CN101950974A - Electric energy quality regulating system based on energy storing of super capacitor - Google Patents
Electric energy quality regulating system based on energy storing of super capacitor Download PDFInfo
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Abstract
The invention relates to an electric energy quality regulating system based on energy storing of a super capacitor, which belongs to the field of electric energy quality regulation technology and is characterized by comprising a three-phase voltage type PWM (Pulse Width Modulation) rectifier 3, a bidirectional DC/DC converter 4 and the super capacitor 5; the system is connected with a power network system 1 in parallel; during normal operation, the three-phase voltage type PWM rectifier 3 is used for stabilizing DC voltage and simultaneously realizing reactive harmonic compensation; the bidirectional DC/DC converter 4 is used for controlling the charging of the super capacitor 5; when the power network system 1 has short-circuit fault, the super capacitor 5 is used for controlling the output of stable DC voltage by the bidirectional DC/DC converter 4; and the three-phase voltage type PWM rectifier 3 is used for sending out reactive power to support the voltage of the power network system 1 and improve the voltage quality. The regulating system has the capabilities of reactive harmonic compensation and low-voltage crossing and reduces equipment redundancy. The super capacitor 5 has longer service life, thereby reducing the operating cost. The system can charge the super capacitor 5, thereby saving extra charging devices.
Description
Technical field
The invention belongs to quality of power supply regulation technology field.Relate to a kind of new electric energy quality conditioning system that adds ultracapacitor and insert network system by parallel way, the quality of power supply to network system is regulated, particularly the two-way DC/DC converter of Three-phase PWM Voltage Rectifier in this system and BUCK-BOOST type normally move in network system, the controlling Design during the network system failure operation.
Background technology
Along with national economy and rapid development of science and technology, various power electronic equipments are used widely, and must make all trades and professions that the demand of electric energy is constantly increased, and power department and user also increase day by day to the concern of the quality of power supply.
Resistance sense loads in industry and the household electricity occupies very big ratio, the resistance sense load must absorbing reactive power the ability operate as normal, this is determined by itself character.Asynchronous motor in the electric power system, transformer, various phased device are adjusted circuit and cycloconvertor as phase controlled rectifier, phased AC power, all will consume a large amount of reactive powers when work.Simultaneously, in electric power system, when load had nonlinear characteristic, electric current will contain harmonic wave, and waveform will distort, and becomes the non-sinusoidal waveform that contains harmonic wave.The main harmonic source that causes Harmonious Waves in Power Systems has: the non-linear exciter of power transformer; The harmonic wave that turning motor causes; The wave distortion that arc furnace causes; The harmonic wave that electric railway causes; The harmonic wave that each power electronic equipment produces.
The existence of the profit and loss of reactive power and harmonic current is as follows to the harm that electric power system brings in the electric power system: the loss of power equipment and circuit is also increased thereupon; Can make line voltage produce violent fluctuation, have a strong impact on power supply quality; The operate as normal of the various electric equipments of harmonic effects, the efficient of reduction generating, transmission of electricity and power consumption equipment; Harmonic wave can cause parallel resonance and series resonance local in the utility network, thereby harmonic wave is amplified, and causes serious accident; Harmonic wave can cause the misoperation of relaying protection and automatics.In recent years, along with the continuous development of renewable energy technologies especially wind generating technology, wind-powered electricity generation installed capacity and energy output increase considerably.Wind farm grid-connected operation is to realize the extensive effective means of utilizing of wind energy, but Power Output for Wind Power Field has uncontrollable and can not expection property.The wind-powered electricity generation unit capacity of admitting in electric power system surpasses certain proportion, and the fluctuating power of wind-powered electricity generation output is bringing a series of technical barrier to grid-connected system aspect the qualities of power supply such as the harmonic wave of the reactive power of electric power system, electrical network and flickering.This shows that traditional Static Var Compensator has more and more important meaning aspect the safety of modern power systems, the stable operation.
The difference of wind power generator incorporated in power network and other the equipment that generates electricity by way of merging two or more grid systems maximum is that it can not keep the voltage and the frequency of electrical network during electric network fault, and this stability to electric power system is very unfavorable.When wind-powered electricity generation occupies larger specific gravity in electrical network, if blower fan is still taked passive protection off-the-line when electric voltage dropping, then can increase the fault recovery difficulty of whole system, even may aggravate fault, finally cause the whole off-the-lines of other units of system.Various countries' grid company has proposed strict specification requirement according to self reality to wind energy turbine set wind-powered electricity generation set grid-connection for this reason, comprising low voltage ride-through capability, promptly refer to be incorporated into the power networks when point voltage falls at blower fan, blower fan can keep being incorporated into the power networks, even provide certain reactive power to electrical network, support power system restoration, normal up to power system restoration, thus " passing through " this low-voltage time (zone).The LVRT that country variant proposed requires to be not quite similar.For example, the low voltage ride-through capability of wind turbine generator system regulation of AWEA's formulation: before the electric voltage dropping, wind farm grid-connected point voltage maintains nominal level; The electrical network fault that is short-circuited causes electric voltage dropping during 0s, and wind energy turbine set is not less than 15% o'clock of rated voltage, and wind energy turbine set must keep being incorporated into the power networks in the 625ms time range; Return to 90% when above of rated voltage at electric network fault 3s when wind farm grid-connected point voltage in addition, wind energy turbine set must keep being incorporated into the power networks in this process.
The voltage that the parallel STATCOM of tradition relies on FEEDBACK CONTROL to keep its DC side is stablized, and realizes handling up of AC side reactive power simultaneously, can satisfy the humorous requirement that involves reactive-load dynamic compensation when electric power system normally moves.When the wind-electricity integration system was short-circuited fault, the decline of line voltage, practice showed Voltage loop control fails this moment, caused STATCOM can't send a large amount of reactive powers to support line voltage.If will guarantee STATCOM operate as normal when electrical network breaks down, must provide stable dc voltage to it, this can keep its dc voltage by the irrelevant supply unit of extra increase by one cover and line voltage when electrical network breaks down stable, but the redundancy that can cause equipment is with idle.
For addressing the above problem, the present invention adds ultracapacitor and control system thereof with the DC side of traditional STATCOM device.By the switching of control mode, to the different demands of reactive power, improve the quality of power supply when making native system can satisfy electrical network normally to move with failure operation, when improving safe operation of electric network stability, effectively reduce cost of investment.
Summary of the invention
The technical problem to be solved in the present invention is: the deficiency that overcomes traditional STATCOM, design a kind of quality of power supply regulating system that adds energy storage device, make it when electrical network normally moves, when can satisfy harmonic wave, reactive power compensation demand, also can when short trouble appears in electrical network, send a large amount of reactive powers fast, line voltage is effectively supported, improve quality of voltage, strengthen the security and stability of network system operation.During the electric network fault operation, this system needs not satisfy by external power source the reactive requirement of network system; When electrical network normally moved, this system needed and can carry out replenishing of capacity to ultracapacitor, saves extra charging device.
Technical scheme of the present invention is: a kind of quality of power supply regulating system based on ultracapacitor energy storage, it is characterized in that: this system is made up of ultracapacitor 5, two-way DC/DC converter 4, Three-phase PWM Voltage Rectifier 3, and system inserts in the network system 1 through parallel way.When network system 1 normal operation, this system carries out the idle and harmonic compensation of network system 1 on the other hand in real time on the one hand via 5 chargings of 4 pairs of ultracapacitors of two-way DC/DC converter; When network system 1 was short-circuited fault, ultracapacitor 5 provided the stable DC output voltage via two-way DC/DC converter 4 discharges, and Three-phase PWM Voltage Rectifier 3 works in inverter mode, sends a large amount of reactive powers to network system 1, supports line voltage.
This quality of power supply regulating system is characterised in that: ultracapacitor 5 is connected to the low-pressure side of two-way DC/DC converter 4, the DC side of the high-pressure side of two-way DC/DC converter 4 and Three-phase PWM Voltage Rectifier 3 is connected together, and the AC side of Three-phase PWM Voltage Rectifier 3 inserts in the network system 1 with parallel way.Two-way flow for ease of energy, in the native system, the reactive generating device that is parallel to network system 1 has adopted Three-phase PWM Voltage Rectifier 3, and this rectifier can Parallel Implementation active power (dc voltage) under the DQ rotating coordinate system, the decoupling zero control of reactive power.Two-way DC/DC converter 4 in the native system can be controlled energy " inflow ", " outflow " of ultracapacitor 5 flexibly, particularly when electrical network is short-circuited fault, Three-phase PWM Voltage Rectifier 3 dc voltages can be effectively stablized in control by two-way DC/DC converter 4, be beneficial to Three-phase PWM Voltage Rectifier 3 and run on inverter mode, send a large amount of reactive powers to network system 1, realize that the low-voltage of wind-electricity integration system is passed through.
When network system 1 normal operation, Three-phase PWM Voltage Rectifier 3 is stablized its direct voltage, and ultracapacitor 5 is via two-way DC/DC converter 4 control chargings; When network system 1 was short-circuited fault, ultracapacitor 5, DC/DC converter 4 responded fast, and the direct voltage of stable output is provided, and Three-phase PWM Voltage Rectifier 3 is sent a large amount of reactive powers, to support line voltage.Since ultracapacitor 5 have have extended cycle life, failure rate is low, the characteristics that response speed is fast greatly reduce operation and maintenance cost.
The operation control strategy of native system is analyzed as follows:
When (1) network system is normally moved
Three-phase PWM Voltage Rectifier can Parallel Implementation active power and the decoupling zero control of reactive power under the DQ rotational coordinates.When network system is normally moved, Three-phase PWM Voltage Rectifier runs on rectification state, keep the stable of its dc voltage, simultaneously control AC side and network system according to demand in real time and carry out idle exchange: when the power factor of network system does not meet the demands, can control Three-phase PWM Voltage Rectifier and receive and dispatch corresponding reactive power and keep the constant of power factor of electric network; When the harmonic current of network system does not meet the demands, can control Three-phase PWM Voltage Rectifier and send the corresponding compensation electric current, to offset original harmonic current.Because Three-phase PWM Voltage Rectifier can be controlled the stable of its dc voltage, just can generally take the first constant current mode of constant voltage again by two-way DC/DC converter to the ultracapacitor control of charging this moment.After ultracapacitor is full of, can adopt the mode of the two-way DC/DC converter low-pressure side voltage constant of control to come to the ultracapacitor floating charge.When network system is normally moved, keep ultracapacitor to be in full state at any time, the response demand during with reply electrical network sudden short circuit fault.
When (2) network system is short-circuited fault
When network system was short-circuited fault, rapid drawdown can appear in line voltage, caused Three-phase PWM Voltage Rectifier can't keep the constant of dc voltage, and control loop before lost efficacy.At this moment, the ultracapacitor discharge, two-way DC/DC converter works in keeps the constant constant voltage output state of high side voltage, has also promptly kept the stable of Three-phase PWM Voltage Rectifier dc voltage.Three-phase PWM Voltage Rectifier then run on inverter mode according to the real-time voltage situation of electrical network, is sent reactive power in order to support the PCC point voltage, improves quality of voltage, and the shortest 625ms that keeps realizes that low-voltage passes through.
Ultracapacitor in the native system generally adopts double electric layer capacitor.In use, generally a plurality of monomer ultracapacitors are formed bank of super capacitors by connection in series-parallel, improve the capacity and the withstand voltage level of ultracapacitor, make its performance satisfy actual user demand.
Effect of the present invention and benefit are:
(1) this quality of power supply regulating system can be carried out reactive power exchange with network system according to the ruuning situation of network system, reaches purpose idle, harmonic compensation, comprehensively improves the quality of power supply of electric power system.
(2) this quality of power supply regulating system, when network system is short-circuited fault, can keep the stable of Three-phase PWM Voltage Rectifier dc voltage, make it send a large amount of reactive powers to support line voltage, improve quality of voltage, improve the failure operation ability of wind-electricity integration system, strengthen its security and stability.
(3) in this quality of power supply regulating system, the energy storage device of DC side has adopted ultracapacitor, is furnished with corresponding two-way DC/DC converter simultaneously as its charging-discharging controller.Wherein, two-way DC/DC converter also can be used for ultracapacitor charging control is replenished the energy of ultracapacitor when electrical network normally moves except that the direct voltage that is used to control Three-phase PWM Voltage Rectifier when the electric network fault stable.Therefore, ultracapacitor just can carry out charging and discharging of energy by system's control in good time after installing, because its energy finally all comes from electrical network, therefore need not extra charge power supply and device.
(4) therefore ultracapacitor can effectively reduce operation, maintenance cost owing to have the advantage that power density is big, power response speed is fast, have extended cycle life.
(5) this quality of power supply regulating system, the function that harmonic compensation, reactive power compensation, low-voltage are passed through rolls into one, satisfied network system operation to quality of power supply regulating system demand in, the redundancy that effectively reduces equipment is with idle.
Description of drawings
The quality of power supply regulating system that Fig. 1 is based on ultracapacitor energy storage inserts the network system structure chart.
Among the figure: 1 network system; 2 loads; 3 Three-phase PWM Voltage Rectifier; 4 two-way DC/DC converters; 5 ultracapacitors.
Fig. 2 is based on quality of power supply regulating system Three-phase PWM Voltage Rectifier control block diagram when the electrical network normal operating condition of ultracapacitor energy storage.
Fig. 3 is based on quality of power supply regulating system Three-phase PWM Voltage Rectifier control block diagram when grid failure state of ultracapacitor energy storage.
Fig. 4 is based on two-way DC/DC transformer configuration schematic diagram in the quality of power supply regulating system of ultracapacitor energy storage.
Fig. 5 is based on Three-phase PWM Voltage Rectifier structure principle chart in the quality of power supply regulating system of ultracapacitor energy storage.
Embodiment
Be described in detail the specific embodiment of the present invention below in conjunction with technical scheme and accompanying drawing.
As shown in Figure 1, the quality of power supply regulating system that the present invention is based on ultracapacitor energy storage inserts in the network system 1 by parallel way.System forms and comprises: Three-phase PWM Voltage Rectifier 3, two-way DC/DC converter 4, ultracapacitor 5.Ultracapacitor 5 is connected to the low-pressure side of two-way DC/DC converter 4, and the high-pressure side of two-way DC/DC converter 4 is connected to the DC side of Three-phase PWM Voltage Rectifier 3, and the AC side of Three-phase PWM Voltage Rectifier 3 inserts in the network system 1 with parallel way.
During network system 1 normal the operation, Three-phase PWM Voltage Rectifier 3 runs on rectification state, knows according to its mathematics model analysis, and under the dq rotating coordinate system (with the leg speed rotation), its active power and reactive power can realize the parallel control of decoupling zero.Wherein, voltage (active power) control ring is used to control the stable of dc voltage, and the Reactive Power Control ring is used for sending corresponding reactive power and offset current according to network system 1 demand idle, harmonic compensation.When line voltage was directed along the q axle, the q axle component of power network current was represented real component, and d axle component is represented idle component.The q axle component of power network current is used to regulate the stable of dc voltage, and its desired value is done difference after the PI link obtains by the desired value of dc voltage measured value and dc voltage.The d axle component of power network current is used to regulate sending of reactive power, harmonic current, thereby its desired value is according to demand idle, harmonic compensation, draws via the instantaneous reactive theory.After the desired value that obtains electric current d, q axle component, change can be taked the controlled signal of classical decoupling zero control algolithm of Three-phase PWM Voltage Rectifier 3, three brachium pontis switching tubes that drive Three-phase PWM Voltage Rectifier 3 with this control signal can realize that just the control block diagram of the Three-phase PWM Voltage Rectifier 3 of this moment as shown in Figure 2 to the accurate control of dc voltage and AC side reactive power, harmonic current.Because Three-phase PWM Voltage Rectifier 3 has been kept the stable of dc voltage, so Three-phase PWM Voltage Rectifier 3 is equal to constant pressure source with respect to two-way DC/DC converter 4, according to demand Automatic Extraction active power from network system 1.This moment, two-way DC/DC converter 4 can accurately be controlled the size of low-pressure side electric current, low-pressure side voltage by the closed-loop control that adds the PI link, thereby realized ultracapacitor 5 first constant currents, the charging of back constant voltage control.
When network system 1 is short-circuited fault,, cause idle ring control failure because the rapid drawdown of line voltage causes the voltage control loop of Three-phase PWM Voltage Rectifier 3 can't keep the stable of its dc voltage.Should control two-way DC/DC converter 4 and run on pressure-increasning state this moment, by the constant of high-pressure side output voltage kept in the closed-loop control of high side voltage, also promptly guaranteed the constant of Three-phase PWM Voltage Rectifier 3 dc voltages.Control Three-phase PWM Voltage Rectifier 3 and run on inverter mode this moment, the same employing with the dq decoupling zero control under the leg speed rotation.Wherein, the desired value of electric current q axle component (real component) is made as 0, the desired value of electric current d axle component (idle component) descends according to line voltage the conditions of demand of reactive power is set, after the desired value that configures electric current d, q component, adopt the controlled signal of classical decoupling zero control algolithm of Three-phase PWM Voltage Rectifier 3, just can realize the output of a large amount of reactive powers with three brachium pontis switching tubes of this control signal driving Three-phase PWM Voltage Rectifier 3, play the effect of supporting line voltage, improved quality of voltage.The control block diagram of the Three-phase PWM Voltage Rectifier 3 of this moment as shown in Figure 3.
In the present invention, two-way DC/DC converter 4 has played ultracapacitor 5 charge controllers respectively and has kept the stable effect of Three-phase PWM Voltage Rectifier 3 dc voltages when network system 1 normal operation and short trouble.These two kinds of operating states, need converter can carry out the two-way flow control of energy, the present invention in two-way DC/DC converter 4 adopt the two-way DC/DC transformer configuration of BUCK-BOOST types, as shown in Figure 4: two-way DC/DC converter 4 is by energy storage inductor L1, power switch pipe G1, G2, and sustained diode 1, D2 and output filter capacitor C1 form.The positive level of low-pressure side power supply is received the leakage level of power switch pipe G1, the source class of power switch pipe G2 through energy storage inductor L1, the source electrode of power switch pipe G1 inserts the negative pole of converter, the drain electrode of power switch pipe G2 inserts the positive pole of high-pressure side power supply, filter capacitor C1 is parallel to the two ends, high-pressure side, and sustained diode 1, D2 are connected in anti-parallel to the leakage of power switch pipe G1, G2--between the source class.Control by the break-make of carrying out power switch pipe G1, G2, can realize energy by low-pressure side to the high-pressure side or by the two-way flow of high-pressure side to low-pressure side, now the mode of operation of this converter is carried out following analysis (supposing that high-pressure side and low-pressure side all are connected to energy source):
(1) mode 1, power switch pipe G1 conducting, and power switch pipe G2 turn-offs, and to energy storage inductor L1 charging, inductive current increases the low-pressure side power supply by G1.
(2) mode 2, and power switch pipe G1 turn-offs, power switch pipe G2 conducting, and this moment, gradually reduced on high-tension side electric current from low-pressure side this moment because inductance L 1 electric current can not suddenly change, and electric current still passes through sustained diode 2 afterflows from the low-pressure side to the high-pressure side.
(3) mode 3, remain power switch pipe G1 and turn-off this moment, and power switch pipe G2 conducting is after being reduced to zero gradually from low-pressure side in the inductance on high-tension side electric current, through power switch G2 inductance L 1 is carried out reverse charging by the high-pressure side power supply, the reverse current of the inductance L 1 of flowing through this moment increases gradually.
(4) mode 4, power switch pipe G1 conducting, power switch pipe G2 turn-offs, can not suddenly change owing to inductance L 1 electric current this moment, reverse current in the inductance L 1 is along sustained diode 1 reverse afterflow, and the reverse current in the inductance L 1 reduces gradually at this moment, when the reverse current in the inductance L 1 reduces to 0, enter mode 1 again, thereby begin Control Circulation next time.
As seen from the above analysis, in a cycle period, by to power switch pipe G1, G2 carries out break-make control, can realize the two-way flow of energy between low-pressure side and high-pressure side, when flowing on high-tension side energy when flowing to the energy of low-pressure side by the high-pressure side by low-pressure side in the one-period, converter runs on the boost chopper state, otherwise converter runs on the buck chopper state.The size of both direction energy of flow depends on power switch pipe G1, the make-and-break time of G2, and the size of low-pressure side power supply and high-pressure side power supply energy in each cycle.By converter being added closed-loop control, flow direction that not only can control energy can also accurately be controlled the size of low-pressure side voltage, electric current and high side voltage, electric current, and this has established technical foundation for the use in the present invention of this converter.
The structure of Three-phase PWM Voltage Rectifier 3 is (as shown in Figure 5): the drain electrode of power switch pipe G3, G4, G5 connects together the positive pole of receiving dc bus capacitor C2, the source electrode of power switch pipe G3, G4, G5 is connected with the drain electrode of power switch pipe G6, G7, G8 respectively, and the source electrode of power switch pipe G6, G7, G8 connects together the negative pole of receiving dc bus capacitor C2.Sustained diode 3, D4, D5, D6, D7, D8 distinguish the leakage of inverse parallel at each power switch pipe--between the source electrode.L2, L3, L4 are the AC side filter inductance, and filtering output back is inserted in the three-phase alternating current electrical network system 1.By above each switching tube being carried out the accurate control that break-make control can realize the flexible conversion of this converter rectification state, inverter mode and dc voltage, AC side reactive power.
Characteristics such as the power switch pipe of above-mentioned two-way DC/DC converter 4, Three-phase PWM Voltage Rectifier 3 can be selected insulated gate bipolar transistor (IGBT) for use, and it is a kind of turn-off device, and it is fast to have switching response speed, and conduction voltage drop is low.Can adopt the IPM power model in actual use; IPM inside also has driving, logic, control, detection and protective circuit on the basis of integrated IGBT and inverse parallel diode thereof; not only reduced the volume of system; shortened the development time; also strengthen the reliability of system, adapted to the developing direction of current power device.
Claims (3)
1. quality of power supply regulating system based on ultracapacitor energy storage, it is characterized in that: this system comprises ultracapacitor (5), two-way DC/DC converter (4), Three-phase PWM Voltage Rectifier (3); System inserts in the network system (1) by parallel way; When network system (1) when normally moving, this system carries out the power factor adjustment and the harmonic compensation of network system (1) on the other hand in real time on the one hand to ultracapacitor (5) charging; When network system (1) is short-circuited fault, ultracapacitor discharge (5), it is stable to keep Three-phase PWM Voltage Rectifier (3) dc voltage by two-way DC/DC converter (4), the assurance system sends required reactive power to network system (1), support the voltage of the points of common connection (PCC) of regulating system and electrical network, improve quality of voltage, realize that the low-voltage of wind-electricity integration system is passed through.
2. a kind of quality of power supply regulating system according to claim 1 based on ultracapacitor energy storage, it is characterized in that: ultracapacitor (5) is connected to the low-pressure side of two-way DC/DC converter (4), the DC side of Three-phase PWM Voltage Rectifier (3) is inserted in the high-pressure side of two-way DC/DC converter (4), the parallel network system (1) that inserts of the AC side of Three-phase PWM Voltage Rectifier (3).
3. a kind of quality of power supply regulating system according to claim 1 based on ultracapacitor energy storage, it is characterized in that: network system (1) is when normally moving, Three-phase PWM Voltage Rectifier (3) runs on the rectification state of the dq dicyclo decoupling zero control under the rotating coordinate system, wherein the active current control ring is used for absorbing active power and keep its dc voltage stable from network system (1), the reactive current ring is used for controlling the output of reactive power to finish the task of power factor and harmonic compensation, the charging control of constant voltage after the first constant current of the responsible ultracapacitor (5) of two-way DC/DC converter (4) according to network system (1) demand; When network system (1) is short-circuited fault, Three-phase PWM Voltage Rectifier (3) runs on inverter mode, send a large amount of reactive powers to network system (1), support network system (1) voltage, improve quality of voltage, two-way DC/DC converter (4) works in high-pressure side constant voltage output state, to keep the stable of Three-phase PWM Voltage Rectifier (3) dc voltage.
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Cited By (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102651553A (en) * | 2011-02-24 | 2012-08-29 | 上海空间电源研究所 | Energy storage adjusting system for wind power field |
CN102810857A (en) * | 2012-07-09 | 2012-12-05 | 华中科技大学 | Power quality regulator for series direct current power system |
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CN110350545B (en) * | 2018-04-03 | 2023-05-16 | Ls产电株式会社 | Reactive power compensation device, discharge system and operation method of discharge system |
CN108599178A (en) * | 2018-04-13 | 2018-09-28 | 宁波市电力设计院有限公司 | A kind of System Reactive Power compensation rate computational methods considering wind power integration |
CN108736488A (en) * | 2018-04-20 | 2018-11-02 | 苏州中康电力开发有限公司 | Control method for reactive compensation system |
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