CN116545003A - Electromechanical transient stability control method and system for active support type converter - Google Patents
Electromechanical transient stability control method and system for active support type converter Download PDFInfo
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Classifications
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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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
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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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/48—Controlling the sharing of the in-phase component
-
- 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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/50—Controlling the sharing of the out-of-phase component
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- 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
- H02M1/00—Details of apparatus for conversion
- H02M1/32—Means for protecting converters other than automatic disconnection
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- 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
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Supply And Distribution Of Alternating Current (AREA)
Abstract
The invention discloses an electromechanical transient stability control method and system of an active support type converter. The method comprises the following steps: according to a pre-established basic control strategy of the converter, the control output power of the converter is realized; when the converter fails, judging a subarea according to the related electrical quantity of the disturbed converter, and calculating a compensation quantity according to the subarea and the current amplitude after current limiting; when the current of the current transformer reaches a preset allowable extremum current, enabling the compensation quantity to be overlapped on the internal potential of the current transformer, and enabling the current of the current transformer to instantaneously drop to a preset current amplitude after current limiting, so that the current limiting control of the current transformer is realized; and according to the control output power and the current limiting control of the converter, realizing the stable control of the converter.
Description
Technical Field
The invention relates to the technical field of large power grid power electronic application, in particular to an electromechanical transient stability control method and system of an active support type converter.
Background
The voltage source converter is a core component of equipment such as new energy power generation, flexible direct current transmission, energy storage, electric automobiles and the like, and is widely applied in different scenes, so that the voltage source converter becomes an important form for promoting the power electronic development of a power system. Based on the active support type control strategy of the voltage source converter, external characteristics similar to those of the traditional synchronous generator are molded, frequency, voltage and other supports are provided for the system, and the active support type control strategy is an important technical means for supporting safe and stable operation of the power electronic power system and is one of hot spot directions of current researches.
Under the impact of faults such as network side short circuit and the like, the contradiction between the current which is rapidly increased and the limited overcurrent capacity of the power electronic device caused by the source voltage deviation and the network voltage deviation is quite prominent. The current limiting is particularly important through control on the premise of not increasing the device redundancy and improving the overcurrent capacity of the converter. At present, a current limiting strategy of the voltage source converter is mainly developed around a complex control structure with a voltage ring and a current ring, and verification is carried out on a single converter grid-connected system, so that the requirement of a complex large power grid on the external characteristic of the grid-connected converter is not considered.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an electromechanical transient stability control method and system of an active support type current transformer.
According to one aspect of the present invention, there is provided a method for controlling the electromechanical transient stability of an active support type current transformer, comprising:
according to a pre-established basic control strategy of the converter, the control output power of the converter is realized;
when the converter fails, judging a subarea according to the related electrical quantity of the disturbed converter, and calculating a compensation quantity according to the subarea and the current amplitude after current limiting;
when the current of the current transformer reaches a preset allowable extremum current, the compensation quantity is added to the internal potential of the current transformer, and the current of the current transformer is instantaneously reduced to a preset current amplitude after current limiting, so that the current limiting control of the current transformer is realized;
and according to the control output power and the current limiting control of the converter, realizing the stable control of the converter.
Optionally, the method further comprises:
and constructing a basic control strategy of the converter according to a rotor motion equation and a reactive voltage regulation equation, wherein the rotor motion equation (1) and the reactive voltage regulation equation (2) are as follows:
in delta c 、ω c And E is c Is the internal potential of the current transformerPhase angle, angular frequency and amplitude, P c 、Q c And P cf 、Q cf Active and reactive power output to grid-connected nodes by the converter and the active and reactive power after being disturbed, U c 、U cf For the grid-connected node voltage before being disturbed +>Is disturbed, and the grid-connected node voltage is +.>Amplitude, D of (2) δ 、D u K is the damping coefficient and the voltage sag coefficient e For the voltage integral coefficient, ω of the reactive power control loop 0 For synchronizing fundamental angular frequencies.
Optionally, the calculation formula of the output current amplitude of the converter is as follows:
wherein I is c For the amplitude of the output current of the converter, E c Is the internal potential of the current transformerVoltage amplitude deviation deltau c ＝U c -E c ，r c 、l c Resistance and inductance, x, for commutation reactance c ＝ω 0 l c Is the inductance of the inductance fundamental wave with the alternating inductance and delta theta as the internal potentialVoltage +.>Phase angle difference between them.
Optionally, the calculation formula of the determination subarea according to the relevant electrical quantity of the disturbed converter is as follows:
wherein Δθ' is the internal potential after being disturbedGrid-connected node voltage after interference +.>Phase angle difference between E cf U is the amplitude of the disturbed internal potential cf Is the voltage of the grid-connected node after being disturbed>Amplitude, P of (2) cf 、Q cf The active power and reactive power are outputted to the grid-connected node by the disturbed converter; definition I clim To set the allowable extreme current amplitude, I ctarg The current amplitude is set after current limiting.
According to the current amplitude I after the subarea and current limitation ctarg The calculation formula for calculating the compensation amount is as follows:
wherein DeltaE is c 、Δδ c Respectively the internal potential vectorsAmplitude E c And phase angle delta c Is the compensation amount, z c ＝r c +jω 0 l c ，Δγ＝arctan(z c I ctarg /U cf ) Rc and lc are the resistance and inductance of the converter reactance, and δc is the voltage of the disturbed grid-connected nodePhase angle of U cf 、P cf And Q cf The voltage of the grid-connected node after being disturbed is +.>The amplitude of the voltage, the active power and the reactive power of the grid-connected node are output to the grid-connected node by the current transformer after being disturbed.
Optionally, superimposing the compensation amount on an internal potential of the current transformer to realize the operation of current limiting control of the current transformer, including:
E' c ＝E c +ΔE ci Γ(T i ) (7)
δ' c ＝δ c +Δδ ci Γ(T i ) (8)
wherein E 'is' c And delta' c For the potential in the converter after superposition of compensation amountsAmplitude and phase angle of E c And delta c For the potential in the converter before the superposition of the compensation quantity +.>Amplitude and phase angle, deltae c 、Δδ c Respectively the inner potential vector +.>Amplitude E c And phase angle delta c Is not equal to Γ (T) i ) Is T i A time-triggered decay exponential function.
According to another aspect of the present invention, there is provided an electromechanical transient stability control system of an active support type current transformer, comprising:
the state initial value calculation module is used for calculating the state quantity initial value required to be calculated before the electromechanical transient simulation;
the power loop module is used for carrying out dynamic simulation on the external characteristics of the voltage source according to the initial value of the state quantity;
the injection current and power calculation module is used for calculating the injection current and power updated in each time step by utilizing a preset current power calculation formula according to the internal potential and grid-connected node voltage updated in each time step;
the current limiting compensation module is used for superposing corresponding compensation quantity when the current amplitude of the current transformer exceeds the preset allowable extremum current;
the active additional control module is used for carrying out additional low-frequency oscillation damping control according to the active power of the alternating current branch as an input signal and carrying out active power emergency lifting or falling control in response to a stable control system instruction;
and the reactive additional control module is used for responding to reactive power emergency lifting or falling control of the command of the stability control system.
Optionally, the state initial value calculation module performs state quantity initial value calculation according to the following formula:
in the formula omega in steady state operation c Initial value omega of (2) c0 ＝1.0p.u.，E c0 And delta c0 Is an internal potential vectorAmplitude E c And phase angle delta c Initial value of P c0 、Q c0 For steady state injection power, u cx0 、u cy0 For synchronously rotating grid-connected node voltage U under xy coordinate system c0 X, y axis component, i cx0 、i cy0 For steady-state injection of current I c0 X, y axis components, e cx0 、e cy0 For E c0 X, y axis components of (c).
Optionally, the power loop module performs dynamic simulation of the external characteristics of the voltage source by adopting the following formula:
in delta c 、ω c And E is c Is the internal potential of the current transformerPhase angle, angular frequency and amplitude, P c 、Q c And P cf 、Q cf Active and reactive power output to grid-connected nodes by the converter and the active and reactive power after being disturbed, U c 、U cf For the grid-connected node voltage before being disturbed +>Is disturbed, and the grid-connected node voltage is +.>Amplitude, D of (2) δ 、D u K is the damping coefficient and the voltage sag coefficient e For the voltage integral coefficient, ω of the reactive power control loop 0 For synchronizing fundamental angular frequencies.
Optionally, a preset current power calculation formula of the injection current and power calculation module is:
in the formula e cx 、e cy Is an internal potentialX, y axis components of (u) cx 、u cy Is the grid-connected node voltage +.>X, y axis component, i cx 、i cy Is the output current of the converter +.>X, y axis components, P c 、Q c The active power and reactive power of the grid-connected node are output by the converter.
Optionally, the current limiting compensation module performs compensation amount calculation by the following formula:
the sub-region judgment formula:
wherein Δθ' is the internal potential after being disturbedGrid-connected node voltage after interference +.>Phase angle difference between E cf U is the amplitude of the disturbed internal potential cf Is the voltage of the grid-connected node after being disturbed>Amplitude, P of (2) cf 、Q cf The active power and reactive power are outputted to the grid-connected node by the disturbed converter; definition I clim To set the allowable extreme current amplitude, I ctarg The current amplitude is set after current limiting.
According to the current amplitude I after the subarea and current limitation ctarg The calculation formula for calculating the compensation amount is as follows:
wherein DeltaE is c 、Δδ c Respectively the internal potential vectorsAmplitude E c And phase angle delta c Is the compensation amount, z c ＝r c +jω 0 l c ，Δγ＝arctan(z c I ctarg /U cf ) Rc and lc are the resistance and inductance of the converter reactance, and δc is the voltage of the disturbed grid-connected nodePhase angle of U cf Is the voltage of the grid-connected node after being disturbed>Amplitude, P of (2) cf 、Q cf The active power and the reactive power are output to the grid-connected node by the current transformer after being disturbed.
According to a further aspect of the present invention there is provided a computer readable storage medium storing a computer program for performing the method according to any one of the above aspects of the present invention.
According to still another aspect of the present invention, there is provided an electronic device including: a processor; a memory for storing the processor-executable instructions; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method according to any of the above aspects of the present invention.
Therefore, the converter control strategy based on the internal potential vector dynamic compensation has the advantages of easiness in parameter setting, simplicity in current limiting strategy, controllable short-circuit current, flexibility in power adjustment and the like. The electromechanical transient stability control method of the converter can be directly applied to and participate in stability control of a large power grid, and has a good engineering application prospect. The converter provided by the application has the characteristics outside the voltage source, can be widely applied to different scenes of the voltage source converter accessing source network load, and has active supporting capability on safe and stable operation of a large power grid.
Drawings
Exemplary embodiments of the present invention may be more completely understood in consideration of the following drawings:
fig. 1 is a schematic flow chart of an electromechanical transient stability control method of an active supporting type current transformer according to an exemplary embodiment of the present invention;
fig. 2 is a block diagram of a control strategy of a current transformer according to an exemplary embodiment of the present invention;
FIG. 3 is a schematic diagram of a new energy collection DC delivery system with a designed converter according to an exemplary embodiment of the present invention;
fig. 4 is a schematic diagram of a new energy collecting system overvoltage under the impact of a short-circuit fault suppression of a current transformer according to an exemplary embodiment of the present invention;
fig. 5 is a schematic diagram of an overvoltage of a new energy collecting system under impact of a converter failure in suppressing commutation according to an exemplary embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electromechanical transient stability control system of an active supporting type current transformer according to an exemplary embodiment of the present invention;
fig. 7 is a structure of an electronic device provided in an exemplary embodiment of the present invention.
Detailed Description
Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present invention and not all embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein.
It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
It will be appreciated by those of skill in the art that the terms "first," "second," etc. in embodiments of the present invention are used merely to distinguish between different steps, devices or modules, etc., and do not represent any particular technical meaning nor necessarily logical order between them.
It should also be understood that in embodiments of the present invention, "plurality" may refer to two or more, and "at least one" may refer to one, two or more.
It should also be appreciated that any component, data, or structure referred to in an embodiment of the invention may be generally understood as one or more without explicit limitation or the contrary in the context.
In addition, the term "and/or" in the present invention is merely an association relationship describing the association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In the present invention, the character "/" generally indicates that the front and rear related objects are an or relationship.
It should also be understood that the description of the embodiments of the present invention emphasizes the differences between the embodiments, and that the same or similar features may be referred to each other, and for brevity, will not be described in detail.
Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Embodiments of the invention are operational with numerous other general purpose or special purpose computing system environments or configurations with electronic devices, such as terminal devices, computer systems, servers, etc. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with the terminal device, computer system, server, or other electronic device include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, mainframe computer systems, and distributed cloud computing technology environments that include any of the foregoing, and the like.
Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc., that perform particular tasks or implement particular abstract data types. The computer system/server may be implemented in a distributed cloud computing environment in which tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computing system storage media including memory storage devices.
Exemplary method
Fig. 1 is a flow chart of an electromechanical transient stability control method of an active supporting type current transformer according to an exemplary embodiment of the present invention. The embodiment can be applied to an electronic device, as shown in fig. 1, the electromechanical transient stability control method 100 of the active support type current transformer includes the following steps:
step 101, realizing control output power of a converter according to a pre-established basic control strategy of the converter;
102, judging a subarea according to the related electrical quantity of the disturbed converter when the converter fails, and calculating a compensation quantity according to the subarea and the current amplitude after current limiting;
step 103, when the current of the current transformer reaches a preset allowable extremum current, the compensation quantity is added to the internal potential of the current transformer, and the current of the current transformer is instantaneously reduced to a preset current amplitude after current limiting, so that the current limiting control of the current transformer is realized;
and 104, according to the control output power and the current limiting control of the converter, realizing the stable control of the converter.
Optionally, the method further comprises:
and constructing a basic control strategy of the converter according to a rotor motion equation and a reactive voltage regulation equation, wherein the rotor motion equation (1) and the reactive voltage regulation equation (2) are as follows:
in delta c 、ω c And E is c Is the internal potential of the current transformerPhase angle, angular frequency and amplitude, P c 、Q c And P cf 、Q cf Active and reactive power output to grid-connected nodes by the converter and the active and reactive power after being disturbed, U c 、U cf For the grid-connected node voltage before being disturbed +>Is disturbed, and the grid-connected node voltage is +.>Amplitude, D of (2) δ 、D u K is the damping coefficient and the voltage sag coefficient e For the voltage integral coefficient, ω of the reactive power control loop 0 For synchronizing fundamental angular frequencies. In FIG. 1, u cm 、i cm And e cm (m=a, b, c) is the three-phase instantaneous value of the grid-connected node voltage, injection current and internal potential, at delta c The d and q components of the dq0 coordinate system of the positioning d axis are u respectively cd 、u cq 、i cd 、i cq And e cd 、e cq ，i cqmax 、i cqmin And i cdmax 、i cdmin The limiting value r is input to the current loop c 、x c The resistance and reactance of the commutation reactance.
Optionally, the calculation formula of the output current amplitude of the converter is as follows:
wherein I is c For the amplitude of the output current of the converter, E c Is the internal potential of the current transformerVoltage amplitude deviation deltau c ＝U c -E c ，r c 、l c Resistance and inductance, x, for commutation reactance c ＝ω 0 l c Is the inductance of the inductance fundamental wave with the alternating inductance and delta theta as the internal potentialVoltage +.>Phase angle difference between them.
Optionally, the calculation formula of the determination subarea according to the relevant electrical quantity of the disturbed converter is as follows:
wherein Δθ' is the internal potential after being disturbedGrid-connected node voltage after interference +.>Phase angle difference between E cf U is the amplitude of the disturbed internal potential cf Is the voltage of the grid-connected node after being disturbed>Amplitude, P of (2) cf 、Q cf The active power and reactive power are outputted to the grid-connected node by the disturbed converter;definition I clim To set the allowable extreme current amplitude, I ctarg The current amplitude is set after current limiting.
The calculation formula for calculating the compensation quantity according to the subarea and the current amplitude after current limiting is as follows:
wherein DeltaE is c 、Δδ c Respectively the internal potential vectorsAmplitude E c And phase angle delta c Is the compensation amount, z c ＝r c +jω 0 l c ，Δγ＝arctan(z c I ctarg /U cf ) Rc and lc are the resistance and inductance of the converter reactance, and δc is the voltage of the disturbed grid-connected nodePhase angle of U cf 、P cf And Q cf The voltage of the grid-connected node after being disturbed is +.>The amplitude of the voltage, the active power and the reactive power of the grid-connected node are output to the grid-connected node by the current transformer after being disturbed.
Optionally, superimposing the compensation amount on an internal potential of the current transformer to realize the operation of current limiting control of the current transformer, including:
E' c ＝E c +ΔE ci Γ(T i ) (7)
δ' c ＝δ c +Δδ ci Γ(T i ) (8)
wherein E 'is' c And delta' c For the potential in the converter after superposition of compensation amountsAmplitude and phase angle of E c And delta c For the potential in the converter before the superposition of the compensation quantity +.>Amplitude and phase angle, deltae c 、Δδ c Respectively the inner potential vector +.>Amplitude E c And phase angle delta c Is not equal to Γ (T) i ) Is T i A time-triggered decay exponential function.
Specifically, step one: and establishing a basic control strategy of the current transformer.
Based on a rotor motion equation of the formula (1) and a reactive voltage regulation equation of the formula (2), a converter control strategy is constructed, as shown in fig. 2, and mainly comprises a power loop, a voltage loop, a current loop and a current limiting link. Wherein delta c 、ω c And E is c Is the internal potential of the current transformerPhase angle, angular frequency and amplitude, P c 、Q c And P cf 、Q cf Active and reactive power output to grid-connected nodes by the converter and the active and reactive power after being disturbed, U c 、U cf For the grid-connected node voltage before being disturbed +>Is disturbed, and the grid-connected node voltage is +.>Amplitude, D of (2) δ 、D u K is the damping coefficient and the voltage sag coefficient e For the voltage integral coefficient, ω of the reactive power control loop 0 For synchronizing fundamental angular frequencies.
Step two: the current limiting control basic principle of the current transformer is designed.
Definition I c The amplitude of the output current of the converter is calculated according to formula (3), wherein E c Is the internal potential of the current transformerVoltage amplitude deviation deltau c ＝U c -E c ，r c 、l c Resistance and inductance, x, for commutation reactance c ＝ω 0 l c Fundamental inductance for commutation inductance, delta theta as internal potential +.>Voltage +.>Phase angle difference between them.
Definition I clim To set the allowable extreme current amplitude, I ctarg The current amplitude is set after current limiting. Definition of ΔE c 、Δδ c Respectively the internal potential vectorsAmplitude E c And phase angle delta c The calculation formula of the compensation amount is as follows:
wherein z is c ＝r c +jω 0 l c ，Δγ＝arctan(z c I ctarg /U cf ) Rc and lc are the resistance and inductance of the converter reactance, delta c Is the voltage of the grid-connected node after being disturbedIs a phase angle of (c).
Definition of the subregion is shown in formula (6), definition E cf For the amplitude of the disturbed internal potential, Δθ' is defined as the disturbed internal potentialGrid-connected node voltage after interference +.>Phase angle difference between them. And (3) judging the subareas according to the related electrical quantity of the disturbed current transformer, and selecting a proper compensation quantity from the formulas (4) and (5) according to the subareas.
Wherein ΔE is c And delta c Is aimed at compensating slow dynamic regulation E c And delta c Superimposed E' c And delta' c The potential in the current transformer can be located in the current safety domain. In the dynamic process after the compensation amount is superimposed, ΔE c And delta c Preferably gradually decaying to zero and resetting, according to P by the formulas (1) (2) cf 、U cf And Q cf Regulation E c And delta c To a new state after the disturbance. Superimposed E' c And delta' c As shown in the formula (7) (8), wherein Γ (T) i ) Is T i The time-triggered decay exponential function is shown in equation (9).
E' c ＝E c +ΔE ci Γ(T i ) (7)
δ′ c ＝δ c +Δδ ci Γ(T i ) (8)
Step three: and designing a current limiting control strategy of the current transformer.
The execution logic of the current limit control strategy is as follows:
(1) Let T be 0 Short-circuit fault occurs in the power grid at moment, and the current I of the converter is influenced by the short-circuit fault c Increase, when I c Reaching a set allowable extremum current I clim When the time is recorded as T 1 Triggering a current limiting control strategy;
(2) At T 1 Time, let I c Instantly drop to I ctarg Calculating and judging the current sub-area of the converter according to the formula (6), further calculating the compensation quantity according to the formulas (4) and (5), superposing the compensation quantity on the potential in the converter, and respectively changing the amplitude and the phase angle of the potential in the converter into E 'after superposition' c And delta' c ；
(3) Continuously monitoring the current amplitude of the converter in the dynamic process after the compensation amount is overlapped, and assuming that the current amplitude is T 2 The current amplitude of the current transformer reaches I again clim Then at T 2 Triggering the current limiting control strategy for the second time at the moment, and repeating the step (2) until the current of the converter is always in I clim Within the range.
In addition, fig. 3 shows a system of ultra-high voltage direct current transmission ends from Shaanxi north to Wuhan + -800 kV/8000MW, and a large number of photovoltaic power sources are gathered to a main network through a long-distance multi-voltage-class power transmission system and are transmitted through direct current. The large disturbance caused by direct current commutation failure or alternating current grid short circuit failure and the like is easy to cause large fluctuation of grid-connected node voltage, the risk that the new energy power supply is disconnected on a large scale due to overvoltage exists, and the new energy absorbing capacity is limited.
The following examines the operation of the Shaanxi direct current full power 8000MW, whether the designed converter is configured in the Mingcheng photovoltaic collection station of the Ulmus pumila 750kV power station or not and the overvoltage level of the new energy station after the disturbance of the short-circuit fault impact of the sending end alternating current system and the inversion side commutation failure are carried out under different current limiting operation points of the designed converter.
A three-phase permanent short circuit occurs on the side of a 750kV line of a 1.0s synside-elm transverse double-circuit line, a 1.1s fault line is disconnected, and corresponding to the disturbance, no designed converter is connected with the grid and under 5 subareas, the voltage at the photovoltaic outlet of the Mingcheng, the compensation amount of the amplitude of the potential in the designed converter, the reactive output and the maximum peak voltage are shown in figure 4. It can be seen that in response to the short-circuit fault, the compensation control starts to overlap Δec to adjust the internal potential so as to limit the overcurrent, and compared with other subareas, the converter designed under the subarea 3 can absorb more reactive power, so that the overvoltage limiting effect is best, and the overvoltage can be reduced to 1.24 and 0.09pu.
1.0s Shaan Wu direct current inversion end fails in commutation, the power grid voltage at the power transmission end is in a dynamic process of dropping before lifting, grid connection of the converter is avoided, and under 5 sub-areas, the photovoltaic outlet voltage of the Mingcheng, the compensation quantity of the potential amplitude and the output reactive power in the designed converter, and the maximum peak voltage are shown in figure 5. It can be seen that in response to the transient grid voltage drop caused by commutation failure, the compensation control starts to superimpose Δec to adjust the internal potential so as to limit the overcurrent, and compared with other subareas, the converter designed under the subarea 3 can absorb more reactive power, so that the overvoltage limiting effect is best, and the overvoltage can be reduced to 1.24pu and the amplitude is reduced to 0.09pu.
And the simulation result is integrated, the designed converter arranged at the new energy collection station at the extra-high voltage direct current end adopts inductive reactive current limiting control, so that the station overvoltage caused by alternating current short circuit fault and direct current commutation failure can be effectively restrained, and the grid-connected safety is improved.
Therefore, the converter control strategy based on the internal potential vector dynamic compensation has the advantages of easiness in parameter setting, simplicity in current limiting strategy, controllable short-circuit current, flexibility in power adjustment and the like. The electromechanical transient stability control method of the converter can be directly applied to and participate in stability control of a large power grid, and has a good engineering application prospect. The converter provided by the application has the characteristics outside the voltage source, can be widely applied to different scenes of the voltage source converter accessing source network load, and has active supporting capability on safe and stable operation of a large power grid.
Exemplary apparatus
Fig. 6 is a schematic structural diagram of an electromechanical transient stability control system of an active supporting type current transformer according to an exemplary embodiment of the present invention. As shown in fig. 6, the apparatus 600 includes:
the state initial value calculation module 6010 is used for calculating a state quantity initial value required to be calculated before the computer transient simulation;
the power loop module 6020 is used for dynamically simulating the external characteristics of the voltage source according to the initial value of the state quantity;
the injection current and power calculation module 6030 is configured to calculate an injection current and power updated in each time step according to the internal potential and the grid-connected node voltage updated in the time step by using a preset current power calculation formula;
the current limiting compensation module 6040 is used for superposing corresponding compensation quantity when the current amplitude of the converter exceeds the preset allowable extremum current;
the active additional control module 6050 is used for performing additional low-frequency oscillation damping control according to the active power of the alternating current branch as an input signal and performing active power emergency lifting or falling control in response to a stable control system instruction;
the reactive additional control module 6060 is used for responding to reactive power emergency lifting or falling control of the command of the stability control system.
Optionally, the state initial value calculation module performs state quantity initial value calculation according to the following formula:
in the formula omega in steady state operation c Initial value omega of (2) c0 ＝1.0p.u.，E c0 And delta c0 Is an internal potential vectorAmplitude E c And phase angle delta c Initial value of P c0 、Q c0 For steady state injection power, u cx0 、u cy0 For synchronously rotating grid-connected node voltage U under xy coordinate system c0 X, y axis component, i cx0 、i cy0 For steady-state injection of current I c0 X, y axis components, e cx0 、e cy0 For E c0 X, y axis components of (c).
Optionally, the power loop module performs dynamic simulation of the external characteristics of the voltage source by adopting the following formula:
in delta c 、ω c And E is c Is the internal potential of the current transformerPhase angle, angular frequency and amplitude, P c 、Q c And P cf 、Q cf Active and reactive power output to grid-connected nodes by the converter and the active and reactive power after being disturbed, U c 、U cf For the grid-connected node voltage before being disturbed +>Is disturbed, and the grid-connected node voltage is +.>Amplitude, D of (2) δ 、D u K is the damping coefficient and the voltage sag coefficient e For the voltage integral coefficient, ω of the reactive power control loop 0 For synchronizing fundamental angular frequencies.
Optionally, a preset current power calculation formula of the injection current and power calculation module is:
in the formula e cx 、e cy Is an internal potentialX, y axis components of (u) cx 、u cy Is the grid-connected node voltage +.>X, y axis component, i cx 、i cy Is the output current of the converter +.>X, y axis components, P c 、Q c The active power and reactive power of the grid-connected node are output by the converter.
Optionally, the current limiting compensation module performs compensation amount calculation by the following formula:
the sub-region judgment formula:
wherein Δθ' is the internal potential after being disturbedGrid-connected node voltage after interference +.>Phase angle difference between E cf U is the amplitude of the disturbed internal potential cf Is the voltage of the grid-connected node after being disturbed>Amplitude, P of (2) cf 、Q cf The active power and reactive power are outputted to the grid-connected node by the disturbed converter; definition I clim To set the allowable extreme current amplitude, I ctarg The current amplitude is set after current limiting.
The calculation formula for calculating the compensation quantity according to the subarea and the current amplitude after current limiting is as follows:
wherein DeltaE is c 、Δδ c Respectively the internal potential vectorsAmplitude E c And phase angle delta c Is the compensation amount, z c ＝r c +jω 0 l c ，Δγ＝arctan(z c I ctarg /U cf ) Rc and lc are the resistance and inductance of the converter reactance, and δc is the voltage of the disturbed grid-connected nodePhase angle of U cf Is the voltage of the grid-connected node after being disturbed>Amplitude, P of (2) cf 、Q cf The active power and the reactive power are output to the grid-connected node by the current transformer after being disturbed.
Specifically, an electromechanical transient simulation system model of the current transformer is designed.
The structural framework of the electromechanical transient simulation model of the current transformer is shown in fig. 6.
6010 module: the state variables initialize the computation.
The state variable of the converter shown in the corresponding formula (1) and (2) is E c 、δ c Omega, omega c The initial value of the electromechanical transient state is calculated before the electromechanical transient state simulation. Omega in steady state operation c Initial value omega of (2) c0 ＝1.0p.u.，E c0 And delta c0 Then from steady state injection power P c0 、Q c0 And grid-connected node voltage U under synchronous rotation xy coordinate system obtained by load flow calculation c0 X, y axis component u of (2) cx0 、u cy0 Calculation, as shown in formulas (10) - (14), wherein i cx0 、i cy0 For steady-state injection of current I c0 X, y axis components, e cx0 、e cy0 For E c0 X, y axis components of (c).
/>
6011 module: and the voltage source external characteristic dynamic simulation module.
The simulation was performed using the dynamic equation shown in equations (1) (2).
6012 module: the current transformer injects current and power calculation module.
The internal potential e updated according to each time step cx 、e cy And grid-connected node voltage u cx 、u cy Calculating the injection current i of the time step update according to formulas (15) (16) cx 、i cy Power P c 、Q c 。
6013 module: and (3) limiting the dynamic supplementary control of the internal potential vector of the current transformer.
When the current amplitude I of the converter c Exceeding a set maximum I clim When the corresponding compensation amount delta E is added c And delta c The value is calculated according to the formulas (4) and (5).
6014 module: and the active class control of the converter is participated in the stable control of the system.
Comprising active power P in AC branch line Additional low-frequency oscillation damping control for input signals, active power emergency rising or falling control in response to a steady control system instruction, and the like. The module outputs DeltaP c Superimposed to reference value P in 6011 module cref On top of, deltaP c An empirical value for human settings.
6015 module: and the reactive power control of the converter which participates in the stable control of the system.
Including reactive power emergency boost or back-off control in response to a stability control system command, etc. The module outputs DeltaU c Or DeltaQ c Superimposed to reference value U in 6011 module cref Or Q cref On, deltaU c Or DeltaQ c Are all an experienced value set manually.
Exemplary electronic device
Fig. 7 is a structure of an electronic device provided in an exemplary embodiment of the present invention. As shown in fig. 7, the electronic device 70 includes one or more processors 71 and memory 72.
The processor 71 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.
Memory 72 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 71 to implement the methods of the software programs of the various embodiments of the present invention described above and/or other desired functions. In one example, the electronic device may further include: an input device 73 and an output device 74, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
In addition, the input device 73 may also include, for example, a keyboard, a mouse, and the like.
The output device 74 can output various information to the outside. The output device 74 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.
Of course, only some of the components of the electronic device relevant to the present invention are shown in fig. 7 for simplicity, components such as buses, input/output interfaces, etc. being omitted. In addition, the electronic device may include any other suitable components depending on the particular application.
Exemplary computer program product and computer readable storage Medium
In addition to the methods and apparatus described above, embodiments of the invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform steps in a method according to various embodiments of the invention described in the "exemplary methods" section of this specification.
The computer program product may write program code for performing operations of embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present invention may also be a computer-readable storage medium, having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps in a method of mining history change records according to various embodiments of the present invention described in the "exemplary methods" section above in this specification.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present invention have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present invention are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present invention. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the invention is not necessarily limited to practice with the above described specific details.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, so that the same or similar parts between the embodiments are mutually referred to. For system embodiments, the description is relatively simple as it essentially corresponds to method embodiments, and reference should be made to the description of method embodiments for relevant points.
The block diagrams of the devices, systems, apparatuses, systems according to the present invention are merely illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, systems, apparatuses, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
The method and system of the present invention may be implemented in a number of ways. For example, the methods and systems of the present invention may be implemented by software, hardware, firmware, or any combination of software, hardware, firmware. The above-described sequence of steps for the method is for illustration only, and the steps of the method of the present invention are not limited to the sequence specifically described above unless specifically stated otherwise. Furthermore, in some embodiments, the present invention may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.
It is also noted that in the systems, devices and methods of the present invention, components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention. The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the invention to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (12)
1. The electromechanical transient stability control method of the active support type converter is characterized by comprising the following steps of:
according to a pre-established basic control strategy of the converter, the control output power of the converter is realized;
when the converter fails, judging a subarea according to the related electrical quantity of the disturbed converter, and calculating a compensation quantity according to the subarea and the current amplitude after current limiting;
when the current of the current transformer reaches a preset allowable extremum current, the compensation quantity is added to the internal potential of the current transformer, and the current of the current transformer is instantaneously reduced to a preset current amplitude after current limiting, so that the current limiting control of the current transformer is realized;
and according to the control output power of the converter and the current limiting control, realizing the stable control of the converter.
2. The method as recited in claim 1, further comprising:
and constructing the basic control strategy of the converter according to a rotor motion equation and a reactive voltage regulation equation, wherein the rotor motion equation (1) and the reactive voltage regulation equation (2) are as follows:
in delta c 、ω c And E is c Is the internal potential of the current transformerPhase angle, angular frequency and amplitude, P c 、Q c And P cf 、Q cf Active and reactive power output to grid-connected nodes by the converter and the active and reactive power after being disturbed, U c 、U cf For the grid-connected node voltage before being disturbed +>Is disturbed, and the grid-connected node voltage is +.>Amplitude, D of (2) δ 、D u K is the damping coefficient and the voltage sag coefficient e For the voltage integral coefficient, ω of the reactive power control loop 0 For synchronizing fundamental angular frequencies.
3. The method of claim 1, wherein the converter output current amplitude is calculated as follows:
wherein I is c For the amplitude of the output current of the converter, E c Is the internal potential of the current transformerVoltage amplitude deviation deltau c ＝U c -E c ，r c 、l c Resistance and inductance, x, for commutation reactance c ＝ω 0 l c Fundamental inductance for commutation inductance, delta theta as internal potential +.>Voltage +.>Phase angle difference between them.
4. The method of claim 1, wherein the calculation formula for determining the sub-region from the relevant electrical quantity of the disturbed current transformer is as follows:
wherein Δθ' is the internal potential after being disturbedGrid-connected node voltage after interference +.>Phase angle difference between E cf U is the amplitude of the disturbed internal potential cf Is the voltage of the grid-connected node after being disturbed>Amplitude, P of (2) cf 、Q cf The active power and reactive power are outputted to the grid-connected node by the disturbed converter; fixing deviceSense I clim To set the allowable extreme current amplitude, I ctarg The current amplitude is set after current limiting.
According to the subarea and the current amplitude I after current limiting ctarg The calculation formula for calculating the compensation amount is as follows:
wherein DeltaE is c 、Δδ c Respectively the internal potential vectorsAmplitude E c And phase angle delta c Is the compensation amount, z c ＝r c +jω 0 l c ，Δγ＝arctan(z c I ctarg /U cf )，r c 、l c Resistance and inductance, delta, for commutation reactance c Is the voltage of the grid-connected node after being disturbed +.>Phase angle of U cf 、P cf And Q cf The voltage of the grid-connected node after being disturbed is +.>The amplitude of the voltage, the active power and the reactive power of the grid-connected node are output to the grid-connected node by the current transformer after being disturbed.
5. The method of claim 1, wherein superimposing the compensation amount onto the internal potential of the current transformer, the operation of current limiting control of the current transformer, comprises:
E' c ＝E c +ΔE ci Γ(T i ) (7)
δ' c ＝δ c +Δδ ci Γ(T i ) (8)
wherein E 'is' c And delta' c For the potential in the converter after superposition of compensation amountsAmplitude and phase angle of E c And delta c For the potential in the converter before the superposition of the compensation quantity +.>Amplitude and phase angle, deltae c 、Δδ c Respectively the inner potential vector +.>Amplitude E c And phase angle delta c Is not equal to Γ (T) i ) Is T i A time-triggered decay exponential function.
6. An electromechanical transient stability control system of an active support type current transformer established by the electromechanical transient stability control method of an active support type current transformer according to any one of claims 1 to 4, comprising:
the state initial value calculation module is used for calculating the state quantity initial value required to be calculated before the electromechanical transient simulation;
the power loop module is used for carrying out dynamic simulation on the external characteristics of the voltage source according to the initial value of the state quantity;
the injection current and power calculation module is used for calculating the injection current and power updated in each time step by utilizing a preset current power calculation formula according to the internal potential and grid-connected node voltage updated in each time step;
the current limiting compensation module is used for superposing corresponding compensation quantity when the current amplitude of the current transformer exceeds the preset allowable extremum current;
the active additional control module is used for carrying out additional low-frequency oscillation damping control according to the active power of the alternating current branch as an input signal and carrying out active power emergency lifting or falling control in response to a stable control system instruction;
and the reactive additional control module is used for responding to reactive power emergency lifting or falling control of the command of the stability control system.
7. The system of claim 6, wherein the state initial value calculation module performs state quantity initial value calculation by the following formula:
in the formula omega in steady state operation c Initial value omega of (2) c0 ＝1.0p.u.，E c0 And delta c0 Is an internal potential vectorAmplitude E c And phase angle delta c Initial value of P c0 、Q c0 For steady state injection power, u cx0 、u cy0 For synchronously rotating grid-connected node voltage U under xy coordinate system c0 X, y axis component, i cx0 、i cy0 For steady-state injection of current I c0 X, y axis components, e cx0 、e cy0 For E c0 X, y axis components of (c).
8. The system of claim 6, wherein the power loop module performs the dynamic modeling of the external voltage source characteristics using the formula:
in delta c 、ω c And E is c Is the internal potential of the current transformerPhase angle, angular frequency and amplitude, P c 、Q c And P cf 、Q cf Active and reactive power output to grid-connected nodes by the converter and the active and reactive power after being disturbed, U c 、U cf For the grid-connected node voltage before being disturbed +>Is disturbed, and the grid-connected node voltage is +.>Amplitude, D of (2) δ 、D u K is the damping coefficient and the voltage sag coefficient e For the voltage integral coefficient, ω of the reactive power control loop 0 For synchronizing fundamental angular frequencies.
9. The system of claim 6, wherein the preset current power calculation formula of the injection current and power calculation module is:
in the formula e cx 、e cy Is an internal potentialX, y axis components of (u) cx 、u cy Is the grid-connected node voltage +.>X, y axis component, i cx 、i cy Is the output current of the converter +.>X, y axis components, P c 、Q c The active power and reactive power of the grid-connected node are output by the converter.
10. The system of claim 6, wherein the current limit compensation module performs compensation amount calculation by the formula:
the sub-region judgment formula:
wherein Δθ' is the internal potential after being disturbedAnd receiveDisturbed grid-connected node voltage +.>Phase angle difference between E cf U is the amplitude of the disturbed internal potential cf Is the voltage of the grid-connected node after being disturbed>Amplitude, P of (2) cf 、Q cf The active power and reactive power are outputted to the grid-connected node by the disturbed converter; definition I clim To set the allowable extreme current amplitude, I ctarg The current amplitude is set after current limiting.
According to the subarea and the current amplitude I after current limiting ctarg The calculation formula for calculating the compensation amount is as follows:
wherein DeltaE is c 、Δδ c Respectively the internal potential vectorsAmplitude E c And phase angle delta c Is the compensation amount, z c ＝r c +jω 0 l c ，Δγ＝arctan(z c I ctarg /U cf ) Rc and lc are the resistance and inductance of the converter reactance, delta c Is the voltage of the grid-connected node after being disturbed +.>Phase angle of U cf Is the voltage of the grid-connected node after being disturbed>Amplitude, P of (2) cf 、Q cf The active power and the reactive power are output to the grid-connected node by the current transformer after being disturbed.
11. A computer readable storage medium, characterized in that the storage medium stores a computer program for executing the method of any of the preceding claims 1-5.
12. An electronic device, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method of any of the preceding claims 1-5.
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