CN103023058B - Control method for high-voltage direct-current flexible system for supplying power to passive network - Google Patents
Control method for high-voltage direct-current flexible system for supplying power to passive network Download PDFInfo
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- Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]
Abstract
A control method for a high-voltage direct-current flexible system for supplying power to a passive network includes: arranging a rectifier controller at the head end of a direct-current transmission line of the high-voltage direct-current flexible system, performing constant direct-current voltage control for a VSC (voltage source converter)-rectifier on the alternating-current system side, arranging a VSC-inverter controller at the tail end of the direct-current transmission line, and performing constant direct-current voltage control for the a VSC-inverter. A double closed-loop vector control policy is used for VSC-rectifier constant direct-current voltage control, fuzzy PI (proportional integral) control is used for an outer voltage loop, and current decoupling control is used for an inner voltage loop, so that active power and reactive power are controlled independently. The method avoids complicated offline parameter adjustment of a traditional PI adjustor and is capable of performing online PI parameter adjustment according to changes of the system running state and high in adaptive adjustment capability, the system is higher in response speed and control precision for various interferences and failures, and anti-interference capability and dynamic and steady-state performances of the system are improved.
Description
Technical field
The present invention relates to HVDC Transmission Technology field, particularly relate to a kind of flexible DC power transmission system control method to passive network power supply.
Background technology
Since within 1954, Article 1 high voltage direct current transmission (HVDC) circuit is put into commercial operation in the world, HVDC is with its superior function, such as asynchronous networking between remote large volume transport power, AC network etc., is widely used in remote high-power transmission of electricity, submarine cable power transmission, uses cable to aspects such as asynchronous contacts between the power supply of high density big city, AC system.But, because traditional HVDC adopts half control type thyristor as change of current device, in the time of commutation, need AC network that converting commutating current is provided, what this just required that converter connects must be active network, in the time of inverter operation, easily there is the faults such as commutation failure in HVDC simultaneously.
Along with the development of power electronic technology, high voltage direct current transmission (VSC-HVDC) based on voltage-source type converter is that flexible DC power transmission becomes study hotspot, VSC-HVDC has not only fundamentally solved the defect of traditional HVDC, also has the unrivaled advantage of traditional HVDC.VSC-HVDC system adopts PWM technology and the all-controlling power electronics device taking igbt (IGBT) as representative, due to the electric current self-switching-off capability of VSC, make the outstanding feature of VSC-HVDC can be operated in exactly passive inverter mode, do not need additional commutation voltage, receiving-end system can be passive network, having overcome the defect that traditional HVDC receiving-end system must be active network, can be remote island load power transmission.Simultaneously, adopt PWM technology to realize the decoupling zero control of active power and reactive power, can stablize ac bus voltage, even can in the time of a side fault in ac transmission system, send power by opposite side, the Emergency Assistance of power is provided, and then improves power supply reliability and the quality of power supply.
VSC-HVDC system is as a kind of New type of transmission, connecting the small power station's (as wind power generation, solar power generation etc.) disperseing to electrical network, have broad application prospects to fields such as remote island load power supplies.
Adopt and determine alternating voltage control to passive network power supply VSC-HVDC system inversion side, in order to steady load voltage, improve supply power voltage quality; Rectification side adopts constant DC voltage control, and in order to stable DC voltage, for both sides, VSC provides voltage support.Constant DC voltage control strategy adopts the two closed-loop vector controls based on pi regulator conventionally, and interior ring adopts current feed-forward decoupling zero control, makes active current, reactive current follow the tracks of respectively the output valve of outer shroud voltage regulator and reactive power regulator.Most VSC-HVDC engineering all adopts trial and error procedure or empirical method to choose pi regulator parameter, in system debug process, need higher skill and experience, and the adjuster obtaining differs and makes surely systematic function reach optimum state, PI controls poor anti jamming capability, overshoot is large, and adjusts inconvenience.For the such multivariable of VSC-HVDC, close coupling, nonlinear system, pi regulator is difficult to meet the requirement of real system under different operating modes.
Summary of the invention
The object of the invention is to the drawback for prior art, providing a kind of can carry out the flexible DC power transmission system control method to passive network power supply that online PI parameter regulates according to the variation of system running state, to improve antijamming capability and the moving steady-state behaviour of transmission system.
Problem of the present invention realizes with following technical proposals:
A kind of flexible DC power transmission system control method to passive network power supply, described method arranges rectifier controller at the DC power transmission line head end of flexible DC power transmission system, VSC-rectifier to AC system side carries out constant DC voltage control, DC power transmission line end arranges VSC-circuit control device, VSC-inverter is carried out determining alternating voltage control, described VSC-rectifier constant DC voltage control adopts two closed-loop vector control strategies, wherein outer voltage adopts fuzzy PI hybrid control, interior ring adopts Current Decoupling control, thereby the independent of the active power of realization and reactive power controlled.
The above-mentioned flexible DC power transmission system control method to passive network power supply, the concrete steps of described VSC-rectifier constant DC voltage control are as follows:
A.
measurement module detects in real time to the direct voltage of flexible DC power transmission circuit, obtains direct voltage actual value
, and with direct voltage set-point
compare, obtain direct current voltage error signal;
B. direct current voltage error signal, through direct voltage Fuzzy PI Controller and follow-up current limit circuit, is exported d axis AC current reference value
;
C. instantaneous reactive power computing module calculates and obtains reactive power actual value according to current system alternating voltage, alternating current
, with reactive power set-point
compare, obtain idle error signal;
D. idle error signal, through reactive power PI controller and current limit circuit, obtains q axis AC current reference value
;
E.
with
through interior circular current decoupling zero control circuit output d axis AC voltage reference value
with q axis AC voltage reference value
;
F.
with
through two-phase rotational coordinates be tied to two-phase rest frame coordinate transform (2r/2s) output two-phase rest frame (
coordinate system) under
with
;
G. adopt SVPWM (SVPWM) method pair
with
modulate, the 6 road pwm signals that obtain are controlled respectively 6 IGBT operations of VSC-rectifier.
The above-mentioned flexible DC power transmission system control method to passive network power supply, described direct voltage Fuzzy PI Controller adopts second order mode fuzzy controllers, and its input signal is direct current voltage error signal
and rate of change signal
, the specific works step of Fuzzy PI Controller is as follows:
The operation principle of Fuzzy PI Controller is as follows:
1. according to membership function to input language variable
with
carry out Fuzzy processing, obtain respectively fuzzy quantity
with
;
2. according to the fuzzy control rule pair of formulating
with
carry out fuzzy reasoning, and decision-making goes out the fuzzy quantity of output;
3. complete by fuzzy quantity to the accurately conversion of amount, the PI parameter of output dc voltage error by ambiguity solution method
, pi regulator parameter is carried out to on-line control.
The above-mentioned flexible DC power transmission system control method to passive network power supply, described ambiguity solution method adopts weighted mean method.
The above-mentioned flexible DC power transmission system control method to passive network power supply, the obfuscation of direct current voltage error signal and rate of change signal thereof is conciliate blurring process membership function used and is all chosen Triangleshape grade of membership function.
The present invention adopts two closed-loop vector control strategies to carry out constant DC voltage control to rectifier, and wherein outer voltage adopts fuzzy PI hybrid control, and interior ring adopts Current Decoupling control, has realized the independent of active power and reactive power and has controlled.Described method has avoided the loaded down with trivial details offline parameter of traditional PI adjuster to regulate, can carry out online PI parameter according to the variation of system running state regulates, adaptive adjustment capability is strong, make system have the control precision of response speed and Geng Gao faster to various interference and fault, improved antijamming capability and the moving steady-state behaviour of system.
Brief description of the drawings
Fig. 1 is provided by the invention to passive network confession power flexible DC power transmission system and rectifier control principle block diagram;
Fig. 2 is direct voltage fuzzy PI hybrid control principle schematic provided by the invention;
Fig. 3 is Triangleshape grade of membership function schematic diagram provided by the invention;
Fig. 4 is the control system hardware circuit implementation schematic diagram of flexible DC power transmission system rectifier provided by the invention;
In accompanying drawing or literary composition, list of reference numerals used is:
HVDC: high voltage direct current transmission, VSC-HVDC: flexible DC power transmission,
: the direct voltage of flexible DC power transmission circuit,
: direct voltage set-point,
: reactive power actual value,
: reactive power set-point,
: d axis AC current reference value,
: q axis AC current reference value,
: d axis AC voltage reference value,
: q axis AC voltage reference value,
: α axis AC voltage reference value under rest frame,
: β axis AC voltage reference value under rest frame,
: direct current voltage error signal,
: direct current voltage error change rate signal,
:
fuzzy quantity,
:
fuzzy quantity,
: pi regulator parameter,
: AC system voltage,
: VSC-rectifier AC voltage;
1, AC system, 2, AC filter, 3, converter reactor, 4, VSC-rectifier, 5, capacitor, 6, earth electrode, 7, DC power transmission line, 8, capacitor, 9, VSC-inverter, 10, converter reactor, 11, AC filter, 12, far-end load.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Referring to Fig. 1, flexible DC power transmission system of the present invention comprises:
AC system 1, is connected with AC filter.
AC filter 2, is connected with converter reactor 3 with AC system 1, for filtering AC harmonic wave.
Converter reactor 3, is connected with VSC-rectifier 4 with AC filter 2, is the tie of AC and converter energy exchange, also plays certain filter action simultaneously.
VSC-rectifier 4, is connected with capacitor 5 with converter reactor 3, and this VSC runs on rectification state, for the alternating current of AC system 1 is converted to direct current, is transported in DC power transmission line 7.
Capacitor 5, is connected with DC power transmission line 7 with VSC-rectifier 4, supports for two ends VSC provides direct voltage, and impulse current when simultaneous buffering converter bridge arm is turn-offed, also can play certain filter action.
Earth electrode 6, is used to direct voltage to provide with reference to zero potential, and DC transmission system adopts bipolar operation.
DC power transmission line 7, is connected with VSC-rectifier 4, capacitor 5, capacitor 8 and VSC-inverter 9, connects two ends VSC, transmits for direct current power.
VSC-inverter 9, is connected with capacitor 8, DC power transmission line 7 and converter reactor 10, and this VSC runs on inverter mode, for the direct current in DC power transmission line is converted to alternating current, supplies with far-end island load.
Far-end load, is connected with AC filter 11, is one and exchanges power load.
Referring to Fig. 1, VSC-rectifier provided by the present invention is determined direct voltage Fuzzy PI and is adopted two closed-loop vector control strategies, comprises the steps:
The first step:
measuring circuit detects in real time to direct voltage, obtains direct voltage actual value
, and with direct voltage set-point
compare, obtain direct current voltage error signal;
Second step: direct current voltage error signal, through direct voltage fuzzy PI hybrid control and follow-up current limit circuit, is exported d axis AC current reference value
;
The 3rd step: instantaneous reactive power computing module calculates and obtains reactive power actual value according to current system alternating voltage, alternating current
, with reactive power set-point
compare, obtain idle error signal;
The 4th step: idle error signal is controlled and current limit circuit through reactive power PI, obtains q axis AC current reference value
;
The 5th step:
with
through interior circular current decoupling zero control output d axis AC voltage reference value
with q axis AC voltage reference value
;
The 6th step:
with
through two-phase rotational coordinates be tied to two-phase rest frame coordinate transform (2r/2s) output two-phase rest frame (
coordinate system) under
with
;
The 7th step:
with
adopt SVPWM (SVPWM) method, output 6 road PWM control 6 IGBT operations of VSC-rectifier.
Described direct voltage fuzzy PI hybrid control, can, according to the different operating condition on-line control of system PI parameter, ensure the control precision of direct voltage and control effect, has improved system response time and antijamming capability.
Described employing current limit circuit, because external interference may produce very high transient current, this will cause two ends VSC overload, and then destroy power electronic device, so have current limit circuit, limit it for upper current limit value in the time that very high transient current produces.
Described employing SVPWM method, has ensured that VSC-rectifier switch frequency is constant, and the harmonic wave of generation is less.
Above-mentioned seven steps are determined direct voltage fuzzy PI hybrid control and are realized by software programming, and are carried out by digital signal processor (DSP).
Referring to Fig. 2, it is direct voltage fuzzy PI hybrid control principle schematic.
In Fig. 2, dotted line institute frame part is direct voltage Fuzzy PI Controller internal structure.Realize pi regulator parameter
real-time online regulate.The present invention adopts second order mode fuzzy controllers, therefore its input signal is direct current voltage error signal
and rate of change signal
, this structure has reflected that fuzzy controller has nonlinear PD control rule, thereby is conducive to the stability of the system that ensures, and can reduce the overshoot of response process and slacken its oscillatory occurences.
with
through obfuscation, fuzzy reasoning and three processes of ambiguity solution, final output regulates the now PI parameter of direct current voltage error
, pi regulator parameter is carried out to on-line control.
It should be noted that, the input language variable of fuzzy controller is
with
, output language variable is
.The Linguistic Value of linguistic variable is more, formulates control law Vietnamese side just, becomes more complicated but fuzzy control rule is corresponding; Linguistic Value is very few, makes to describe variable and becomes coarse, causes the performance depreciation of controller.So the present invention is for input language variable
,
and output variable
all choose seven Linguistic Values, be respectively: " in negative large, negative, negative little, zero, just little, center, honest ".
With reference to figure 3, obfuscation of the present invention is conciliate blurring process membership function used and is all chosen Triangleshape grade of membership function.In Fig. 3, ordinate is exact value
degree of membership.Selected seven Linguistic Values " negative large, negative in, negative little, zero, just little, center, honest " in Fig. 3, correspond respectively to " NB, NM, NS, ZE, PS, PM, PB ".
The operation principle of Fuzzy PI Controller is as follows:
The first step: input language variable
with
carry out obtaining respectively fuzzy quantity after Fuzzy processing according to membership function
with
;
Second step: will
with
carry out fuzzy reasoning, carry out fuzzy reasoning according to the fuzzy control rule of formulating, and decision-making goes out the fuzzy quantity of output;
It should be noted that, the formulation of fuzzy control rule and fuzzy reasoning decision-making are the key components of design of Fuzzy Controller, and it directly affects the quality of control system.In the present invention, different
under, the principle that fuzzy control rule is set is:
(1) when
larger, for making system there is preferably tracking performance fast, should get larger
, there is larger overshoot for fear of system responses simultaneously, reply integral action is limited, and conventionally gets
.
(2) when
in the time of median size, for making system there is less overshoot, should get less
with suitable
.
(3) when
hour, for making system there is good steady-state behaviour, should get larger
with
.
The 3rd step: output fuzzy quantity is carried out to defuzzification, complete by fuzzy quantity to the accurately conversion of amount, output parameter by ambiguity solution method
, pi regulator parameter is carried out to on-line control.Ambiguity solution method of the present invention adopts weighted mean method.
With reference to figure 4, it is the control system hardware circuit implementation schematic diagram of flexible DC power transmission system rectifier.Comprise:
Voltage detecting, for detection of AC system voltage
, VSC-rectifier AC voltage
and direct voltage
.
with
calculate for reactive power.
Voltage modulate circuit, within being transformed into the receptible voltage range of DSP (0 ~ 3V) the magnitude of voltage of voltage detection module output.
Current detecting, for detection of the three-phase current of AC system
, calculate for reactive power.
Voltage modulate circuit, within being transformed into the receptible voltage range of DSP (0 ~ 3V) the magnitude of voltage of current detection module output.
The present invention adopts DSP TMS320F2812 as control chip, and there are ADC module, EV module etc. in its inside.Adopt the inner ADC module of DSP to realize the conversion of analog signal to digital signal.
VSC-rectifier is determined direct voltage fuzzy PI hybrid control strategy common software programming realization, is carried out the program of writing by DSP.DSP is by the final output of EV module 6 road PWM, and because the supply power voltage of dsp chip is 0 ~ 3V, this 6 road PWM can not directly drive VSC-rectifier.
Driving isolation circuit, for raising and then drive VSC-rectifier 6 road PWM level of DSP output; Play the buffer action of weak electric signal and forceful electric power simultaneously, avoid forceful electric power to affect weak electric signal.
In sum, compared with prior art, the constant DC voltage control of rectifier provided by the invention adopts two closed-loop vector control strategies, wherein outer voltage adopts fuzzy PI hybrid control, interior ring adopts Current Decoupling control, having realized the independent of active power and reactive power controls, described method has avoided the loaded down with trivial details offline parameter of traditional PI adjuster to regulate, can carry out online PI parameter according to the variation of system running state regulates, adaptive adjustment capability is strong, make system have the control precision of response speed and Geng Gao faster to various interference and fault, antijamming capability and the moving steady-state behaviour of system are improved.
Claims (4)
1. the flexible DC power transmission system control method to passive network power supply, it is characterized in that, described method arranges rectifier controller at the DC power transmission line head end of flexible DC power transmission system, VSC-rectifier to AC system side carries out constant DC voltage control, DC power transmission line end arranges circuit control device, VSC-inverter is carried out determining alternating voltage control, described VSC-rectifier constant DC voltage control adopts two closed-loop vector control strategies, wherein outer voltage adopts fuzzy PI hybrid control, interior ring adopts Current Decoupling control, thereby the independent of the active power of realization and reactive power controlled,
The concrete steps of described VSC-rectifier constant DC voltage control are as follows:
A. the direct voltage of flexible DC power transmission circuit is detected in real time, obtain direct voltage actual value
, and with direct voltage set-point
compare, obtain direct current voltage error signal;
B. direct current voltage error signal, through direct voltage Fuzzy PI Controller and follow-up current limit circuit, is exported d axis AC current reference value
;
C. calculate and obtain reactive power actual value according to current system alternating voltage, alternating current
, with reactive power set-point
compare, obtain idle error signal;
D. idle error signal, through reactive power PI controller and current limit circuit, obtains q axis AC current reference value
;
E.d axis AC current reference value
with q axis AC current reference value
through interior circular current decoupling zero control circuit output d axis AC voltage reference value
with q axis AC voltage reference value
;
F.d axis AC voltage reference value
with q axis AC voltage reference value
be tied to the coordinate transform 2r/2s of two-phase rest frame through two-phase rotational coordinates, output two-phase rest frame
α axis AC voltage reference value under rest frame under coordinate system
with β axis AC voltage reference value under rest frame
;
G. adopt SVPWM SVPWM method to α axis AC voltage reference value under rest frame
with β axis AC voltage reference value under rest frame
modulate, the 6 road pwm signals that obtain are controlled respectively 6 IGBT operations of VSC-rectifier.
2. a kind of flexible DC power transmission system control method to passive network power supply according to claim 1, is characterized in that, described direct voltage Fuzzy PI Controller adopts second order mode fuzzy controllers, and its input signal is direct current voltage error signal
and rate of change signal
, the specific works step of Fuzzy PI Controller is as follows:
The operation principle of Fuzzy PI Controller is as follows:
According to membership function to input language variable
with
carry out Fuzzy processing, obtain respectively fuzzy quantity
with
;
According to the fuzzy control rule pair of formulating
with
carry out fuzzy reasoning, and decision-making goes out the fuzzy quantity of output;
Complete by fuzzy quantity to the accurately conversion of amount, the PI parameter of output dc voltage error by ambiguity solution method
, pi regulator parameter is carried out to on-line control.
3. a kind of flexible DC power transmission system control method to passive network power supply according to claim 2, is characterized in that, described ambiguity solution method adopts weighted mean method.
4. a kind of flexible DC power transmission system control method to passive network power supply according to claim 3, it is characterized in that, the obfuscation of direct current voltage error signal and rate of change signal thereof is conciliate blurring process membership function used and is all chosen Triangleshape grade of membership function.
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| KR101555498B1 (en) * | 2013-12-30 | 2015-09-24 | 주식회사 효성 | Power supply for high voltage direct current controller |
| US9602021B2 (en) | 2014-03-07 | 2017-03-21 | General Electric Company | Hybrid high voltage direct current converter system and method of operating the same |
| US9515565B2 (en) | 2014-03-07 | 2016-12-06 | General Electric Company | Hybrid high voltage direct current converter systems |
| CN105024392A (en) * | 2014-04-29 | 2015-11-04 | 国网山西省电力公司电力科学研究院 | Control method for flexible direct-current power transmission system |
| KR101604906B1 (en) * | 2014-05-13 | 2016-03-18 | 엘에스산전 주식회사 | High voltage direct current transmission system |
| CN104038030B (en) * | 2014-06-04 | 2017-01-04 | 华为技术有限公司 | A kind of methods, devices and systems of control bus ripple |
| CN104319802A (en) * | 2014-11-25 | 2015-01-28 | 国网吉林省电力有限公司延边供电公司 | Long-distance power transmission system |
| CN104617572B (en) * | 2014-12-24 | 2017-01-11 | 国家电网公司 | Flexible direct-current power regulation method for island power supply |
| CN104600734B (en) * | 2014-12-30 | 2017-02-01 | 华南理工大学 | Low-voltage current limit and PI control unit coordination optimization method for high-voltage direct-current transmission |
| CN104810847B (en) * | 2015-03-03 | 2017-05-03 | 河海大学 | Commutation failure prevention method based on direct current fuzzy predictive control |
| CN104821596A (en) * | 2015-05-21 | 2015-08-05 | 国家电网公司 | Internal model control-based hybrid DC transmission system topology and control method |
| CN105244901B (en) * | 2015-10-16 | 2017-09-12 | 四川大学 | A kind of nonlinear decentralized control method of HVDC transmission system |
| CN105226699B (en) * | 2015-10-23 | 2018-06-08 | 南方电网科学研究院有限责任公司 | The control method and system of inner ring current controller |
| CN107302220B (en) * | 2016-09-14 | 2019-01-04 | 南京赫曦电气有限公司 | A kind of distributed Voltage and flow control method and its device |
| CN106684899A (en) * | 2016-10-26 | 2017-05-17 | 国网电力科学研究院武汉南瑞有限责任公司 | Construction and insulation configuration method of flexible DC power transmission system |
| CN108206533A (en) * | 2018-03-12 | 2018-06-26 | 长沙理工大学 | A kind of flexible direct current power transmission system Inverter control parameter tuning method |
| CN110148953B (en) * | 2019-05-30 | 2020-12-15 | 国家电网有限公司 | Additional wind power fluctuation control method suitable for flexible direct current high-speed loop |
| CN113555860B (en) * | 2021-07-28 | 2022-08-19 | 国网甘肃省电力公司 | Improved bridge type superconducting fault current limiter and resistance value adjusting method thereof |
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| CN101295877B (en) * | 2008-06-05 | 2011-11-16 | 上海交通大学 | Control system of offshore wind power flexible DC power transmission current transformer |
| CN202167170U (en) * | 2011-06-20 | 2012-03-14 | 山东电力研究院 | Movable mould experiment apparatus used for DC power transmission system dynamic characteristic research |
| CN102323546B (en) * | 2011-08-25 | 2014-05-07 | 中国电力科学研究院 | Back-to-back test method of VSC-HVDC MMC valve stable state operation test |
| CN102820673B (en) * | 2012-08-10 | 2014-10-08 | 沈阳工业大学 | Multiterminal flexible direct current power transmission system included power grid operation control system and method |
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