CN112600235A - Optimal control method and device for equivalent impedance of flexible direct current converter - Google Patents

Optimal control method and device for equivalent impedance of flexible direct current converter Download PDF

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CN112600235A
CN112600235A CN202011421636.5A CN202011421636A CN112600235A CN 112600235 A CN112600235 A CN 112600235A CN 202011421636 A CN202011421636 A CN 202011421636A CN 112600235 A CN112600235 A CN 112600235A
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current
component
value
converter
pass filter
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CN112600235B (en
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颜永光
冯俊杰
邹常跃
龚贤夫
傅闯
林燕群
赵晓斌
冯开达
李岩
刘结
许树楷
杨双飞
林清华
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China South Power Grid International Co ltd
Yangjiang Power Supply Bureau of Guangdong Power Grid Co Ltd
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China South Power Grid International Co ltd
Yangjiang Power Supply Bureau of Guangdong Power Grid Co Ltd
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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
    • H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • 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
    • H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
    • H02J2003/365—Reducing harmonics or oscillations in HVDC
    • 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
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]

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Abstract

The invention discloses an optimal control method and device for equivalent impedance of a flexible direct current converter, wherein the control method comprises the following steps: acquiring an actual value of each current component in the flexible direct current converter control system; wherein the current components include a positive sequence current d-axis component, a positive sequence current q-axis component, a negative sequence current d-axis component, and a negative sequence current q-axis component; judging the running state of each current component in the flexible direct current converter control system; aiming at any current component, when the running state of the current component is transient, taking the actual value of the current component as the input value of a decoupling control link; and when the running state of the current component is a stable state, adjusting the actual value of the current component through a low-pass filter, and taking the actual value as an input value of a decoupling control link. By adopting the embodiment of the invention, the equivalent impedance negative damping characteristic of the converter can be effectively weakened, so that the risk of harmonic resonance of a flexible direct current system is reduced.

Description

Optimal control method and device for equivalent impedance of flexible direct current converter
Technical Field
The invention relates to the technical field of power transmission, in particular to an optimal control method and device for equivalent impedance of a flexible direct current converter.
Background
The flexible direct-current transmission technology based on Modular Multilevel Converters (MMC) has the advantages of flexible control, high output waveform quality, capability of supplying power to a passive system and the like, and is widely applied to the fields of large-scale long-distance high-voltage direct-current transmission, new energy grid connection, offshore wind power direct-current transmission, asynchronous power grid interconnection and the like. However, with the commissioning of multiple flexible dc projects, the grid creates new stability problems. In the operation process of the flexible direct current converter, due to the response action of a control system, the equivalent impedance characteristic of the flexible direct current converter is possibly deteriorated, a negative damping effect is presented in certain frequency bands, and when the impedance of a power grid is not matched with the equivalent impedance of the flexible direct current system, a harmonic resonance phenomenon is easily caused.
In practical engineering, the purpose of suppressing harmonic resonance of a flexible direct current system is usually achieved by improving the equivalent impedance characteristic of the flexible direct current converter. The idea of improving the equivalent impedance of the flexible-direct current converter is to make the equivalent impedance of the current converter present a positive damping characteristic in each frequency band by changing the structure or parameters of a control system, i.e. a phase angle frequency characteristic curve meets the requirement in the range of-90 degrees to +90 degrees in each frequency band. Because the reason that the equivalent impedance of the soft-direct current converter generates negative damping is mainly the interaction of the control link delay and the voltage feedforward link or the current inner loop control link, the prior art provides impedance improvement measures of adding a low-pass filter in the voltage feedforward, reducing the control link delay, reducing the proportion parameter of the current inner loop PI controller and the like.
However, in practical engineering, the current inner loop control link usually adopts positive and negative sequence current independent control, and the positive and negative sequence current independent control has a large negative effect on equivalent impedance of the converter through interaction with the dq axis decoupling control link. In the prior art, the influence of dq axis decoupling control and positive and negative sequence current independent control is mostly ignored in the process of analyzing the equivalent impedance characteristic of the flexible direct current converter, and an optimization decoupling control link-based method for improving the equivalent impedance of the flexible direct current converter is lacked.
Disclosure of Invention
The embodiment of the invention aims to provide an optimal control method and device for equivalent impedance of a flexible direct current converter, which can effectively weaken the negative damping characteristic of the equivalent impedance of the converter, thereby reducing the risk of harmonic resonance of a flexible direct current system.
In order to achieve the above object, an embodiment of the present invention provides an optimal control method for an equivalent impedance of a flexible dc converter, including:
acquiring an actual value of each current component in the flexible direct current converter control system; wherein the current components include a positive sequence current d-axis component, a positive sequence current q-axis component, a negative sequence current d-axis component, and a negative sequence current q-axis component;
judging the running state of each current component in the flexible direct current converter control system; wherein the operating conditions include transient and steady states;
aiming at any current component, when the running state of the current component is transient, taking the actual value of the current component as the input value of a decoupling control link; and when the running state of the current component is a stable state, inputting the actual value of the current component into a low-pass filter to obtain the current component regulated by the low-pass filter, and using the current component regulated by the low-pass filter as the input value of a decoupling control link to improve the equivalent impedance of the flexible direct current converter.
As an improvement of the above scheme, the d-axis component of the positive sequence current adjusted by the low-pass filter satisfies the following condition: i.e. idP_Kd＝Gf·idP；
The q-axis component of the positive sequence current regulated by the low-pass filter meets the following conditions: i.e. iqP_Kd＝Gf·iqP；
The d-axis component of the negative-sequence current regulated by the low-pass filter meets the following conditions: i.e. idN_Kd＝Gf·idN；
The q-axis component of the negative sequence current regulated by the low-pass filter meets the following conditions: i.e. iqN_Kd＝Gf·iqN；
Wherein G isfIs the low pass filter transfer function; i.e. idPIs the actual value of the d-axis component of the positive sequence current; i.e. iqPIs the actual value of the positive sequence current q-axis component; i.e. idNIs the actual value of the d-axis component of the negative sequence current; i.e. iqNThe actual value of the positive and negative sequence current q-axis components.
As an improvement of the above scheme, the determining an operation state of each current component in the flexible dc converter control system specifically includes:
when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is less than or equal to the corresponding preset current threshold, determining that the running state of the corresponding current component is a steady state;
and when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is greater than the corresponding preset current threshold value, determining that the corresponding operating state of the current component is a transient state.
As an improvement of the above scheme, the positive sequence impedance expression of the flexible dc converter satisfies:
Figure BDA0002822617400000031
wherein, L is the equivalent impedance of the AC side of the flexible DC converter, and L is equal to LT+L0/2，LTIs equivalent reactance of converter transformer, L0Is a bridge arm reactance; gsdIs 1/4 power frequency period filter link transfer function, Gsd＝0.5(1+e-sT/4)；GiIs a current inner loop controller transfer function; kdIs a current inner loop decoupling coefficient; gsv、GsiRespectively a voltage sampling link transfer function and a current sampling link transfer function; gdDelaying a transfer function for a system link; gfvIs a voltage feedforward low-pass filter; gfIs the low pass filter transfer function; g+、G-Representing different frequency offsets, G+＝G(s-jω1)、G-＝G(s+jω1)。
As an improvement of the above scheme, the determining an operation state of each current component in the flexible dc converter control system specifically includes:
obtaining an effective value of the voltage of the alternating current power grid;
when the absolute value of the difference between the effective value of the alternating current power grid voltage and a preset voltage reference value is smaller than or equal to a preset voltage threshold value, judging that the alternating current power grid is in a stable state, and judging that the running states of all the current components are stable;
and when the absolute value of the difference between the effective value of the voltage of the alternating current power grid and the preset voltage reference value is larger than the preset voltage threshold value, judging that the alternating current power grid is in a fault state, and judging that the running states of all the current components are transient states.
The embodiment of the present invention further provides an optimization control device for equivalent impedance of a flexible dc converter, including:
the current component acquisition module is used for acquiring the actual value of each current component in the flexible direct current converter control system; wherein the current components include a positive sequence current d-axis component, a positive sequence current q-axis component, a negative sequence current d-axis component, and a negative sequence current q-axis component;
the operating state judging module is used for judging the operating state of each current component in the flexible direct current converter control system; wherein the operating conditions include transient and steady states;
the current component input control module is used for aiming at any current component, and taking the actual value of the current component as the input value of the decoupling control link when the running state of the current component is transient; and when the running state of the current component is a stable state, inputting the actual value of the current component into a low-pass filter to obtain the current component regulated by the low-pass filter, and using the current component regulated by the low-pass filter as the input value of a decoupling control link to improve the equivalent impedance of the flexible direct current converter.
As an improvement of the above scheme, the d-axis component of the positive sequence current adjusted by the low-pass filter satisfies the following condition: i.e. idP_Kd＝Gf·idP；
The q-axis component of the positive sequence current regulated by the low-pass filter meets the following conditions: i.e. iqP_Kd＝Gf·iqP；
The d-axis component of the negative-sequence current regulated by the low-pass filter meets the following conditions: i.e. idN_Kd＝Gf·idN；
Through the saidThe q-axis component of the negative sequence current adjusted by the low-pass filter satisfies the following conditions: i.e. iqN_Kd＝Gf·iqN；
Wherein G isfIs the low pass filter transfer function; i.e. idPIs the actual value of the d-axis component of the positive sequence current; i.e. iqPIs the actual value of the positive sequence current q-axis component; i.e. idNIs the actual value of the d-axis component of the negative sequence current; i.e. iqNThe actual value of the positive and negative sequence current q-axis components.
As an improvement of the above scheme, the operation state determination module is specifically configured to:
when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is less than or equal to the corresponding preset current threshold, determining that the running state of the corresponding current component is a steady state;
and when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is greater than the corresponding preset current threshold value, determining that the corresponding operating state of the current component is a transient state.
As an improvement of the above scheme, the operation state determination module is specifically configured to:
obtaining an effective value of the voltage of the alternating current power grid;
when the absolute value of the difference between the effective value of the alternating current power grid voltage and a preset voltage reference value is smaller than or equal to a preset voltage threshold value, judging that the alternating current power grid is in a stable state, and judging that the running states of all the current components are stable;
and when the absolute value of the difference between the effective value of the voltage of the alternating current power grid and the preset voltage reference value is larger than the preset voltage threshold value, judging that the alternating current power grid is in a fault state, and judging that the running states of all the current components are transient states.
The embodiment of the present invention further provides an apparatus for optimally controlling an equivalent impedance of a flexible dc converter, which is characterized by comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the method for optimally controlling an equivalent impedance of a flexible dc converter as described in any one of the above items.
Compared with the prior art, the method and the device for optimizing and controlling the equivalent impedance of the flexible direct current converter disclosed by the invention have the advantages that the operation states of a positive sequence current d-axis component, a positive sequence current q-axis component, a negative sequence current d-axis component and a negative sequence current q-axis component in a flexible direct current converter control system are judged; aiming at any current component, when the running state of the current component is a transient state, the actual value of the current component is used as the input value of a decoupling control link, so that the dynamic performance of the flexible direct current converter can be ensured not to be influenced; and when the operating state of the current component is a stable state, the actual value of the current component is adjusted by a low-pass filter and then is used as an input value of a decoupling control link, so that a transfer function of the low-pass filter is introduced into a positive sequence impedance expression of the soft-direct current converter. Because the gain of the transfer function of the low-pass filter in the middle and high frequency ranges is close to 0, the influence of decoupling control and independent control of positive and negative sequence currents can be eliminated, and the condition that disturbance terms are introduced due to the fact that instantaneous values of current components are uniformly adopted can be effectively avoided, so that the equivalent impedance negative damping characteristic of the converter is effectively weakened, and the risk that harmonic resonance occurs in a flexible direct current system is reduced.
Drawings
Fig. 1 is a control block diagram of a prior art flexible dc converter control system;
fig. 2 is a graph of equivalent impedance of a prior art flexible dc converter;
fig. 3 is a schematic step diagram of a method for optimizing and controlling equivalent impedance of a flexible dc converter according to an embodiment of the present invention;
fig. 4 is a schematic step diagram of a preferred method for optimizing and controlling equivalent impedance of a flexible dc converter according to a second embodiment of the present invention;
fig. 5 is a control block diagram of a flexible dc converter control system according to a second embodiment of the present invention;
fig. 6 is a comparison graph of impedance frequency characteristic curves of the flexible dc converter according to the second embodiment of the present invention;
fig. 7 is an equivalent impedance curve diagram of the flexible dc converter according to the second embodiment of the present invention;
fig. 8 is a schematic step diagram of another method for optimizing and controlling equivalent impedance of a flexible dc converter according to a third embodiment of the present invention;
fig. 9 is a schematic structural diagram of an apparatus for optimizing and controlling equivalent impedance of a flexible dc converter according to a fourth embodiment of the present invention;
fig. 10 is a schematic structural diagram of an optimization control device for equivalent impedance of a flexible dc converter according to a fifth embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, fig. 1 is a control block diagram of a prior art flexible dc converter control system; fig. 2 is a graph of equivalent impedance of a prior art flexible dc converter. In the existing flexible direct current converter control system, the flexible direct current converter control system mainly comprises a positive sequence dq axis transformation link, a negative sequence dq axis transformation link, a positive sequence current control link, a negative sequence current control link, a voltage feedforward link, a dq axis inverse transformation link, a modulation link and a link delay equivalent link, wherein a decoupling control link is one part of the positive sequence current control link and the negative sequence current control link.
Network side three-phase voltage u in positive sequence dq axis conversionABCWith positive sequence phase angle theta of AC network voltagePLLTaking abc/dq park change as a reference, obtaining dq axis voltage, and passing through 1/4 power frequency periodic filter GsdGenerating a positive sequence dq-axis voltage udP、uqPThe positive-sequence dq-axis current i can be obtained in the same waydP、iqP。
Negative sequence dq axis transformation middle-network side three-phase voltage uABCBy negative sequence phase angle theta of AC network voltagePLLTaking abc/dq park change as reference, obtaining dq axis voltage and passing through1/4 power frequency periodic filter GsdGenerating a negative sequence dq-axis voltage udN、uqNThe negative sequence dq axis current i can be obtained in the same waydN、iqN。
In the positive sequence current control link, the current reference value of the positive sequence dq axis
Figure BDA0002822617400000071
Subtracting the actual values i respectivelydP、iqPAfter passing through a PI controller, a decoupling term-K is respectively addeddiqP、KdidPObtaining positive sequence current loop output; in the negative sequence current control link, the negative sequence dq axis current reference value
Figure BDA0002822617400000072
Subtracting the actual values i respectivelydN、iqNAfter passing through a PI controller, adding a decoupling term K respectivelydiqN、-KdidNAnd obtaining negative sequence current loop output.
In the voltage feedforward link, the positive and negative sequence dq axis components of the voltage of the power grid pass through a low-pass filter, are respectively added with positive and negative sequence current loop outputs to obtain the output dq axis reference voltage of the controller, and the output abc axis reference voltage of the controller is obtained after dq axis inverse transformation
Figure BDA0002822617400000073
Positive and negative sequence reference voltage of abc axis output by controller
Figure BDA0002822617400000074
Figure BDA0002822617400000075
After addition, the abc axis reference voltage is obtained through a modulation link and a link delay equivalent link
Figure BDA0002822617400000076
Under the control block diagram shown in fig. 1, the expression of the positive sequence equivalent impedance of the flexible direct current converter is obtained as follows:
Figure BDA0002822617400000077
in the formula: l is equivalent impedance of AC side of the flexible DC converter and can be equivalent reactance L of converter transformerTAnd bridge arm reactance L0Is represented by the formula L ═ LT+L0/2；GsdIs 1/4 power frequency period filter link transfer function, Gsd＝0.5(1+e-sT/4)；GiFor the transfer function, K, of the current inner loop controllerdIs a current inner loop decoupling coefficient; gsv、GsiRespectively a voltage sampling link transfer function and a current sampling link transfer function; gdDelaying a transfer function for a system link; gfvIs a voltage feedforward low-pass filter; g+、G-Representing different frequency offsets, wherein G+＝G(s-jω1)、G-＝G(s+jω1)。
Further simplifying to obtain the equivalent impedance expression of the converter positive sequence as follows:
Figure BDA0002822617400000078
the equivalent impedance curve of the soft-dc converter obtained at this time is shown in fig. 2, where the solid line is the theoretical calculation result of the equivalent impedance of the converter, and "o" represents the scanning result of the equivalent impedance of the converter in the electromagnetic transient simulation model. Therefore, the equivalent impedance of the current converter presents strong negative damping characteristics within the range of 500-1500 Hz and weak negative damping characteristics within the range of 2750-3750 Hz, and the phase angle characteristic curve of the equivalent impedance is accompanied by double frequency fluctuation, wherein the fluctuation is mainly caused by the interaction of positive and negative sequence current independent control and decoupling controlde-sT/4The term results. The frequency doubling fluctuation item raises the impedance phase angle maximum value of the converter, enhances the negative damping characteristic of the converter and is not beneficial to the resonance stability of the system.
The problem of unstable system resonance is solved by suppressing the fluctuation phenomenon of the impedance phase angle characteristic curve. Reference is made to fig. 3, which is a schematic step diagram of a method for optimizing and controlling equivalent impedance of a flexible dc converter according to an embodiment of the present invention. The embodiment of the invention provides an optimization control method for equivalent impedance of a flexible direct current converter, which is executed through the following steps S11 to S13:
s11, acquiring the actual value of each current component in the flexible direct current converter control system; wherein the current components include a positive sequence current d-axis component, a positive sequence current q-axis component, a negative sequence current d-axis component, and a negative sequence current q-axis component;
s12, judging the running state of each current component in the flexible direct current converter control system; wherein the operating conditions include transient and steady states;
s13, aiming at any current component, when the running state of the current component is transient, taking the actual value of the current component as the input value of the decoupling control link; and when the running state of the current component is a stable state, inputting the actual value of the current component into a low-pass filter to obtain the current component regulated by the low-pass filter, and using the current component regulated by the low-pass filter as the input value of a decoupling control link to improve the equivalent impedance of the flexible direct current converter.
Specifically, the d-axis component of the positive sequence current adjusted by the low-pass filter satisfies the following condition: i.e. idP_Kd＝Gf·idP；
The q-axis component of the positive sequence current regulated by the low-pass filter meets the following conditions: i.e. iqP_Kd＝Gf·iqP；
The d-axis component of the negative-sequence current regulated by the low-pass filter meets the following conditions: i.e. idN_Kd＝Gf·idN；
The q-axis component of the negative sequence current regulated by the low-pass filter meets the following conditions: i.e. iqN_Kd＝Gf·iqN；
Wherein G isfIs the low pass filter transfer function; i.e. idPIs the actual value of the d-axis component of the positive sequence current; i.e. iqPIs the actual value of the positive sequence current q-axis component; i.e. idNIs the real of the d-axis component of the negative-sequence currentA value of interest; i.e. iqNThe actual value of the positive and negative sequence current q-axis components.
By adopting the technical means of the embodiment of the invention, the operation state of each current component in the flexible direct current converter control system is judged, and the value of the current component input into the decoupling control link is adjusted according to the operation state of each current component. Under the transient condition, the actual value of the current component is input into a decoupling control link, so that the dynamic performance of the flexible direct current converter can be ensured not to be influenced; under the steady state condition, the actual value of the current component is adjusted by a low-pass filter and then is used as the input value of a decoupling control link, so that the transfer function of the low-pass filter is introduced into the positive sequence impedance expression of the soft-direct current converter. Because the gain of the transfer function of the low-pass filter in the middle and high frequency ranges is close to 0, the influence of decoupling control and independent control of positive and negative sequence currents can be eliminated, and the condition that disturbance terms are introduced due to the fact that instantaneous values of current components are uniformly adopted can be effectively avoided, so that the equivalent impedance negative damping characteristic of the converter is effectively weakened, and the risk that harmonic resonance occurs in a flexible direct current system is reduced.
As a preferred implementation manner, referring to fig. 4-5, fig. 4 is a schematic step diagram of a preferred method for optimizing and controlling equivalent impedance of a flexible dc converter according to a second embodiment of the present invention; fig. 5 is a control block diagram of a flexible dc converter control system according to a second embodiment of the present invention. The second embodiment of the invention provides an optimal control method for the equivalent impedance of the flexible direct current converter on the basis of the first embodiment. The step S12 is specifically executed through steps S21 to S22:
s21, when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is less than or equal to the corresponding preset current threshold, determining that the running state of the corresponding current component is a steady state;
and S22, when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is larger than the corresponding preset current threshold, determining that the corresponding operation state of the current component is transient.
In an embodiment of the invention, obtaining said flexible dc converter controlActual value i of the d-axis component of the positive sequence current in the systemdPActual value i of the q-axis component of the positive sequence currentqPActual value i of the d-axis component of the negative sequence currentdNAnd the actual value i of the q-axis component of the negative-sequence currentqN. And then, respectively judging whether each current component enters a stable state or not according to a preset current threshold value corresponding to each current component, and respectively adjusting the value of the current component input into a decoupling control link according to the running state of each current component. The method specifically comprises the following steps:
when the actual value i of the d-axis component of the positive sequence currentdPSatisfy the requirement of
Figure BDA0002822617400000091
When the positive sequence current d-axis component is judged to operate in a steady state, the actual value i of the positive sequence current d-axis component is determineddPThe input of the low-pass filter is adjusted to obtain the adjusted positive sequence current d-axis component Gf·idPAs an input value of the decoupling control link; otherwise, judging that the d-axis component of the positive sequence current operates in a transient state, and judging the actual value i of the d-axis component of the positive sequence currentdPAs an input value for the decoupling control element. Wherein D isPAnd the preset current threshold value is corresponding to the d-axis component of the positive sequence current.
When the actual value i of the q-axis component of the positive sequence currentqPSatisfy the requirement of
Figure BDA0002822617400000101
When the positive sequence current q-axis component is judged to operate in a steady state, the actual value i of the positive sequence current q-axis component is determinedqPThe input of the low-pass filter is adjusted to obtain the adjusted positive sequence current d-axis component Gf·iqPAs an input value of the decoupling control link; otherwise, judging that the positive sequence current q-axis component operates in a transient state, and judging the actual value i of the positive sequence current q-axis componentqPAs an input value for the decoupling control element. Wherein D isPAnd the preset current threshold value is corresponding to the q-axis component of the positive sequence current.
When the actual value i of the d-axis component of the negative sequence currentdNSatisfy the requirement of
Figure BDA0002822617400000102
When the negative sequence current d-axis component is judged to operate in a steady state, the actual value i of the negative sequence current d-axis component is determineddNThe input of the low-pass filter is adjusted to obtain the adjusted positive sequence current d-axis component Gf·idNAs an input value of the decoupling control link; otherwise, judging that the d-axis component of the negative sequence current operates in a transient state, and judging the actual value i of the d-axis component of the negative sequence currentdNAs an input value for the decoupling control element. Wherein D isNAnd the preset current threshold value is corresponding to the d-axis component of the negative sequence current.
When the actual value i of the q-axis component of the negative-sequence currentqNSatisfy the requirement of
Figure BDA0002822617400000103
Judging that the negative sequence current q-axis component operates in a steady state, and then, determining the actual value i of the negative sequence current q-axis componentqNThe input of the low-pass filter is adjusted to obtain the adjusted positive sequence current d-axis component Gf·iqNAs an input value of the decoupling control link; otherwise, judging that the negative sequence current q-axis component operates in a transient state, and judging the actual value i of the negative sequence current q-axis componentqNAs an input value for the decoupling control element. Wherein D isNAnd the preset current threshold value is corresponding to the q-axis component of the negative sequence current.
It should be noted that the preset reference values of the positive sequence current d-axis component, the positive sequence current q-axis component, the negative sequence current d-axis component and the negative sequence current q-axis component are fixed values set according to practical application conditions, and in one embodiment, the preset reference value of the positive sequence current d-axis component is set as a fixed value set according to practical application conditions
Figure BDA0002822617400000111
The preset reference value of the q-axis component of the positive sequence current is set to
Figure BDA0002822617400000112
Preset reference value of negative sequence current d-axis component
Figure BDA0002822617400000113
Set to zero, preset reference value of negative sequence current q-axis component
Figure BDA0002822617400000114
Is set to zero. It is understood that the above reference values can be set and adjusted in real time without affecting the beneficial effects of the present invention.
The preset current threshold corresponding to the current component may be set and adjusted according to an actual application condition, and is not specifically limited herein.
In the embodiment of the invention, the positive sequence impedance expression of the flexible direct current converter satisfies the following conditions:
Figure BDA0002822617400000115
wherein, L is the equivalent impedance of the AC side of the flexible DC converter, and L is equal to LT+L0/2，LTIs equivalent reactance of converter transformer, L0Is a bridge arm reactance; gsdIs 1/4 power frequency period filter link transfer function, Gsd＝0.5(1+e-sT/4)；GiIs a current inner loop controller transfer function; kdIs a current inner loop decoupling coefficient; gsv、GsiRespectively a voltage sampling link transfer function and a current sampling link transfer function; gdDelaying a transfer function for a system link; gfvIs a voltage feedforward low-pass filter; gfIs the low pass filter transfer function; g+、G-Representing different frequency offsets, G+＝G(s-jω1)、G-＝G(s+jω1)。
It can be seen that K is present in the moleculede-sT/4The item becomes
Figure BDA0002822617400000116
Low pass filter transfer function
Figure BDA0002822617400000117
The gain in the mid-high frequency band is close to 0 so that the influence of decoupling control and positive and negative sequence current independent control will be eliminated. Referring to fig. 6-7, fig. 6 is a comparison graph of impedance frequency characteristic curves of the flexible dc converter according to the second embodiment of the present invention; fig. 7 is an equivalent impedance curve diagram of the flexible dc converter according to the second embodiment of the present invention. As shown in fig. 6, the double-frequency fluctuation of the impedance amplitude-frequency characteristic and the phase-frequency characteristic curve disappears, the maximum value of the impedance phase angle in the range of 500-1500 Hz is reduced from 112.8 degrees to 108.7 degrees, the maximum value of the impedance phase angle in the range of 2750-3750 Hz is reduced from 94.4 degrees to 93.7 degrees, the negative damping characteristic of the converter is effectively weakened, and the risk of medium-high frequency resonance of the flexible direct current transmission system is reduced. As shown in fig. 7, it can be seen that the theoretical calculation result of the impedance of the inverter is substantially consistent with the impedance scanning result, the correctness of the impedance expression after the impedance improvement measure is taken is verified, and the effectiveness of the impedance improvement measure provided by the present invention is also proved.
It should be noted that, changing the structure of the decoupling control link affects the dynamic performance of the system, and in order to ensure that the dynamic performance of the system meets the requirements, the dynamic performance of the system needs to be verified. The method is characterized in that a flexible direct current converter with the capacity of 1000MW and the direct current voltage of +/-375 kV is used as a research object, and the transient performance of the system during three-phase short circuit fault of an alternating current power grid is simulated and analyzed respectively for four working conditions. The four operating conditions include: the decoupling control input current is an instantaneous value, the decoupling control input current is a constant reference current, a low-pass filter is added in the decoupling control, and the decoupling control input current adopts the optimal control method of the equivalent impedance of the flexible direct current converter, wherein a threshold value for judging whether the positive sequence current dq axis component and the negative sequence current dq axis component are steady-state values is set to be 0.05 pu. The maximum values of the valve side current and the bridge arm current when the three phases of the alternating current power grid are short-circuited are obtained and are shown in table 1.
TABLE 1 maximum valve side current and bridge arm current in three-phase short circuit of AC power network
Figure BDA0002822617400000121
As can be seen from table 1, when the decoupling control input current adopts an instantaneous value under the condition of a three-phase short circuit fault of the ac power grid, the maximum current of the valve side is 4.561kA, and the maximum current of the bridge arm is 2.992 kA; when the decoupling control input current is constant reference current, the maximum current of the valve side is 4.710kA, and the maximum current of the bridge arm is 3.110 kA; when a low-pass filter is added in the decoupling control, the maximum current of the valve side is 4.734kA, and the maximum current of the bridge arm is 3.107 kA; when the decoupling control input current adopts the control method provided by the invention, the maximum current of the valve side is 4.568kA, and the maximum current of the bridge arm is 3.000 kA. It can be seen that if the constant current reference value is directly used as the input current of the decoupling control or a low-pass filter is added in the decoupling control, the dynamic performance of the system will be deteriorated. By adopting the control method provided by the invention, the dynamic characteristic of the system is not obviously influenced.
As an optional implementation manner, referring to fig. 8, a step schematic diagram of another method for optimizing and controlling equivalent impedance of a flexible dc converter provided in a third embodiment of the present invention is shown. The third embodiment of the present invention is implemented on the basis of the first embodiment, wherein the step S12 is specifically executed through steps S31 to S33:
s31, acquiring an effective value of the voltage of the alternating current power grid;
s32, when the absolute value of the difference between the effective value of the alternating current power grid voltage and a preset voltage reference value is smaller than or equal to a preset voltage threshold value, judging that the alternating current power grid is in a stable state, and judging that the running states of all the current components are in a stable state;
and S33, when the absolute value of the difference between the effective value of the alternating current power grid voltage and the preset voltage reference value is larger than the preset voltage threshold value, judging that the alternating current power grid is in a fault state, and judging that the running states of all the current components are transient states.
The embodiment of the invention provides a method for roughly judging the running state of a system, which adopts the effective value of the voltage of an alternating current network to judge whether the system is in an alternating current side fault state, if so, the system is shown to run in a transient state, each current component, namely a positive sequence current d-axis component, a positive sequence current q-axis component, a negative sequence current d-axis component and a negative sequence current q-axis component, runs in the transient state, and the actual value of each current component is used as the input value of a decoupling control link; if not, roughly judging that the alternating current power grid is in a stable state, operating each current component in a stable state, inputting an actual value of each current component into a low-pass filter for regulation, and then taking the actual value as an input value of a decoupling control link.
It should be noted that the preset voltage threshold may be set and adjusted according to practical application conditions, and is not limited herein.
The embodiment of the invention provides an optimal control method for equivalent impedance of a flexible direct current converter, which comprises the steps of judging the running states of a positive sequence current d-axis component, a positive sequence current q-axis component, a negative sequence current d-axis component and a negative sequence current q-axis component in a flexible direct current converter control system; aiming at any current component, when the running state of the current component is a transient state, the actual value of the current component is used as the input value of a decoupling control link, so that the dynamic performance of the flexible direct current converter can be ensured not to be influenced; and when the operating state of the current component is a stable state, the actual value of the current component is adjusted by a low-pass filter and then is used as an input value of a decoupling control link, so that a transfer function of the low-pass filter is introduced into a positive sequence impedance expression of the soft-direct current converter. Because the gain of the transfer function of the low-pass filter in the middle and high frequency ranges is close to 0, the influence of decoupling control and independent control of positive and negative sequence currents can be eliminated, and the condition that disturbance terms are introduced due to the fact that instantaneous values of current components are uniformly adopted can be effectively avoided, so that the equivalent impedance negative damping characteristic of the converter is effectively weakened, and the risk that harmonic resonance occurs in a flexible direct current system is reduced.
Fig. 9 is a schematic structural diagram of an optimization control device for equivalent impedance of a flexible dc converter according to a fourth embodiment of the present invention. The fourth embodiment of the present invention provides an optimization control device 40 for equivalent impedance of a flexible dc converter, including: a current component acquisition module 41, an operation state judgment module 42 and a current component input control module 43; wherein,
the current component obtaining module 41 is configured to obtain an actual value of each current component in the flexible dc converter control system; wherein the current components include a positive sequence current d-axis component, a positive sequence current q-axis component, a negative sequence current d-axis component, and a negative sequence current q-axis component;
the operating state determining module 42 is configured to determine an operating state of each current component in the flexible dc converter control system; wherein the operating conditions include transient and steady states;
the current component input control module 43 is configured to, for any current component, when the operating state of the current component is a transient state, use an actual value of the current component as an input value of the decoupling control link; and when the running state of the current component is a stable state, inputting the actual value of the current component into a low-pass filter to obtain the current component regulated by the low-pass filter, and using the current component regulated by the low-pass filter as the input value of a decoupling control link to improve the equivalent impedance of the flexible direct current converter.
Further, the d-axis component of the positive sequence current adjusted by the low-pass filter satisfies the following condition: i.e. idP_Kd＝Gf·idP；
The q-axis component of the positive sequence current regulated by the low-pass filter meets the following conditions: i.e. iqP_Kd＝Gf·iqP；
The d-axis component of the negative-sequence current regulated by the low-pass filter meets the following conditions: i.e. idN_Kd＝Gf·idN；
The q-axis component of the negative sequence current regulated by the low-pass filter meets the following conditions: i.e. iqN_Kd＝Gf·iqN；
Wherein G isfIs the low pass filter transfer function; i.e. idPIs the actual value of the d-axis component of the positive sequence current; i.e. iqPIs the actual value of the positive sequence current q-axis component; i.e. idNIs the actual value of the d-axis component of the negative sequence current; i.e. iqNThe actual value of the positive and negative sequence current q-axis components.
As a preferred embodiment, the operation state determining module 42 is specifically configured to:
when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is less than or equal to the corresponding preset current threshold, determining that the running state of the corresponding current component is a steady state;
and when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is greater than the corresponding preset current threshold value, determining that the corresponding operating state of the current component is a transient state.
As another preferred embodiment, the operation state determining module 42 is specifically configured to:
obtaining an effective value of the voltage of the alternating current power grid;
when the absolute value of the difference between the effective value of the alternating current power grid voltage and a preset voltage reference value is smaller than or equal to a preset voltage threshold value, judging that the alternating current power grid is in a stable state, and judging that the running states of all the current components are stable;
and when the absolute value of the difference between the effective value of the voltage of the alternating current power grid and the preset voltage reference value is larger than the preset voltage threshold value, judging that the alternating current power grid is in a fault state, and judging that the running states of all the current components are transient states.
It should be noted that the optimal control device for the equivalent impedance of the flexible dc converter according to the embodiment of the present invention is used for executing all the process steps of the optimal control method for the equivalent impedance of the flexible dc converter according to the embodiment, and the working principles and beneficial effects of the two are in one-to-one correspondence, so that details are not described again.
Fig. 10 is a schematic structural diagram of an optimization control device for equivalent impedance of a flexible dc converter according to a fifth embodiment of the present invention. Fifth embodiment of the present invention provides another apparatus 50 for optimally controlling equivalent impedance of a flexible dc converter, which includes a processor 51, a memory 52, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the method for optimally controlling equivalent impedance of a flexible dc converter according to any one of the first to third embodiments is implemented.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), or the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (10)

1. An optimization control method for equivalent impedance of a flexible direct current converter is characterized by comprising the following steps:
acquiring an actual value of each current component in the flexible direct current converter control system; wherein the current components include a positive sequence current d-axis component, a positive sequence current q-axis component, a negative sequence current d-axis component, and a negative sequence current q-axis component;
judging the running state of each current component in the flexible direct current converter control system; wherein the operating conditions include transient and steady states;
aiming at any current component, when the running state of the current component is transient, taking the actual value of the current component as the input value of a decoupling control link; and when the running state of the current component is a stable state, inputting the actual value of the current component into a low-pass filter to obtain the current component regulated by the low-pass filter, and using the current component regulated by the low-pass filter as the input value of a decoupling control link to improve the equivalent impedance of the flexible direct current converter.
2. The optimal control method for the equivalent impedance of the flexible direct current converter according to claim 1, wherein the positive sequence current adjusted by the low-pass filterThe d-axis component satisfies: i.e. idP_Kd＝Gf·idP；
The q-axis component of the positive sequence current regulated by the low-pass filter meets the following conditions: i.e. iqP_Kd＝Gf·iqP；
The d-axis component of the negative-sequence current regulated by the low-pass filter meets the following conditions: i.e. idN_Kd＝Gf·idN；
The q-axis component of the negative sequence current regulated by the low-pass filter meets the following conditions: i.e. iqN_Kd＝Gf·iqN；
Wherein G isfIs the low pass filter transfer function; i.e. idPIs the actual value of the d-axis component of the positive sequence current; i.e. iqPIs the actual value of the positive sequence current q-axis component; i.e. idNIs the actual value of the d-axis component of the negative sequence current; i.e. iqNThe actual value of the positive and negative sequence current q-axis components.
3. The method according to claim 1, wherein the determining the operating state of each of the current components in the flexible dc converter control system specifically includes:
when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is less than or equal to the corresponding preset current threshold, determining that the running state of the corresponding current component is a steady state;
and when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is greater than the corresponding preset current threshold value, determining that the corresponding operating state of the current component is a transient state.
4. The optimal control method for the equivalent impedance of the flexible direct current converter according to any one of claims 1 to 3, wherein the positive sequence impedance expression of the flexible direct current converter satisfies the following conditions:
Figure FDA0002822617390000021
wherein, L is the equivalent impedance of the AC side of the flexible DC converter, and L is equal to LT+L0/2，LTIs equivalent reactance of converter transformer, L0Is a bridge arm reactance; gsdIs 1/4 power frequency period filter link transfer function, Gsd＝0.5(1+e-sT/4)；GiIs a current inner loop controller transfer function; kdIs a current inner loop decoupling coefficient; gsv、GsiRespectively a voltage sampling link transfer function and a current sampling link transfer function; gdDelaying a transfer function for a system link; gfvIs a voltage feedforward low-pass filter; gfIs the low pass filter transfer function; g+、G-Representing different frequency offsets, G+＝G(s-jω1)、G-＝G(s+jω1)。
5. The method according to claim 1, wherein the determining the operating state of each of the current components in the flexible dc converter control system specifically includes:
obtaining an effective value of the voltage of the alternating current power grid;
when the absolute value of the difference between the effective value of the alternating current power grid voltage and a preset voltage reference value is smaller than or equal to a preset voltage threshold value, judging that the alternating current power grid is in a stable state, and judging that the running states of all the current components are stable;
and when the absolute value of the difference between the effective value of the voltage of the alternating current power grid and the preset voltage reference value is larger than the preset voltage threshold value, judging that the alternating current power grid is in a fault state, and judging that the running states of all the current components are transient states.
6. An optimized control device of flexible direct current converter equivalent impedance is characterized by comprising:
the current component acquisition module is used for acquiring the actual value of each current component in the flexible direct current converter control system; wherein the current components include a positive sequence current d-axis component, a positive sequence current q-axis component, a negative sequence current d-axis component, and a negative sequence current q-axis component;
the operating state judging module is used for judging the operating state of each current component in the flexible direct current converter control system; wherein the operating conditions include transient and steady states;
the current component input control module is used for aiming at any current component, and taking the actual value of the current component as the input value of the decoupling control link when the running state of the current component is transient; and when the running state of the current component is a stable state, inputting the actual value of the current component into a low-pass filter to obtain the current component regulated by the low-pass filter, and using the current component regulated by the low-pass filter as the input value of a decoupling control link to improve the equivalent impedance of the flexible direct current converter.
7. The optimal control device for the equivalent impedance of the flexible direct current converter according to claim 6, wherein the d-axis component of the positive sequence current adjusted by the low-pass filter satisfies the following condition: i.e. idP_Kd＝Gf·idP；
The q-axis component of the positive sequence current regulated by the low-pass filter meets the following conditions: i.e. iqP_Kd＝Gf·iqP；
The d-axis component of the negative-sequence current regulated by the low-pass filter meets the following conditions: i.e. idN_Kd＝Gf·idN；
The q-axis component of the negative sequence current regulated by the low-pass filter meets the following conditions: i.e. iqN_Kd＝Gf·iqN；
Wherein G isfIs the low pass filter transfer function; i.e. idPIs the actual value of the d-axis component of the positive sequence current; i.e. iqPIs the actual value of the positive sequence current q-axis component; i.e. idNIs the actual value of the d-axis component of the negative sequence current; i.e. iqNThe actual value of the positive and negative sequence current q-axis components.
8. The apparatus for optimizing and controlling equivalent impedance of a flexible dc converter according to claim 6, wherein the operating state determining module is specifically configured to:
when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is less than or equal to the corresponding preset current threshold, determining that the running state of the corresponding current component is a steady state;
and when the absolute value of the difference between the actual value of the current component and the preset reference value of the current component is greater than the corresponding preset current threshold value, determining that the corresponding operating state of the current component is a transient state.
9. The apparatus for optimizing and controlling equivalent impedance of a flexible dc converter according to claim 6, wherein the operating state determining module is specifically configured to:
obtaining an effective value of the voltage of the alternating current power grid;
when the absolute value of the difference between the effective value of the alternating current power grid voltage and a preset voltage reference value is smaller than or equal to a preset voltage threshold value, judging that the alternating current power grid is in a stable state, and judging that the running states of all the current components are stable;
and when the absolute value of the difference between the effective value of the voltage of the alternating current power grid and the preset voltage reference value is larger than the preset voltage threshold value, judging that the alternating current power grid is in a fault state, and judging that the running states of all the current components are transient states.
10. An apparatus for optimizing and controlling the equivalent impedance of a flexible dc converter, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the method for optimizing and controlling the equivalent impedance of a flexible dc converter according to any one of claims 1 to 5 when executing the computer program.
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