CN105633981B - A kind of THE UPFC additional longitudinal forces system for suppressing sub-synchronous oscillation - Google Patents
A kind of THE UPFC additional longitudinal forces system for suppressing sub-synchronous oscillation Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/002—Flicker reduction, e.g. compensation of flicker introduced by non-linear load
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Abstract
The invention discloses a kind of THE UPFC additional longitudinal forces system for suppressing sub-synchronous oscillation, including Subsynchronous Damping Controller, its additional control signals is superimposed upon at the current inner loop control instruction of THE UPFC parallel connection side transverter and the idle control loop of series side transverter respectively；Subsynchronous Damping Controller includes multiple subsynchronous Model control loops, each subsynchronous Model control loop includes modal filter, scaling module, the phase shifter for realizing phase compensation, and the output signal superposition in each subsynchronous Model control loop simultaneously forms the additional control signals of Subsynchronous Damping Controller output after amplitude limit；And Subsynchronous Damping Controller is using generator shafting rotating speed deviation as input control signal.The THE UPFC supplementary subsynchronous damping control system of the present invention, can successfully suppress the sub-synchronous oscillation of power system, and not interfere with the normal table operation of system and THE UPFC device.
Description
Technical field
The present invention relates to a kind of THE UPFC (Unified Power Flow for suppressing sub-synchronous oscillation
Controller, UPFC) additional longitudinal forces system, belong to sub-synchronous oscillation (Subsynchronous Oscillation,
SSO) suppression technology field.
Background technology
With the propulsion of China " transferring electricity from the west to the east " electric power development strategy, to meet the large-scale power supply base away from load center
Electric power sends demand outside, and series capacitor compensation transmission of electricity, D.C. high voltage transmission (HVDC) are widely used in China；However,
Series capacitor compensation is transmitted electricity and D.C. high voltage transmission is while improving power transmitting capability, bringing tremendous economic, also makes electricity
Force system is faced with the SSO problems of sternness.
Flexible AC transmission (FACTS) device the most powerful as function now, THE UPFC (UPFC) is no
Only reactive-load compensation, regulating system voltage can be provided to system, can also realize effective control to system effective power flow and reactive power flow
System, possesses extensive popularizing application prospect in power system.Existing Unified Power Flow control system is to the secondary same of power system
Step vibration is bigger.
UPFC devices include side transformer-transverter in parallel, series connection side transformer-transverter and DC capacitor, and UPFC is simultaneously
The vector controlled of both ends node voltage orientation is respectively adopted in connection side transverter (VSC1) and series side transverter (VSC2).In its control
Under the adjustment effect of device processed, UPFC series/parallels side transverter is respectively to the controllable voltage U of system output amplitude and phase angleseWith
Ush.UPFC devices wiring schematic diagram is referring to Fig. 1 (a) and equivalent circuit diagram referring to Fig. 1 (b)；Fig. 2 (a) is UPFC parallel connections side transformation
Device-transverter VSC1 control block diagrams；Fig. 2 (b) is UPFC series connection side transformer-transverter VSC2 control block diagrams.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of Unified Power Flow control for suppressing sub-synchronous oscillation
Device additional longitudinal forces system processed, designed THE UPFC supplementary subsynchronous damping control device, can successfully suppress
The sub-synchronous oscillation of power system, and do not interfere with the normal table operation of system and THE UPFC device.
To achieve these goals, the present invention is to realize by the following technical solutions：
The system utilizes designed Subsynchronous Damping Controller to act on THE UPFC control loop, reaches secondary
The purpose that synchronized oscillation suppresses.
A kind of THE UPFC additional longitudinal forces system of suppression sub-synchronous oscillation of the present invention, Unified Power Flow control
Device device processed includes side transverter in parallel, series side transverter and DC capacitor, including Subsynchronous Damping Controller, and described time same
Walk the additional control signals u of damping controllerdamp_shAnd udamp_seBe superimposed upon respectively side transverter and series side transverter in parallel without
At the q shaft current inner ring control instructions of work(control loop；The Subsynchronous Damping Controller includes multiple subsynchronous Model controls
Loop, each subsynchronous Model control loop include modal filter, for being put to the ratio that input signal is amplified
Big module and the phase shifter for realizing phase compensation, the output signal in each subsynchronous Model control loop are superimposed and through amplitude limit
The additional control signals u of Subsynchronous Damping Controller output is formed after moduledamp_shAnd udamp_se；The subsynchronous damping control
Device processed is with generator shafting rotating speed deviation delta ωGTo input control signal.
Wherein, the modal filter, for realizing the uneoupled control to different SSO mode, the mode of each control loop
Wave filter is composed in series by the bandpass filter of corresponding modal frequency and the bandstop filter of other modal frequencies；
Wherein, the scaling module, for being amplified regulation to filtered mode signals, to add subsynchronous resistance
Buddhist nun's controller provides sufficiently large signal；
Wherein, the phase shifter, for compensating modal filter, UPFC transverters-connection transformer, power system pair
The lagging phase of SSO modal frequency signals, generate Model control signal；
Wherein, the clipping module, the superposed signal of the Model control signal for being generated to each Model control loop are entered
Row amplitude limit, generate the subsynchronous additional control signals of final THE UPFC.
Above-mentioned Subsynchronous Damping Controller uses the Multi Channel Controller structure of modal separation, for each synchronized oscillation mould
State carries out uneoupled control.
Above-mentioned modal filter is by the bandpass filter of corresponding modal frequency and the bandstop filter string of other modal frequencies
Connection composition.
If the angular frequency of mode i component is ω in shaft system of unit rotating speedi, amplitude Ai, initial phase beThe side change of current in parallel
Phase shift and multiplication factor of the device additional controller to mode i frequency components are respectively kishAnd θish, then it is superimposed to UPFC parallel connections side
Converter controller inner ring current control instruction additional control signals be
UPFC parallel connections side transverter can quickly track additional control signals, and its corresponding subsynchronous frequency current exported is
In formula, TshiOperating lag for side transverter in parallel to mode i frequency signals, s are Laplace operators；
Flow into the subsynchronous electric current I of generator armature windinggenq_shiFor
In formula, Zgen_i、Zsys_shiRespectively under mode i frequencies, from UPFC nodes to the equivalent impedance of generator, system pair
UPFC equivalent impedance；GishAnd φishThe respectively amplitude-frequency response of UPFC parallel connections side transverter and system to mode i frequency signals
And phase-frequency response；
So as to, can obtain the subsynchronous electric current of the mode i frequencies of UPFC parallel connections side transverter output, through generator armature around
Subsynchronous torque Δ T is added caused by groupei_shFor
In formula, UGFor generator terminal voltage, δshFor the advanced UPFC parallel connections side joint access point voltage U of generator terminal voltage1
Angle；ωGFor generator speed, its ω in the steady stateG≈ 1.0p.u., so as to above formula can abbreviation be
Similarly, can obtain UPFC series sides transverter output mode i frequencies subsynchronous electric current, through generator armature around
Subsynchronous torque Δ T is added caused by groupei_seFor
In formula, θiseAnd kiseRespectively phase shift and amplification of the series side transverter additional controller to mode i frequency components
Multiple, GiseAnd φiseThe respectively amplitude-frequency response and phase frequency response of UPFC series sides transverter and system to mode i frequency signals
Should, δseFor the advanced UPFC series sides access point voltage U of generator terminal voltage2Angle；
Subsynchronous electromagnetic torque Δ T is added as caused by UPFC supplementary subsynchronous damping controlsei_shWith Δ Tei_seTable
Understood up to formula, adjust the phase shift theta of additional controller mode i control loopsishAnd θise, and multiplication factor kishAnd kise, make its
Sufficiently large positive additional electromagnetic torque Δ T is produced in generatorei_shWith Δ Tei_se, you can reaching suppression, the mode is subsynchronous shakes
The purpose swung.
For the system that sub-synchronous oscillation is stable, i.e. Ai=0, so as to there is the additional control signals in each Model control loop
udampi=0, Jin Eryou
udamp=∑ udampi=0 (i=1,2 ..., n)
That is Subsynchronous Damping Controller exports as 0 under steady state conditions, does not interfere with system and THE UPFC dress
Put normal operation in the steady state.
The beneficial effects of the invention are as follows：
By the secondary control loop supplementary subsynchronous damping control in THE UPFC, to reach sub-synchronous oscillation
The purpose of suppression, without increasing a new electrical equipment, cost of investment is low；Multi-modal to power system time can be realized simultaneously together
The suppression of vibration is walked, ensures the safety of power equipment, improves the stability of power system.
Brief description of the drawings
Fig. 1 (a) is UPFC wiring schematic diagrams；
Fig. 1 (b) is UPFC equivalent circuit diagrams；
Fig. 2 (a) is UPFC parallel connections side transformer-transverter VSC1 control block diagrams；
Fig. 2 (b) is UPFC series connection side transformer-transverter VSC2 control block diagrams；
Fig. 3 is the compensated transmission system wiring diagram containing UPFC；
Fig. 4 is UPFC supplementary subsynchronous damping control device theory diagrams；
Fig. 5 (a) is UPFC and the subsynchronous electric current equivalent circuit of side transverter；
Fig. 5 (b) is UPFC and side transverter phase schematic diagram；
Fig. 6 (a) is steam-electric generating set shafting rotating speed deviation and moment of torsion；
Fig. 6 (b) is that series/parallel side transverter SSDC puts into operation front and rear system emulation result；
Fig. 7 (a) is steam-electric generating set shafting rotating speed deviation and moment of torsion；
Fig. 7 (b) is that series side transverter SSDC puts into operation front and rear system emulation result；
Fig. 8 (a) is steam-electric generating set shafting rotating speed deviation and moment of torsion；
Fig. 8 (b) is that transverter SSDC in side in parallel puts into operation front and rear system emulation result；
Fig. 9 is the THE UPFC additional longitudinal forces system block diagram for suppressing sub-synchronous oscillation.
Embodiment
To be easy to understand the technical means, the inventive features, the objects and the advantages of the present invention, with reference to
Embodiment, the present invention is expanded on further.
Additional controller feedback control signal：To reach suppression system SSO purpose, UPFC devices need to be controlled to be noted to system
Enter the subsynchronous frequency current of complement frequency.Using generator shafting rotating speed deviation as feedback control signal, and due to UPFC
Converter controller contains current inner loop control link, UPFC output currents can quick follow current inner loop control signal, therefore
Additional control signals are superimposed at the current inner loop instruction of UPFC converter Controls.It is ω for frequencyiSSO mode, it is secondary
Synchronous additional controller will be superimposed ω in the dq shaft currents inner ring instruction of UPFC converter ControlsiThe signal of frequency, warp
UPFC converter Controls dq controls UPFC to inject complement frequency (ω to system to after adc Coordinate Conversions0-ωi) it is subsynchronous
Electric current, ω0For system power frequency angular frequency.
Additional control signals on-position：It is to maintain UPFC normal operations due to keeping UPFC DC bus-bar voltages constant
The most important condition, therefore do not consider that SSO SSDC (subsynchronous additional damping controller) signal u will be suppresseddamp_shIt is superimposed to UPFC simultaneously
Join the DC voltage control loop of side transverter；Meanwhile to reduce the disturbance to system power, also do not consider in UPFC series sides
The real power control loop superposition SSDC signals u of transverterdamp_se.Therefore, to UPFC and it is to reduce UPFC additional controls as far as possible
The influence for trend of uniting, UPFC series/parallels side additional control letter (udamp_shAnd udamp_se) it is superimposed upon the q axles of idle control loop
At current inner loop instruction, referring to shown in Fig. 2 (a) and Fig. 2 (b).
Additional controller integral link：To make additional controller reach the effect of SSO suppression, controller is filtered by mode
Device, phase shifter, scaling link and amplitude limit link composition.The performance requirement and setting principle of each link are as follows：
For modal filter, to realize the uneoupled control to different SSO mode, the modal filter of each control loop should
It is composed in series by the bandpass filter of corresponding modal frequency and the bandstop filter of other modal frequencies；
Phase shifter should can compensate for corresponding modal filter, the UPFC changes of current to the phase shift angle of corresponding mode frequency signal
Device-connection transformer, power system to the lagging phase of the modal frequency signal so that SSDC provided to the mode it is positive attached
Add subsynchronous damping；
Scaling link gain should it is moderate, can not be too small or excessive, provided with to ensure SSDC to corresponding SSO mode positive
Additional subsynchronous damping is more than the negative damping of system in itself, and does not endanger the stability of UPFC control systems；
Amplitude limit link amplitude limit value should not be excessive, to ensure UPFC devices to basic functions such as system voltage, power flow regulatings not
Influenceed by SSDC.
Additional controller Multi-mode control structure：Because single control loop is while a certain mode SSO is suppressed, phase shift
Effect of phase compensation caused by device may have a negative impact to other subsynchronous mode, and therefore, UPFC connects in the present invention
Side transverter and transverter SSDC in side in parallel use the Multi Channel Controller structure of modal separation.Each subsynchronous mode controls of SSDC
Loop processed is formed by modal filter, scaling link, phase compensation link, and the output signal in each Model control loop is folded
Adduction forms the additional control signals of SSDC outputs after amplitude limit.
By taking the system shown in Fig. 3 as an example, research UPFC supplementary subsynchronous damping controls device (SSDC) suppresses power system SSO
The application of problem.2 600MW Turbo-generator Sets fill through valve system, wherein circuits 1 such as double back transmission line accesses in the system
Provided with 45% fixed series capacitor compensation；2 600MW units use China's type unit actual parameter, shafting by
Height-intermediate pressure cylinder mass (HIP), low pressure (LP) cylinder B masses (LBP), low pressure (LP) cylinder A masses (LAP) and generator mass (GEN)
4 masses form, and corresponding 3 natural torsional oscillation mode frequencies of shafting are respectively 13.34Hz (mode 1), 22.72Hz (mode 2)
With 27.74Hz (mode 3).
Because steam-electric generating set shafting has 3 subsynchronous mode in system shown in Figure 3, therefore designed by the system
UPFC device series/parallels side transverter SSDC contains 3 subsynchronous Model control loops, the UPFC device series/parallel side changes of current
Device SSDC structures are as shown in Figure 4.
If the angular frequency of mode i component is ω in shaft system of unit rotating speedi, amplitude Ai, initial phase beAdditional controller
Phase shift and multiplication factor to mode i component are respectively kiAnd θi, then the additional control signals for being superimposed to UPFC controllers are
Below by taking transverter additional control in side in parallel as an example, its suppression system SSO mechanism and parameter tuning principle are derived.
UPFC parallel connections side transverter can quickly track additional control signals, and its corresponding subsynchronous frequency current exported is
In formula, TshiOperating lag for side transverter in parallel to mode i frequency signals.
Then flow into the subsynchronous electric current I of generator armature windinggenq_shiFor
Z in formulagen_i、Zsys_shiRespectively under mode i frequencies, from UPFC nodes to the equivalent impedance of generator, system pair
UPFC equivalent impedance, it is shown in Figure 5；GishAnd φishRespectively UPFC parallel connections side transverter and system are believed mode i frequencies
Number amplitude-frequency response and phase-frequency response.
So as to can obtain the subsynchronous electric current of the mode i frequencies of UPFC parallel connections side transverter output, be produced in generator
Raw additional subsynchronous torque Δ Tei_shFor
U in formulaGFor generator terminal voltage, δshFor the advanced UPFC parallel connections side joint access point voltage U of generator terminal voltage1's
Angle；ωGFor generator speed, its ω in the steady stateG≈ 1.0p.u., so as to above formula can abbreviation be
Similarly, added caused by the subsynchronous electric current that can obtain the mode i frequencies of UPFC series sides transverter output secondary
Synchronizing torque Δ Tei_seFor
K in formulaishAnd θishPhase shift and times magnification of the transverter additional controller in side respectively in parallel to mode i frequency components
Number, GiseAnd φiseThe respectively amplitude-frequency response and phase-frequency response of UPFC series sides transverter and system to mode i frequency signals,
δseFor the advanced UPFC series sides access point voltage U of generator terminal voltage2Angle.
By adding subsynchronous torque Δ Tei_shWith Δ Tei_seExpression formula understand, adjustment additional controller mode i control back
The phase shift theta on roadishAnd θise, and multiplication factor kishAnd kise, it is produced sufficiently large positive electromagnetic torque Δ in generator
Tei_shWith Δ Tei_se, you can suppress mode i SSO problems.
Fig. 6 (a), Fig. 6 (b) give the UPFC series/parallels side transverter SSDC that designs of the present invention put into operation it is front and rear
(SSDC puts into operation in 4s), shaft system of unit and UPFC simulation result；It can be seen that system SSO dissipates before SSDC puts into operation
Unstability, system SSO is stable after SSDC puts into operation, i.e., UPFC supplementary subsynchronous damping controls device (SSDC) proposed by the invention
Can effective suppression system SSO problems.Fig. 7 (a), Fig. 7 (b) and Fig. 8 (a), Fig. 8 (b) sets forth only UPFC series sides and change
Stream device SSDC or only UPFC parallel connections side transverter SSDC puts into operation front and rear (SSDC puts into operation in 4s), shaft system of unit and
UPFC simulation result, it is seen that UPFC series/parallels side transverter SSDC proposed by the invention can effective suppression system SSO
Problem, i.e., both can standby each other, raising reliability of operation.Meanwhile UPFC simulation results show, UPFC dc bus electricity
Pressure, system alternating voltage and circuit it is active/reactive power flow influenceed very little and under steady state conditions in transient process by SSDC
Do not influence, i.e., UPFC supplementary subsynchronous damping controls device (SSDC) proposed by the invention does not interfere with system and UPFC devices
Normal table operation.
Referring to Fig. 9, system of the invention is changed using generator speed deviation as feedback control signal for UPFC series sides
Device and side converter Control in parallel are flowed, to reduce to UPFC influence on system operation as starting point, selected UPFC adds subsynchronous damping control
Device (SSDC) on-position processed；Then, derive using the method for damping torque analysis and give UPFC and add subsynchronous damping
Controller suppresses SSO principle and parameter tuning principle；Finally, based on modal separation control principle, design UPFC series/parallels side
The SSDC controllers of transverter, reach the purpose of power system SSO suppression.The present invention is not influenceing UPFC devices to power system
On the basis of the functions such as optimal power flow control, there is provided a kind of UPFC additional longitudinal forces carry out having for power system SSO suppression
Efficacious prescriptions method.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (4)
1. a kind of THE UPFC additional longitudinal forces system for suppressing sub-synchronous oscillation, THE UPFC device bag
Include side transverter, series side transverter and DC capacitor in parallel, it is characterised in that：System includes Subsynchronous Damping Controller, institute
State the additional control signals u of Subsynchronous Damping Controllerdamp_shAnd udamp_seSide transverter and series side in parallel is superimposed upon respectively to change
At the q shaft current inner ring control instructions for flowing the idle control loop of device；
The Subsynchronous Damping Controller includes multiple subsynchronous Model control loops, each subsynchronous Model control loop
Phase shift including modal filter, for the scaling module that is amplified to input signal and for realizing phase compensation
Device, the output signal in each subsynchronous Model control loop is superimposed and i.e. to form Subsynchronous Damping Controller defeated after clipping module
The additional control signals u gone outdamp_shAnd udamp_se；The Subsynchronous Damping Controller is with generator shafting rotating speed deviation delta ωGFor
Input control signal；
If the angular frequency of mode i component is ω in shaft system of unit rotating speedi, amplitude Ai, initial phase beSide transverter in parallel adds
Phase shift and multiplication factor of the controller to mode i frequency components are respectively θishAnd kish, then it is superimposed to THE UPFC simultaneously
Joining the additional control signals that side Converter controller inner ring current control instructs is
THE UPFC parallel connection side transverter can quickly track additional control signals, its corresponding subsynchronous frequency electricity exported
Flow and be
In formula, TshiOperating lag for side transverter in parallel to mode i frequency signals, s are Laplace operators；
Flow into the subsynchronous electric current I of generator armature windinggenq_shiFor
In formula, Zgen_i、Zsys_shiRespectively under mode i frequencies, from THE UPFC node to the equivalent impedance of generator,
Equivalent impedance of the system to THE UPFC；GishAnd φishRespectively THE UPFC parallel connection side transverter and it is
Amplitude-frequency response and the phase-frequency response united to mode i frequency signals；
So that the subsynchronous electric current of the mode i frequencies of THE UPFC parallel connection side transverter output is can obtain, through generator
Subsynchronous torque Δ T is added caused by armature windingei_shFor
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In formula, UGFor generator terminal voltage, δshFor the advanced THE UPFC parallel connection side joint access point of generator terminal voltage
Voltage U1Angle；ωGFor generator speed, its ω in the steady stateG≈ 1.0p.u., so as to above formula can abbreviation be
Similarly, the subsynchronous electric current of the mode i frequencies of THE UPFC series side transverter output is can obtain, through generator
Subsynchronous torque Δ T is added caused by armature windingei_seFor
In formula, θiseAnd kiseRespectively phase shift and multiplication factor of the series side transverter additional controller to mode i frequency components,
GiseAnd φiseThe respectively amplitude-frequency response and phase of THE UPFC series side transverter and system to mode i frequency signals
Frequency response is answered, δseFor the advanced THE UPFC series side access point voltage U of generator terminal voltage2Angle；
Subsynchronous electromagnetic torque Δ T is added as caused by THE UPFC supplementary subsynchronous damping controlei_shAnd Δ
Tei_seExpression formula understand, adjust additional controller mode i control loops phase shift thetaishAnd θise, and multiplication factor kishWith
kise, it is produced sufficiently large positive additional electromagnetic torque Δ T in generatorei_shWith Δ Tei_se, you can reach and suppress mode i
The purpose of sub-synchronous oscillation.
2. the THE UPFC additional longitudinal forces system according to claim 1 for suppressing sub-synchronous oscillation, it is special
Sign is that the Subsynchronous Damping Controller uses the Multi Channel Controller structure of modal separation, for each synchronized oscillation mould
State carries out uneoupled control.
3. the THE UPFC additional longitudinal forces system according to claim 1 for suppressing sub-synchronous oscillation, it is special
Sign is that the modal filter is connected by the bandpass filter of corresponding modal frequency and the bandstop filter of other modal frequencies
Composition.
4. the THE UPFC additional longitudinal forces system according to claim 1 for suppressing sub-synchronous oscillation, it is special
Sign is,
For the system that sub-synchronous oscillation is stable, i.e. Ai=0, so as to there is the additional control signals u in each Model control loopdampi=
0, Jin Eryou
udamp=∑ udampi=0 (i=1,2 ..., n)
That is Subsynchronous Damping Controller exports as 0 under steady state conditions, does not interfere with system and THE UPFC device exists
Normal operation under stable state.
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| CN106505592A (en) * | 2016-12-22 | 2017-03-15 | 北京四方继保自动化股份有限公司 | A kind of flexible direct current additional control method for suppressing sub-synchronous oscillation |
| CN106786725B (en) * | 2017-02-17 | 2019-08-30 | 南京南瑞继保电气有限公司 | A kind of control method improving DC transmission system Inverter Station transient voltage |
| CN107332258B (en) * | 2017-07-14 | 2020-04-21 | 中国科学院电工研究所 | Subsynchronous oscillation suppression method for wind power series compensation system |
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| CN108233363A (en) * | 2017-12-28 | 2018-06-29 | 中国电力科学研究院有限公司 | A kind of subsynchronous resonance suppressing method and device based on THE UPFC |
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