CN105429163B - A kind of DC transmission system converter valve trigger angle control method and control system - Google Patents
A kind of DC transmission system converter valve trigger angle control method and control system Download PDFInfo
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Abstract
The present invention relates to a kind of DC transmission system converter valve trigger angle control method and control systems, when the converter valve to inverter side carries out trigger angle control: when DC current rises or commutation voltage declines, and blow-out angle is when dropping to the PREDICTIVE CONTROL setting valve of setting, blow-out angle predictive control strategy is used to converter valve, the Trigger Angle of the converter valve when blow-out angle is equal to the PREDICTIVE CONTROL setting valve of setting is solved, according to DC current and commutation voltage to realize the control to the Trigger Angle of converter valve.The control mode has the advantages that PREDICTIVE CONTROL can determine Trigger Angle by the real-time change of running situation, while the advantages of the utilization control strategy, overcoming the defect of traditional control method.Moreover, the control method fully meets the requirement of relevant criterion, required parameter regulation is convenient, and control characteristic is good；The stability that can be improved system operation, inhibits the generation of commutation failure.
Description
Technical field
The present invention relates to the controls of the Trigger Angle of DC transmission system converter valve, and in particular to a kind of DC transmission system changes
Flow valve trigger angle control method and control system.
Background technique
DC transmission engineering is the engineering that electric energy transmission is realized in a manner of direct current.Currently, the power generation in electric system
The overwhelming majority with electricity consumption is alternating current, must carry out the change of current using direct current transportation.The place of sending end progress rectifying conversion
It is converting plant, and receiving end carries out the place of inversion transformation Inverter Station.
Core of the DC converter valve as converter station, key equipment guarantee its securely and reliably stable operation, be not only be
The requirement united to device, the even more requirement of unit protection itself.By adjusting Trigger Angle, DC voltage can control, due to line
Roadlock is anti-certain, is cooperated by the voltage difference at rectification, inversion both ends, so that it may control DC current.By controlling DC current
Direct current transmission power can be controlled with voltage.
In the prior art, common to complete the control to Trigger Angle by correspondingly control to above-mentioned several control amounts
The mode of system is mainly include the following types: constant current control, constant voltage control, determine delay angle control, determine leading angle control, determine γ
The multiple control modes such as (blow-out angle) angle control.Wherein, determine the angle γ control be exactly by constantly adjust the Trigger Angle of Inverter Station come
Guarantee that the angle γ is constant, to realize the control to the Trigger Angle of converter valve.Inverter is inverse during by DC inversion at exchange
The converter valve for becoming device has a commutation process, in order to guarantee inverter commutation success, it is desirable that converter valve is from the shutdown (electric current in valve
Be long enough zero) is wanted by the negative time become between positive zero crossing to its voltage so that after valve breakdown in backward voltage when
Between can sufficiently meet the requirement for restoring blocking ability, otherwise when valve powers on buckling timing, valve in the case where no trigger pulse,
It may be connected again, cause commutation failure.Provide that voltage is by the time between the positive zero crossing of negative change on from valve breakdown to valve
Referred to as blow-out angle, also referred to as shutdown angle are indicated with angle.In DC transmission engineering, inverter side is designed with gamma kick device, right
Blow-out angle is controlled, and is controlled with realizing Trigger Angle, is prevented Commutation Failure.
Above-mentioned several trigger angle control modes to a certain extent can effectively control the triggering of converter valve,
But these types of mode also have the defects that it is certain.Under normal circumstances, usually have two regardless of the automatic control of sample
Kind control mode: closed-loop control and opened loop control.It wherein, is can have higher control precision, disadvantage the advantages of closed-loop control
It is exactly that response speed is slow, does not can avoid commutation failure；The advantages of opened loop control is true in real time the case where capable of being run according to system
Determine Trigger Angle, response speed is quick, and disadvantage is exactly the property at equal intervals it cannot be guaranteed that between each phase trigger pulse.So cannot be real
Now to Trigger Angle it is effective control under the premise of, be difficult the stabilization of holding system and the stabilization of power transmission, the exchange to both ends
System causes to impact, and causes AC system operation difficult.
Summary of the invention
It is traditional to solve the object of the present invention is to provide a kind of DC transmission system converter valve trigger angle control method
The problem of control method is haveed the defects that a certain extent.Present invention simultaneously provides a kind of triggerings of DC transmission system converter valve
Angle control system.
To achieve the above object, the solution of the present invention includes a kind of DC transmission system converter valve trigger angle control method,
When the converter valve to inverter side carries out trigger angle control: when DC current rises or commutation voltage declines, and blow-out angle
When dropping to the PREDICTIVE CONTROL setting valve of setting, blow-out angle predictive control strategy is used to converter valve, according to DC current and is changed
Phase voltage controls blow-out angle using forecasting type blow-out angle algorithm: being solved according to DC current and commutation voltage and works as blow-out
The Trigger Angle of converter valve when angle is equal to the PREDICTIVE CONTROL setting valve of the setting, to realize the control to the Trigger Angle of converter valve.
When determining invalid using the condition of blow-out angle predictive control strategy to converter valve, closed loop control is used to converter valve
System strategy, obtains an error amount after the blow-out angle of actual measurement is compared with the closed-loop control setting valve of setting, utilize
The error amount carries out closed-loop control to blow-out angle, to realize the control to the Trigger Angle of converter valve.
The Trigger Angle calculation formula are as follows:
Wherein, γ=γ02, γ02For the PREDICTIVE CONTROL setting valve of setting, k2For transformer voltage ratio, RciFor impedance value.
The Trigger Angle of the converter valve solved is sent in a PI controller；According to the setting valve and reality of DC current
Error between measurement current value obtains the control error of DC current, while according to the setting valve and actual measurement of commutation voltage
Error between voltage value obtains the control error of commutation voltage, the control error of DC current and the control error of commutation voltage
After maximum selection rule, maximum control error is selected, is then delivered in the PI controller, according to described maximum
Control error is modified the Trigger Angle solved, then exports revised Trigger Angle.
The converter valve trigger angle control method further includes carrying out trigger angle control to the converter valve of rectification side, specifically: it will
Actual DC current value exports a current error value after being compared with the current setting of setting, passes through the DC error value
The Trigger Angle of rectification side converter valve is controlled.
A kind of DC transmission system converter valve trigger angle control system, inverter side are gamma kick structure, including prediction
Type blow-out angle computing module, PI control module and alternative selecting module；DC current and commutation voltage input to forecasting type and put out
Arc angle computing module, for forecasting type blow-out angle computing module by corresponding second Trigger Angle is calculated, second Trigger Angle is defeated
Enter to one of input terminal of the PI control module, the output end of the PI control module connects alternative selecting module；
When DC current rises or commutation voltage declines, and when blow-out angle drops to the PREDICTIVE CONTROL setting valve of setting, described two
A selecting module is selected to select second Trigger Angle.
The gamma kick structure further includes error calculating module and Trigger Angle generation module, the error calculating module
Another input terminal of the alternative selecting module is connected to by the Trigger Angle generation module；The blow-out angle of actual measurement
The error calculating module is inputed to respectively with the closed-loop control setting valve of setting, the error of both error calculating module output
Value, Trigger Angle generation module generates corresponding first Trigger Angle according to the error amount of the rwo, and first Trigger Angle inputs to
Alternative selecting module；When determine the alternative selecting module select second Trigger Angle condition it is invalid when, two choosings
One selecting module selects the first Trigger Angle.
The gamma kick structure further includes maximum selection rule module, described in the maximum selection rule module output connection
Another input terminal of PI control module；Error amount and commutation electricity between the setting valve and actual measurement current value of DC current
Error amount between the setting valve and actual measurement voltage value of pressure inputs to the maximum selection rule module respectively, by maximum value
After selection, the maximum selection rule module exports biggish error amount, is then fed to the PI control module, for the
Two Trigger Angles are modified.
The control system further includes rectification side subsystem, and the rectification side subsystem includes amplification module and phase controlling mould
Block, the error amount between actually detected DC current values and the setting valve of setting input to the amplification module, and signal is through putting
The phase control module is inputed to after big, phase control module generates corresponding Trigger Angle.
It is carried out using converter valve of the DC transmission system converter valve trigger angle control method provided by the invention to inverter side
When trigger angle control, first determine whether DC current whether rise perhaps commutation voltage whether decline when DC current rise or
When commutation voltage declines, and when blow-out angle drops to the PREDICTIVE CONTROL setting valve of setting, the pre- observing and controlling in blow-out angle is used to converter valve
System strategy.The control method controls converter valve according to different situations, ensure that the flexibility of control, moreover, can
It selects suitable control strategy to be controlled, ensure that the high efficiency of converter valve trigger angle control.In addition, the control mode has
PREDICTIVE CONTROL can be by the real-time change of running situation come the advantages of determining Trigger Angle, while utilizing the control strategy
Advantage overcomes the defect of traditional control method.Moreover, the control method fully meets the requirement of relevant criterion, required ginseng
Number is easy to adjust, and control characteristic is good；The stability that can be improved system operation, inhibits the generation of commutation failure.
Detailed description of the invention
Fig. 1 is the trigger angle control figure of inverter side converter valve；
Fig. 2 is the trigger angle control figure of rectification side converter valve.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawing.
Embodiment 1
DC transmission system converter valve trigger angle control method provided by the invention includes to inverter side converter valve and rectification
The control of the Trigger Angle of side converter valve, wherein inverter side converter valve uses constant current control using the angle γ complex controll, rectification side is determined
System.
DC transmission system converter valve trigger angle control system provided by the invention includes inverter side subsystem and rectification side
Subsystem.
For inverter side subsystem, as shown in Figure 1, including adder, Trigger Angle generation module, maximum-value selector, the
One PI controller, forecasting type blow-out angle computing module and selector, adder are connected to selector by Trigger Angle generation module
An input terminal；Forecasting type blow-out angle computing module exports an input terminal for being connected to the first PI controller, maximum value choosing
Another input terminal that device output is connected to the first PI controller is selected, the output end of the first PI controller connects the another of selector
One input terminal.Wherein, Trigger Angle generation module is made of sequentially connected 2nd PI controller and phase-control circuit.
When the Trigger Angle of the converter valve to inverter side controls: under inverter side, nominal situation can with stable operation,
Once fault in ac transmission system, will lead to the decline of inverter side voltage, electric current increases.Because of β=γ+μ, β is constant, changing after commutation
Valve is flowed due to not having time enough shutdown, and commutation failure will persistently occur, unavoidable.To avoid commutation failure, it is desirable that inverse
The blow-out angle γ for becoming device must not drop below γmin；And on the other hand, it is as much as possible in order to improve inverter power factor as far as possible
Transimission power, and make invertor operation in preferable operating condition, and γ is required to want as small as possible.In order to meet this to conflicting
Demand, it is desirable to which the control of the angle γ is determined in inverter side setting.
Group control system, from the current over-zero of converter valve to the time of voltage zero-cross, obtains the actual γ of converter valve by measurement
The size at angle.Current zero-crossing signal is detected by silicon-controlled electronic equipment, is input to group control by VBE, and voltage zero-crossing signal is with changing
The original edge voltage of convertor transformer generates.With three phase voltages of converter power transformer primary side, phase voltage and line voltage are being produced just
To the zero cross signal with negative sense.According to the mode of connection of converter power transformer, according to voltage zero-crossing signal and current zero-crossing signal meter
Calculate the angle γ of converter valve.
The trigger angle control method of inverter side converter valve includes two kinds of control strategies: blow-out angle predictive control strategy and closed loop
Control strategy.Pass through Rule of judgment: whether DC current rises or whether commutation voltage declines accordingly to select corresponding plan
Slightly: when DC current rises or commutation voltage declines, and when blow-out angle drops to the PREDICTIVE CONTROL setting valve of setting, exchange
It flows valve and uses blow-out angle predictive control strategy, otherwise, Closed-loop Control Strategy is used to converter valve.It is specific:
The real extinction angle γ of the actual measurement and setting valve γ of setting01Adder is inputed to respectively, is fallen into a trap in adder
Error between the two or referred to as deviation delta gamma are calculated, is Δ γ=γ-γ01, PI of the deviation delta gamma through the 2nd PI controller
It is sent to phase-control circuit after adjusting, obtains revised Trigger Angle by phase-control circuit, passes through the revised triggering
Angle achievees the purpose that reduce or eliminate error.Obtained Trigger Angle inputs to selector.
In the embodiment, the setting valve γ of the angle γ closed-loop control01It can be set to 17 °, setting valve γ01Cannot with change
The angle γ control settings in rheology tap changer control mutually conflict, setting valve γ01Become the angle γ in tap changer control than the change of current
Setting value is small, and to avoid before the change of current becomes tap changer control reduction voltage, γ angle controller works.
The control and regulation characteristic of 2nd PI controller are as follows:
ΔUk=Δ α=G (s) × Δ γ (1)
In formula (1): G (s) is the transmission function of the 2nd PI controller, expression formula are as follows:
In formula (2): k is the amplification factor of the 2nd PI controller, and T is the time constant of the 2nd PI controller.
By the actually detected DC current I arriveddWith commutation voltage UacInput to forecasting type blow-out angle computing module, the prediction
Type blow-out angle computing module is a software module, is provided with forecasting type blow-out angle computational algorithm, forecasting type blow-out angle meter
Module is calculated according to DC current IdWith commutation voltage Uac, prediction calculating is carried out to blow-out angle γ using computational algorithm, solves and works as
γ=γ02Trigger Angle α, expression formula are as follows:
In formula (3), k2For transformer voltage ratio；RciFor impedance value；γ02For the setting valve of PREDICTIVE CONTROL, γ02It is slightly less than and closes
The setting valve γ of ring control01。
As γ=γ02When the Trigger Angle α that solves be transported in the first PI controller.
The DC current values I of actual measurementdWith DC current setting valve after difference calculates, a current error is obtained
Value generates the control error delta I of DC current after the processing such as nonlinear elementd；The commutation voltage value of actual measurement simultaneously
With commutation voltage setting valve after difference calculates, a voltage error value is obtained, after the processing such as nonlinear element, is generated
The control error delta U of commutation voltaged, the control error delta I of DC currentdWith the control error delta U of commutation voltagedIt is input to most
In big value selector, after maximum selection rule, the maximum value between two control errors is selected, and exports to the first PI
In controller.
First PI controller is according to the control error delta I of DC currentdOr the control error delta U of commutation voltagedTo forecasting type
The Trigger Angle that blow-out angle computing module solves is modified, and then exports revised Trigger Angle.DC current increase or
During person's commutation voltage reduces, according to the difference that electric current increase or voltage reduce, reduce Trigger Angle to corresponding ratio.
According to the setting valve γ of the real extinction angle γ of actual measurement and setting01The Trigger Angle solved passes through a data
Channel input ports are conveyed to selector, and the Trigger Angle of the first PI controller output is defeated by another data channel input port
Give selector, the selector be alternative, maximum-value selector, after capable of being compared to two input quantities export one compared with
Big value, when the channel selecting signal control terminal of selector is respectively 0 or 1, it is defeated that the output end of selector will export respectively two
One of input quantity in inbound port；Wherein, when DC current rises IdOr commutation voltage UacWhen decline, signal control terminal
1 is set, the corresponding data of forecasting type blow-out angle computing module, the i.e. Trigger Angle of the first PI controller of output output are exported.
The converter valve drive dynamic control device of DC transmission system generates corresponding according to the Trigger Angle that alternative selector exports
Triggering control pulse, control converter valve switched accordingly.It is existing to show that corresponding trigger pulse belongs to according to Trigger Angle
Technology is not described herein.
Rectification side subsystem includes amplification module and phase-control circuit, as shown in Fig. 2, actually detected DC current values
Error amount between the setting valve of setting inputs to amplifier, and signal is amplified to input to phase-control circuit, phase control
The corresponding Trigger Angle of circuit evolving processed.
The actual DC current value I that DC current transformer measuresdWith setting valve Id0Current error is obtained after being compared
Value, is amplified error amount by amplifier；The output of amplifier connects phase-control circuit, raw by phase-control circuit
At the Trigger Angle of rectifier.The rectification side subsystem is generally a closed-loop control system, by the electricity for detecting DC side
Then flow valuve carries out closed-loop control, to guarantee IdEqual or close to Id0.The rectification subsystem is carrying out reality to DC current
When effect, such as: if current actual value is less than normal, which triggers angular 5 ° of directions movement for adjustment, that is, increases touching
Angle is sent out, DC current is increased；If DC current is bigger than normal, which triggers angular 160 ° of directions movement for adjustment, i.e.,
Reduce Trigger Angle, reduces DC current.In rectification side, the input of the rectification subsystem is current setting and actual current
Deviation, the output obtained by this deviation driving phase-control circuit is i.e. as the coherent signal of Trigger Angle.
The trigger angle control of inverter side converter valve is answered by what Closed-loop Control Strategy and blow-out angle predictive control strategy formed
Conjunction mode, by calculate needed for Trigger Angle size, keep the angle γ it is constant, the existing high control precision of Compound Control Strategy it is excellent
Point, and improve the stability of entire control system.The significantly change of electric current is prevented using the constant current control of rectification side
Change, while keeping DC voltage most under inverter side converter valve safe operating conditions using the angle the γ complex controll of determining of inverter side
Height, this can preferably inhibit the generation of commutation failure.
Control system in the present invention can use hardware configuration, can also use software sharing.
In above-described embodiment, as γ=γ02When the Trigger Angle α that solves be transported in the first PI controller, then basis
The control error delta I of DC currentdOr the control error delta U of commutation voltagedThe touching that forecasting type blow-out angle computing module is solved
Hair angle is modified, this is a kind of embodiment of optimization, Trigger Angle can be more accurately exported, as other embodiment party
Formula, as γ=γ02When the Trigger Angle α that solves can be directly output to selector without amendment.
In above-described embodiment, when DC current rises or commutation voltage declines, and blow-out angle drops to the pre- of setting
When observing and controlling setting valve, blow-out angle predictive control strategy is used to converter valve, otherwise, Closed-loop Control Strategy is used to converter valve.
As other embodiments, when the decision condition of blow-out angle predictive control strategy is invalid, plan is controlled to converter valve others
It is slightly not limited to closed-loop control, is also possible to the control strategy of other forms, such as: opened loop control etc..
Embodiment 2
In above-described embodiment, carry out the control of Trigger Angle to the converter valve of inverter side and rectification side, the present embodiment with it is upper
The difference for stating embodiment is: the trigger angle control system in the present embodiment only has inverter side subsystem, in period control method
Trigger angle control only is carried out to the converter valve of inverter side, particular content is identical as the corresponding contents in above-described embodiment, here not
It repeats.
Specific embodiment is presented above, but the present invention is not limited to described embodiment.Base of the invention
This thinking is above-mentioned basic scheme, and for those of ordinary skill in the art, various changes are designed in introduction according to the present invention
The model of shape, formula, parameter do not need to spend creative work.It is right without departing from the principles and spirit of the present invention
The change, modification, replacement and modification that embodiment carries out are still fallen in protection scope of the present invention.
Claims (7)
1. a kind of DC transmission system converter valve trigger angle control method, which is characterized in that carried out in the converter valve to inverter side
When trigger angle control: when DC current rise or commutation voltage decline when, and blow-out angle drop to setting PREDICTIVE CONTROL it is whole
When definite value, blow-out angle predictive control strategy is used to converter valve, forecasting type blow-out angle is used according to DC current and commutation voltage
Algorithm controls blow-out angle: being solved according to DC current and commutation voltage when blow-out angle is equal to the pre- observing and controlling of the setting
The Trigger Angle of converter valve when setting valve processed, to realize the control to the Trigger Angle of converter valve；
When determining invalid using the condition of blow-out angle predictive control strategy to converter valve, closed-loop control plan is used to converter valve
Slightly, an error amount is obtained after the blow-out angle of actual measurement is compared with the closed-loop control setting valve of setting, utilizes the mistake
Difference carries out closed-loop control to blow-out angle, to realize the control to the Trigger Angle of converter valve；
The PREDICTIVE CONTROL setting valve of the setting is less than the closed-loop control setting valve of the setting.
2. DC transmission system converter valve trigger angle control method according to claim 1, which is characterized in that the triggering
Angle calculation formula are as follows:
Wherein, γ is blow-out angle, and α is Trigger Angle, IdFor DC current, UacFor commutation voltage, γ=γ02, γ02For the pre- of setting
Observing and controlling setting valve, k2For transformer voltage ratio, RciFor impedance value.
3. DC transmission system converter valve trigger angle control method according to claim 1, which is characterized in that will solve
The Trigger Angle of converter valve be sent in a PI controller；According between the setting valve of DC current and actual measurement current value
Error obtains the control error of DC current, while according to the error between the setting valve of commutation voltage and actual measurement voltage value
Obtain the control error of commutation voltage, the control error of the control error of DC current and commutation voltage by maximum selection rule it
Afterwards, maximum control error is selected, is then delivered in the PI controller, according to the maximum control error to solving
Trigger Angle be modified, then export revised Trigger Angle.
4. DC transmission system converter valve trigger angle control method according to claim 1, which is characterized in that the converter valve
Trigger angle control method further includes carrying out trigger angle control to the converter valve of rectification side, specifically: by actual DC current value with
The current setting of setting exports a current error value after being compared, by the current error value to rectification side converter valve
Trigger Angle is controlled.
5. a kind of DC transmission system converter valve trigger angle control system, which is characterized in that inverter side is gamma kick structure,
Including forecasting type blow-out angle computing module, PI control module and alternative selecting module；DC current and commutation voltage input to
Forecasting type blow-out angle computing module, forecasting type blow-out angle computing module is by being calculated corresponding second Trigger Angle, this second
Trigger Angle inputs to one of input terminal of the PI control module, the output end connection alternative choosing of the PI control module
Select module；When DC current rises or commutation voltage declines, and when blow-out angle drops to the PREDICTIVE CONTROL setting valve of setting,
The alternative selecting module selects second Trigger Angle；
The gamma kick structure further includes error calculating module and Trigger Angle generation module, and the error calculating module passes through
The Trigger Angle generation module is connected to another input terminal of the alternative selecting module；The blow-out angle of actual measurement with set
Fixed closed-loop control setting valve inputs to the error calculating module respectively, the error amount of both error calculating module output,
Trigger Angle generation module generates corresponding first Trigger Angle according to the error amount of the rwo, and first Trigger Angle inputs to two choosings
One selecting module；When determine the alternative selecting module select second Trigger Angle condition it is invalid when, alternative choosing
It selects module and selects the first Trigger Angle；
The PREDICTIVE CONTROL setting valve of the setting is less than the closed-loop control setting valve of the setting.
6. DC transmission system converter valve trigger angle control system according to claim 5, which is characterized in that the blow-out
Angle control structure further includes maximum selection rule module, and the maximum selection rule module output connects the another of the PI control module
A input terminal；The setting valve and reality of error amount and commutation voltage between the setting valve and actual measurement current value of DC current
Measurement voltage value between error amount input to the maximum selection rule module respectively, after maximum selection rule, it is described most
Big value selecting module exports biggish error amount, the PI control module is then fed to, for repairing to the second Trigger Angle
Just.
7. DC transmission system converter valve trigger angle control system according to claim 6, which is characterized in that the control system
System further includes rectification side subsystem, and the rectification side subsystem includes amplification module and phase control module, and actually detected is straight
Error amount between galvanic electricity flow valuve and the setting valve of setting inputs to the amplification module, and signal is amplified to input to the phase
Position control module, phase control module generate corresponding Trigger Angle.
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| CN106787896B (en) * | 2017-03-02 | 2018-12-21 | 南方电网科学研究院有限责任公司 | Circuit for avoiding abnormal arc extinguishing angle measurement and circuit for avoiding direct current transmission commutation failure |
| CN109449893B (en) * | 2018-10-23 | 2019-12-10 | 三峡大学 | high-voltage direct-current transmission line protection method based on trigger angle control characteristic |
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