CN104333027B - Predictive commutation failure prevention method, apparatus and device - Google Patents
Predictive commutation failure prevention method, apparatus and device Download PDFInfo
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Abstract
The invention relates to a predictive commutation failure prevention method, apparatus and device. In the method, a needed angle Alpha is taken from output of a phase-locked loop and the zero crossing point and half-period time of an AC synchronous voltage no longer need to be measured. Because the commutation margin areas of 12 bridge arms are calculated at the same time, the pre-trigger valve number does not need to be considered anymore, and minimum values of the 12 areas are selected so that the effect of commutation failure prevention is better. DC shaping and a nonlinear compensation technology are used to correct post-trigger commutation voltage and DC fluctuation so as to enhance the commutation failure prevention capability.
Description
Technical field
The present invention relates to direct current transportation forecasting type commutation failure prevention area, particularly forecasting type commutation failure prevention side
Method, device and equipment.
Background technology
Commutation failure is one of most common failure of DC transmission system inverter.Mainly in inverter, when 2 bridge arms
Between commutation when, if the valve for just exiting conducting fails to recover blocking ability within the time that backward voltage act on, or reversely electric
Commutation process fails to be finished during pressure, then when threshold voltage is changed into forward direction, the original predetermined valve for exiting will be turned on again.
Commutation failure will cause DC voltage reduction, the reduction of conveying power, electric current increase, the converter valve lost of life, converter power transformer straight
The stream adverse consequences such as magnetic bias and inverter side AC system overvoltage.If it is improper to be controlled after commutation failure, can also cause and continuously change
Mutually failure, ultimately results in direct current stoppage in transit.
With transferring electricity from the west to the east and national network, East China Power Grid and south electric network have all been multi-infeed DC system, one
Direct current subsystem commutation failure, may cause other direct current subsystems also commutation failure.In order to increase transmission capacity, save circuit
Corridor, is extra-high voltage direct-current transmission in direct current found a capital and new planning；Extra-high voltage direct-current transmission is commonly used series connection valve group
Structure, the fault current of a valve group failure generation will may cause the commutation of another valve group through another valve group
Failure.Therefore in recent years, the commutation failure of DC transmission system is presented the trend for increasing and deteriorating.
The basic reason that commutation failure occurs is shut-off demand of the commutation nargin less than IGCT, what IGCT was actually needed
Shut-off angle is as follows in the relation of each angle of inverter side generally between 6 °~9 °：
γ=180 °-α-μ (1)
γ is shut-off angle in formula, and α is Trigger Angle, and μ is commutation overlap angle.Wherein α is determined by controller, and μ is by changing
What phase process was determined；Commutation failure is prevented to be ensuring that shut-off demands of the γ more than IGCT, this is needed by reducing α come real
It is existing；Therefore the present invention is the auxiliary controller unit to inverter Trigger Angle α.
The be primarily due to reduction of alternating voltage amplitude, DC current that inverter occurs commutation failure are uprushed, exchanged
The reasons such as commutation voltage zero crossing phase angle shift.Preventing commutation failure from occurring can be from primary system design and Control System Design
Two aspects are tried every possible means, and prevent commutation failure to have following two feasible technical schemes for control system：
The first, shut-off angle γ when increase normally runs.Constant DC voltage control is used in inverter side, when normally running
The scope for turning off angle γ is 17.5 °~21.5 °, relatively large, therefore reactive power consumption is also larger；Converter valve passes through valve
Base electronic equipment sends the cut-off signals of each bridge arm to control system, and this cut-off signals and AC synchronous voltage pass through hardware meter
When survey out the shut-off angle of each bridge arm, the minimum values at 12 shut-off angles act on a PI controller；If minimum turn-off angle
Less than 17 °, PI controllers begin to reduce Trigger Angle α, and Siemens's DC control protection correlation technique platform mainly uses this side
Case.
This scheme shut-off angle is big, and its reactive power consumption is also big, it is necessary to inverter side configures more alternating current filter.And
And it is strong to the dependence of equipment, it is impossible to it is engaged with similar converter valve.
Second, detect commutation failure will occur when, by Trigger Angle α reduce to increase commutation nargin, so as to subtract
The generation of few commutation failure.In inverter side using hold-off angle control is determined, shut-off angle γ is 17 ° during normal operation, relatively small, and
Reactive power consumption is also relatively small；(passed by TDM optical fiber by the quick sampling to exchange commutation voltage and DC current
It is defeated, sampling interval 24us), 12 commutation nargin area CMA of bridge arm (being realized by DSP, counting period 50us) are calculated successively,
Need to use commutation voltage positive going zeror crossing point to the current time for calculating point in calculating；When CMA is less than or equal to commutation nargin area
During reference value CMAref (CMAref is to turn off angle to be equal to 14 ° of specified commutation voltage area), forced-triggered bridge arm immediately, from
And ensureing enough commutation nargin, ABB DC controls protection correlation technique platform mainly uses this scheme.
This method belongs to forecasting type commutation failure prevention (Predictive Commutation Prevention)：When
When external condition change will cause inverter side commutation failure, will suitably angular 90 degree of direction movements be triggered abundant to increase commutation
Degree；Due to can largely reduce the probability of commutation failure generation, in this way it is referred to as commutation failure pre-
It is anti-.Forecasting type refer to do not need inverter provide bridge arm cut-off signals, rely only on alternating voltage and DC current measures and
The commutation failure prevention method that inverter design parameter is realized.Commutation nargin area (Commutation Margin Area, letter
Claim CMA) refer to：After commutation overlap process terminates, integral area of the remaining commutation forward voltage to the time.The integral area
Deionization with IGCT is directly proportional, and is the key factor of IGCT success commutation.Commutation nargin area depends on DC current
Become short-circuit impedance with the change of current, the latter is also referred to as commutating impedance.
The forecasting type commutation failure prevention of second scheme, although low to device dependence with respect to the first scheme, but effect
Really unstable, commutation failure still happens occasionally.
The content of the invention
It is an object of the invention to provide forecasting type commutation failure prevention method, it is used to solve existing forecasting type commutation failure pre-
The unstable problem of anti-method effect.
To achieve the above object, the solution of the present invention includes：
A kind of forecasting type commutation failure prevention method, step is as follows：
A), commutation voltage is measured；
B), DC current is measured；
C), according to a), b) output of step carry out 12 tunnel commutation nargin areal calculations, calculate and realized by FPGA；
D), the output of c) step is compared with commutation nargin area reference CMAref, it is determined that avoiding commutation failure
Trigger angle in advance.
Step is as follows：Also include step e), nonlinear compensation is carried out to d) step output angle.
The nonlinear compensation includes size compensation and pace of change compensation；Size compensation is that compensation is subtracted to output angle
Amount；Compensation to pace of change refers to, when output angle changes to 90 °, pace of change not to be limited, when output angle is to 160 °
During direction change, speed is limited.
In the step c), 12 tunnel commutation nargin areal calculations are carried out using the output of phase-locked loop pll.
In step d), the trigger angle of each bridge arm to calculating takes minimum value.
In step b), DC current is pre-processed, the short time window of the DC circuit to gathering takes maximum.
A kind of forecasting type commutation failure preventing mean, including such as lower module：
A), commutation voltage is measured；
B), DC current is measured；
C), according to a), b) output of module carry out 12 tunnel commutation nargin areal calculations, calculate and realized by FPGA；
D), the output of c) module is compared with commutation nargin area reference CMAref, it is determined that avoiding commutation failure
Trigger angle in advance.
Also include module e), nonlinear compensation is carried out to d) module output angle.
In the module c), 12 tunnel commutation nargin areal calculations are carried out using the output of phase-locked loop pll.
Forecasting type commutation failure prevention apparatus, including signal measurement unit and computing unit, signal measurement unit with it is described
Computing unit is communicated to connect, and at least described computing unit is realized by FPGA.Above technical scheme is based on to forecasting type commutation failure
The further investigation and anatomy of prevention method.
As shown in figure 1, the expression formula of commutation nargin area CMA is as follows：
Wherein α is the current phase angle of commutation voltage, UpkIt is the peak value of commutation voltage, XBIt is commutating reactance, IdcIt is direct current
Electric current.The perunit value form of formula (2) is as follows：
Wherein UpkNIt is the rated value of commutation voltage peak value, U2Lpu(α)It is instantaneous perunit of the commutation voltage in current phase angle α
Value, IdcpuIt is DC current perunit value, dxNpuIt is commutating reactance perunit value.
Analytical formula (3), because the computational methods of CMA are that instantaneous value is calculated, therefore sampling interval and counting period are necessary
It is sufficiently small, the real-time monitoring to CMA could be realized, trigger pulse was sent before CMA reaches minimum permissible value, so as to reduce
The probability that commutation failure occurs.Therefore, the existing forecasting type commutation failure prevention method with reference to described in background technology, causes effect
The factors of instability are：
1, the performance of DSP is limited to, 12 CMA of bridge arm are calculated one by one, the counting period cannot be less than 50us；
2, current time and half wave cycles are measured with the zero crossing of commutation voltage, easily it is subject to commutation voltage harmonic wave and mistake
The influence of zero point distortion；
3, because the commutation voltage and DC current after triggering can produce fluctuation so that actual commutation nargin area is inclined
Small, the effect to preventing commutation failure has weakened.
After using the method for the present invention, compared with second technical scheme, main advantages of the present invention are：
1) angle [alpha] needed for calculating takes from the output of phaselocked loop, it is no longer necessary to measure the zero crossing of AC synchronous voltage
With time half period；
2) due to calculating 12 commutation nargin areas of bridge arm simultaneously, it is no longer necessary to consider pre-trigger valve number；And choose
12 minimum values of area so that the effect of prevention commutation failure is more preferable；
3) use DC current shaping and nonlinear compensation technology, the commutation voltage and DC current after triggering are fluctuated into
Row amendment, to strengthen prevention commutation failure ability；
4) high-speed bus and large-scale F PGA technologies are used, further reduces the counting period of commutation nargin area, so that
Improve the computational accuracy of commutation nargin area.
Brief description of the drawings
Fig. 1 is commutation nargin area CMA schematic diagrames；
Fig. 2 is commutation failure prevention method theory diagram；
Fig. 3 is commutation failure prevention apparatus hardware block diagram；
Fig. 4 is Phase Locked Loop Synchronization theory diagram；
Fig. 5 is nonlinear compensation link block diagram.
Specific embodiment
The present invention will be further described in detail below in conjunction with the accompanying drawings.
Embodiment 1
Because extra-high voltage direct-current transmission engineering requirement measuring system and control system are separated, the prevention of forecasting type commutation failure
Instrument is also classified into signal measurement unit and computing unit.Signal measurement unit is communicated to connect with the computing unit.The present embodiment
Improvement be, at least described computing unit by FPGA realize.
Specifically, as shown in the embodiment institute of Fig. 3, signal measurement unit includes the phase displacement sensor, the modulus that are sequentially connected
Converter and measurement FPGA, computing unit include calculating FPGA.Measurement FPGA is connected by high-speed serial bus and is calculated FPGA.
The calculating of commutation nargin area realized using extensive field programmable gate array FPGA completely because FPGA's and
Row estimated performance, can simultaneously calculate 12 CMA of bridge arm, and the counting period is reduced to 15us, substantially increases the meter of CMA
Calculate speed and precision.
Embodiment 2
In the prior art, current time and half wave cycles are measured with the zero crossing of commutation voltage, commutation electricity is easily subject to
The influence of pressure harmonic wave and zero cross distortion.
In the present embodiment, the signal measurement unit and computing unit of forecasting type commutation failure prevention instrument are using existing hard
Part is constituted, and improvement is that the current angular that calculating CMA is used takes from the output of phaselocked loop, because at phaselocked loop and commutation voltage
In flywheel sychronising state, the stabilization output of phaselocked loop eliminates the influence of voltage harmonic and zero cross distortion.
Phase-Locked Synchronous element is the most important infrastructure component of direct current transportation, as shown in figure 4, it mainly includes anti-aliasing filter
Device and interpolation sampling link (a parts), digital filter (b parts), the amplitude of alternating voltage for filtering positive sequence and filtering harmonic wave
With phase calculation (c parts), alternating current voltage frequency tracking module (d parts), phase error controller and both phase integrator five
Partly (e parts),
Waveform conversion process is as follows：
1. three-phase alternating voltages：
Ua=Acos (wt), Ub=Acos (wt-120 °), Uc=Acos (wt+120 °)
2. .ALF and BET components convert (f parts in such as Fig. 4)：
NUL=(R+S+T)/3, is normally zero
ALF=R-NUL=Acos (wt)
3. obtains amplitude and phase (c parts in such as Fig. 4)：
YP=arctan (XB/XA)=wt, (- π=- 2, π=2)
With reference to Fig. 1 and formula 1, formula 2, formula 3, it is known that：
When current time and half wave cycles is measured using the zero crossing of commutation voltage, contain if there is commutation voltage
Harmonic wave and zero cross distortion so as to cause commutation voltage zero crossing measurement deviation occur, can directly will cause each angle [alpha] of inverter side,
The measurement of μ, γ and calculating deviation, and then the precision of commutation nargin area CMA calculating can be influenceed.
And the filtration positive sequence in Phase-Locked Synchronous element is same with the digital filter section (b parts in such as Fig. 4) for filtering harmonic wave
When possess filtration positive-sequence component and filter the dual-use function of harmonic wave, measured so as to efficiently solve with the zero crossing of commutation voltage
Current time and half wave cycles, are easily influenceed by commutation voltage harmonic wave and zero cross distortion.
Embodiment 3
Because the commutation voltage and DC current after triggering can produce fluctuation so that actual commutation nargin area is less than normal,
Effect to preventing commutation failure has weakened.So nonlinear compensation is carried out to output angle, to balance DC current fluctuation
Influence.In the present embodiment, the signal measurement unit and computing unit of forecasting type commutation failure prevention instrument are using existing hard
Part is constituted, and improvement is to increase the nonlinear compensation of output angle in output element.Those skilled in the art can select compensation
Mode and degree of compensation.
Embodiment 4
Embodiment 4, combines the technological means of above-mentioned 3 embodiments, and Fig. 2 show the schematic diagram of the present embodiment method,
The software principle that i.e. forecasting type commutation failure prevents, software is made up of following steps (part)：
A), 12 road perunit value commutation voltage generation；
B), DC current pretreatment shaping；
C), with reference to a), b) output of step carry out 12 tunnel commutation nargin areal calculations；
D), the output of c) step is compared with reference to CMA values；
E), nonlinear compensation is carried out to d) step output angle；
Effect and implementation method to each part below is described in detail.
As shown in figure 3, the present embodiment employs FPGA.In addition, calculating FPGA can simultaneously realize the lock phase of direct current transportation
Ring and pulse generation unit, can reduce the overall cost of hardware platform.
A), 12 road perunit value commutation voltage generation
Because commutation voltage cannot direct measurement, can only according to the change of current become original edge voltage, tap gear, the YD changes of current become connect
Line form and the change of current become no-load voltage ratio and are calculated.Example below is calculated by taking 11 wiring as an example, the tool of other modes of connection
Body calculating process is repeated no more；The commutation voltage that the YY changes of current become and the YD changes of current become is as follows：
Wherein Ua, Ub, Uc are the perunit values that the change of current becomes primary side phase voltage, and Uy1~Yy6 is the 6 tunnel commutation electricity that the YY changes of current become
Pressure perunit value, Ud1~Ud6 is the 6 road commutation voltage perunit values that the YD changes of current become, and TAP is tap gear coefficient.
B), DC current pretreatment
For 12 pulse conversion devices, DC current contains 12 times and multiplied frequency harmonic under normal circumstances；And in case of a fault,
DC current can contain 50Hz, 100Hz and high frequency harmonic components.Instantaneous value sampling is carried out to DC current, it is likely that adopt
One trough of harmonic current, so as to cause the calculating to commutation overlap area less than normal, that is, the CMA for predicting more inclined than actual value
Greatly, this is unfavorable to prevention commutation failure.Therefore a pretreatment shaping link to DC current, the link pair be increased
The short time window of DC current takes maximum, can play positive to prevention commutation failure using the DC current by shaping
Influence.
C), 12 tunnel commutation nargin areal calculation
A, the commutation voltage and DC current of b step output, and the output of commutating reactance, phase-locked loop pll, by step c
Carry out commutation nargin areal calculation.The present embodiment calculates 12 CMA of bridge arm simultaneously using FPGA, because the parallel computation of FPGA
Characteristic, it is possible to achieve smaller counting period, considers AD conversion time and the transmission time of universal serial bus of analog quantity,
The final counting period for using is 15us.The computation interval of CMA be 120 °~164 °, 164 ° be inverter side maximum allowable triggering
Angle, be the reason for minimum angles take 120 °：Trigger Angle is little to avoiding commutation failure from acting on less than 120 °, but can cause direct current
Brownout, so as to cause straight-flow system overcurrent.
D), 12 tunnels shift to an earlier date trigger angle and minimum value is calculated
Commutation nargin area reference CMAref values are specified commutation voltage area when turning off angle equal to 14 °, when 12
Road CMA is less than or equal to corresponding phaselocked loop phase angle during CMAref, exactly avoids the trigger angle in advance of commutation failure.Each bridge
Arm has the trigger angle in advance of oneself, therefore has 12 trigger angles in advance；Here shift to an earlier date Trigger Angle to 12 and take minimum value,
So be conducive to keeping 12 triggerings at equal intervals of bridge arm during failure.
E), the nonlinear compensation of output angle
CMA computing formula assume that commutation voltage is sine wave, actual in dynamic process, the harmonic wave of commutation voltage and distortion
Larger, now the result of calculation of CMA can not accurately reflect real commutation nargin area, it is possible that result of calculation is than true
The big situation of solid area, so as to cause trigger angle in advance to reduce degree not enough, final influence commutation failure preventive effect.
The nonlinear compensation of output angle effectively solves this problem, and compensation method is divided into two：One is to big
Small compensation, one is compensation to pace of change.It is right when compensation to size refers to that output angle is instructed less than Trigger Angle
Output angle subtracts a compensation rate again；Compensation to pace of change refers to, when output angle changes to 90 °, change not to be limited
Speed, when output angle is to 160 ° of direction changes, by a speed restrictor, commutation when this cuts off for AC fault
Failure is quite effective.The definite value of both compensation is tested by electromagnetic transient simulation and determined.
Specifically, if Fig. 5 is according to a kind of nonlinear compensation link of above-mentioned thinking.With reference to Fig. 2,12 tunnels shift to an earlier date Trigger Angle
Minimum value is input, first passes around the compensation tache to pace of change, and the compensation tache to pace of change categorizes the input into two-way,
Respectively through first order inertial loop and direct output element, output takes minimum value link to first, above-mentioned when defeated for realizing
When going out angle to 90 ° of changes, pace of change is not limited, when output angle is to 160 ° of direction changes, carried out rate limitation.The
One takes minimum value link output αminWith commutation nargin area reference CMAref corresponding angles αCMArefTaken most as second
The input of small value link, second output for taking minimum value link and the deviation of Degree1 or Degree2 are final output.
The selection of Degree1 or Degree2 depends on Ctrl signals, and Ctrl signals are by αminWith αCMArefProduced by comparator, Ctrl
When=1, Degree1 is chosen, during Ctrl=0, choose Degree2.
Both compensation parameter (such as to pace of change compensate in first order inertial loop G and S and to angular dimension benefit
Degree1 and Degree2 in repaying) determination is tested by electromagnetic transient simulation.Because l-G simulation test process belongs to routine techniques
Means, the present embodiment is repeated no more.
Specific embodiment is presented above, but the present invention is not limited to described implementation method, can such as use
Embodiment 1.Basic ideas of the invention are method of the present invention basic scheme, for those of ordinary skill in the art, root
According to the teachings of the present invention, design the model of various modifications, formula, parameter and creative work need not be spent.Do not departing from
Change, modification, replacement and the modification carried out to implementation method in the case of principle of the invention and spirit still fall within of the invention
In protection domain.
Claims (6)
1. a kind of forecasting type commutation failure prevention method, it is characterised in that step is as follows：
A), commutation voltage is measured；
B), DC current is measured；
C), according to a), b) output of step carry out 12 tunnel commutation nargin areal calculations, calculate and realized by FPGA；
D), the output of c) step is compared with commutation nargin area reference CMAref, it is determined that avoiding shifting to an earlier date for commutation failure
Trigger angle；
Step e), nonlinear compensation is carried out to d) step output angle；
The nonlinear compensation includes size compensation and pace of change compensation；Size compensation is to output angle and commutation nargin face
Product reference value CMAref corresponding angles are compared the minimum value for obtaining and subtract compensation rate；Compensation to pace of change refers to when defeated
When going out angle to 90 ° of changes, pace of change is not limited, when output angle is to 160 ° of direction changes, speed is limited.
2. a kind of forecasting type commutation failure prevention method according to claim 1, it is characterised in that in the step c),
12 tunnel commutation nargin areal calculations are carried out using the output of phase-locked loop pll.
3. a kind of forecasting type commutation failure prevention method according to claim 1, it is characterised in that in step d), to meter
The trigger angle of each bridge arm for calculating takes minimum value.
4. a kind of forecasting type commutation failure prevention method according to claim 1, it is characterised in that in step b), to straight
Stream electric current is pre-processed, and the short time window of the DC circuit to gathering takes maximum.
5. a kind of forecasting type commutation failure preventing mean, it is characterised in that including such as lower module：
A), commutation voltage is measured；
B), DC current is measured；
C), according to a), b) output of module carry out 12 tunnel commutation nargin areal calculations, calculate and realized by FPGA；
D), the output of c) module is compared with commutation nargin area reference CMAref, it is determined that avoiding shifting to an earlier date for commutation failure
Trigger angle；
Module e), nonlinear compensation is carried out to d) module output angle；
The nonlinear compensation includes size compensation and pace of change compensation；Size compensation is to output angle and commutation nargin face
Product reference value CMAref corresponding angles are compared the minimum value for obtaining and subtract compensation rate；Compensation to pace of change refers to when defeated
When going out angle to 90 ° of changes, pace of change is not limited, when output angle is to 160 ° of direction changes, speed is limited.
6. a kind of forecasting type commutation failure preventing mean according to claim 5, it is characterised in that in the module c),
12 tunnel commutation nargin areal calculations are carried out using the output of phase-locked loop pll.
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| CN105866602A (en) * | 2016-06-08 | 2016-08-17 | 全球能源互联网研究院 | High-voltage direct current power transformation converter valve phase change failure resistance device |
| CN107039999B (en) * | 2017-06-11 | 2020-05-08 | 天津大学 | Direct-current transmission commutation failure analysis method considering harmonic influence |
| CN108306328B (en) * | 2018-01-13 | 2020-12-11 | 西南交通大学 | Control method for reducing continuous commutation failure of high-voltage direct-current power transmission system |
| CN110212564B (en) * | 2019-06-11 | 2020-07-28 | 重庆大学 | Method for preventing and controlling commutation failure of direct-current power transmission system under power grid fault |
| CN110460087B (en) * | 2019-09-26 | 2020-11-27 | 长沙理工大学 | Improved constant turn-off angle control method |
| CN111416375B (en) * | 2020-03-06 | 2023-06-23 | 天津大学 | Commutation failure prediction method considering transient direct current change process |
| CN111913067A (en) * | 2020-07-31 | 2020-11-10 | 中国南方电网有限责任公司超高压输电公司广州局 | Method, system, device and medium for measuring operation parameters of three-phase asymmetric converter |
| CN112671023A (en) * | 2020-11-20 | 2021-04-16 | 国网湖南省电力有限公司 | HVDC system commutation failure occurrence analysis method considering phase angle jump influence |
| CN113783401B (en) * | 2021-10-15 | 2023-05-09 | 国网四川省电力公司电力科学研究院 | Triggering angle control method, system, device and medium of high-voltage direct-current transmission system |
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