initial timeC(0)＝UdcNN, an initial time variable T ═ Δ T, the number N of submodules in which the first IGBT is turned on at the initial time is 0, and a cyclic variable i, j, k is 0, where U isdcNIs rated direct current voltage;
3.2) calculating an equivalent historical voltage source v of a sub-module capacitor in the hybrid braking resistance converter according to the sub-module capacitor current at the current moment and the capacitor equivalent modelCEQ(T- Δ T) and capacitance equivalent resistance rCEQ；
3.3) carrying out cycle calculation on the submodule based on the conduction condition of the second IGBT in the submodule to obtain the simplified equivalent resistance r of each submoduleSEQ；
3.4) performing cycle calculation on the submodule based on the conduction condition of the first IGBT in the submodule: if the first IGBT is conducted, updating the number of sub-modules conducted by the first IGBT, wherein n is n + 1; if the first IGBT is turned off, calculating an equivalent historical voltage source v of the submoduleOC(T- Δ T) and submodule equivalent resistance rO；
3.5) calculating the equivalent historical voltage source v of the branch circuit according to the number of the sub-modules which are conducted by the first IGBT and the equivalent historical voltage source and the equivalent resistance of the sub-modulesarmEQ(T- Δ T) and branch equivalent resistance rarmEQ；
3.6) equivalent historical voltage source v with brancharmEQ(T- Δ T) and branch equivalent resistance rarmEQThe branch circuit Thevenin equivalent circuit formed by series connection replaces a hybrid braking resistance converter, is substituted into a flexible direct system network and is solved by an EMTDC simulation tool to obtain a branch current iarm(t)；
3.7) carrying out cycle calculation on the submodule based on the conduction condition of the first IGBT in the submodule to obtain a submodule capacitance current iC(t) and based on the sub-module capacitance current iC(t) calculating the sub-module capacitanceVoltage v between terminalsC(t)；
3.8) updating the time variable T to T + delta T, and jumping to the step 3.2) to start the simulation calculation of the next simulation time until the simulation end time is reached.
10. An electromagnetic transient equivalent modeling system for a hybrid brake resistance converter, comprising:
the component equivalent module is used for analyzing the sub-module topological structure of the hybrid brake resistance converter and carrying out equivalent modeling on each main component in the sub-module;
the circuit equivalent module is used for analyzing the operation state of the hybrid braking resistance converter submodule in the operation process, and obtaining thevenin equivalent circuits of the submodule in different operation states based on the equivalent models of all main elements so as to obtain a branch thevenin equivalent circuit of the hybrid braking resistance converter;
and the electromagnetic transient simulation module is used for substituting the branch Thevenin equivalent circuit of the hybrid braking resistance converter into the flexible direct system network for solving to obtain a system electromagnetic transient simulation result containing the hybrid braking resistance converter.
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