CN105896558B  VSCbased UPFC electromechanical transient modular modeling method  Google Patents
VSCbased UPFC electromechanical transient modular modeling method Download PDFInfo
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 CN105896558B CN105896558B CN201610267042.0A CN201610267042A CN105896558B CN 105896558 B CN105896558 B CN 105896558B CN 201610267042 A CN201610267042 A CN 201610267042A CN 105896558 B CN105896558 B CN 105896558B
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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
 H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
 H02J3/1807—Arrangements for adjusting, eliminating or compensating reactive power in networks using series compensators
 H02J3/1814—Arrangements for adjusting, eliminating or compensating reactive power in networks using series compensators wherein al least one reactive element is actively controlled by a bridge converter, e.g. unified power flow controllers [UPFC]

 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
 H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
 H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators

 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
 H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
 H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]

 Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSSSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSSREFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
 Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
 Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
 Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
 Y02E40/10—Flexible AC transmission systems [FACTS]
Abstract
The invention provides a UPFC electromechanical transient modular modeling method based on VSC, which comprises the steps that (1) VSCs with different topological structures are unified into the same equivalent converter circuit; (2) dividing the UPFC into a series module, a parallel module, a direct current module and a control module; (3) determining the calculation sequence of each module of the UPFC according to different seriesparallel combination modes and calculating in sequence; (4) and (4) solving the UPFC part and the network equation alternately. The UPFC is divided into a series module, a parallel module, a direct current module and a control module, and all the modules can be freely combined, so that the UPFC has very high flexibility and can adapt to various UPFC power grid access modes and use scenes.
Description
Technical Field
The invention relates to the field of power systems, in particular to a VSCbased UPFC electromechanical transient modular modeling method.
Background
The UPFC (Unified Power Flow Controller) is a FACTS device with the best versatility so far, and different functions such as parallel compensation, series compensation and phase shift can be realized respectively or simultaneously by changing the control rule. The UPFC can be regarded as a Static Synchronous Compensator device (STATCOM) and a Static Synchronous Series Compensator device (SSSC) which are connected in parallel on a direct current side, and can simultaneously, rapidly and independently control active power and reactive power in a power transmission line, so that the UPFC has a fourquadrant operation function which is not possessed by the STATCOM (Static Synchronous Compensator) devices, the SSSCs (Static Series Synchronous Compensator) devices, the phase shifters and the like.
The dynamic characteristic simulation of the UPFC is generally performed by using an electromagnetic transient simulation method. The specific method comprises the following steps: 1) using a simplified model, the influence of dynamic processes inside the device and control systems inside the device, such as for transient analysis of the system, is ignored. The result obtained by the method is rough, and the influence on the transient state of the power system cannot be accurately researched; 2) according to the time response characteristic of the input and the output of the converter, a firstorder inertia link is used for representing the dynamic process of the converter, the charge and discharge energy change process of the direct current capacitor is considered, and a thirdorder differential equation is used for representing the dynamic process, so that the model has certain representativeness and can be used for analyzing the dynamic process of the power system; 3) introducing a switching function into a dynamic model reflecting the internal characteristics of the UPFC serialparallel side converters and the UPFC parallel side converters, and describing a model of a dynamic process of the UPFC and a control system thereof by combining a switching action time sequence and control parameters; 4) the current converter on the seriesparallel side is equivalent to two voltage sources, the dynamic process of the directcurrent capacitor voltage is considered, the simplified model has certain accuracy in analyzing the influence on the power system, and meanwhile, the simplified model can be used for making a UPFC system control strategy.
The modeling methods are mostly used for modeling on EMTDC/EMTP or Matlab, correspond to an electromagnetic transient model of UPFC, and are not suitable for modeling of electromechanical transient.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a UPFC electromechanical transient modular modeling method based on VSC, which is based on the UPFC basic principle of VSC and firstly unifies VSCs with different topological structures such as twolevel, threelevel, MMC and the like into the same equivalent converter circuit; secondly, dividing the UPFC into a series module, a parallel module, a direct current module and a control module; then determining the calculation sequence of each module of the UPFC according to different seriesparallel combination modes, and solving each module in sequence; and finally, the UPFC part and the network equation are alternately solved, the condition that the inside of the UPFC part comprises a plurality of same modules is considered, and the coordination control among the same modules is realized.
The adopted solution for realizing the purpose is as follows:
a UPFC electromechanical transient modular modeling method based on VSC, the modeling method comprises the following steps:
(1) unifying VSCs with different topological structures into the same equivalent converter circuit;
(2) dividing the UPFC into a series module, a parallel module, a direct current module and a control module;
(3) determining the calculation sequence of each module of the UPFC according to different seriesparallel combination modes and calculating in sequence;
(4) the UPFC portion and the network equations are solved alternately.
Preferably, in the step (2), the equivalent injection power S at the head end of the branch where the series module is located_{ins}As shown in the following formula:
equivalent injection power S at the end of the branch in which the series module is located_{inr}As shown in the following formulaThe following steps:
in the formula (I), the compound is shown in the specification,respectively are the voltage phasors of the first and the last sections of the branch circuit where the UPFC serial module is positioned,respectively are current phasors at two ends of a line in an equivalent circuit,respectively, the current phasors at two ends of the line in the equivalent circuit are conjugated, b_{c}For the ground susceptance value of the line on which the UPFC series module is located,is the conjugate of the line admittance of the UPFC serial module,is the conjugate of the voltage phasor injected by the UPFC series module, j is an imaginary symbol;
the power exchange between the series module and the dc side is calculated as follows:
in the formula, P_{SSSC}Active power injected into the ac system for the UPFC series module,the voltage phasor injected for the UPFC series module,is the conjugate of the current phasor at the sending end of the line in the equivalent circuit, I_{s}For line terminal current in equivalent circuit, R_{tS}The sum of the transformer resistance and the converter resistance, P, involved in the series module_{toDC}The power sent to the dc module for the UPFC series module.
Preferably, in the step (2), the parallel module is connected to the equivalent injection power S of the system_{ini}As shown in the following formula:
the power P of the parallel module sent to the DC module_{toDC}As shown in the following formula:
in the formula (I), the compound is shown in the specification,is the voltage phasor of the node where the UPFC parallel module is located,current phasor, I, for UPFC parallel module access system_{i}Is composed ofAmplitude of (S), real (S)_{ini}) Is S_{ini}Active component of (1), R_{tP}Is the sum of the transformer resistance and the commutation resistance involved in the parallel connection part.
Preferably, in the step (2), the i converters of the dc module inject power P to the dc side_{dci}The sum is shown by the following formula:
wherein, U_{dc}Is a DC side voltage, C_{dc}For the equivalent charging of the capacitor on the DC side, [ dc ]]T represents time for the set of all converters connected to the dc side.
Preferably, in the step (2), the control module adopts active/reactive decoupling control, is divided into an active control loop and a reactive control loop, and adopts PI control;
wherein: the active control loop corresponds to a series module of the UPFC, the input is active power and a direct current voltage amplitude value, and the output is injection voltage of the series module;
the reactive control loop corresponds to the parallel module, inputs reactive power and alternating voltage amplitude, and outputs the injected current of the parallel part.
Preferably, in the step (3), the calculation sequence of the series module and the parallel module is random when the single series module is used for calculating the single parallel module, and then the direct current module is calculated; when the single series module is used for the plurality of parallel modules, the parallel module is calculated firstly, then the series module is calculated, and finally the direct current module is calculated; when the multiple series modules are used for the single parallel module, the series modules are calculated firstly, then the parallel modules are calculated, and finally the direct current modules are calculated.
Preferably, in the step (4), the alternating solution includes:
(71) taking the UPFC part as an equivalent injection current source, and solving a network equation to obtain the voltage of each node;
(72) solving a UPFC serial module, a parallel module, a direct current module and a control module by taking the voltage of each node as input;
(73) updating the equivalent injection current of the UPFC, and repeatedly jumping into (71) until the system converges or the maximum iteration number is reached;
and (74) modifying the current simulation time to be the next simulation time, jumping to (71), and carrying out the next largestepsize simulation until the simulation is finished.
Further, in the step (72), the solution adopts a small step size simulation, that is, n times of small step size simulation is performed in one large step size simulation.
Compared with the prior art, the invention has the following beneficial effects:
(1) the UPFC electromechanical transient modular modeling method based on the VSC has the advantages that due to the reasonable modular design, the UPFC is divided into a series module, a parallel module and a direct current module, and the modules can be freely combined, so that the UPFC electromechanical transient modular modeling method has very high flexibility and can adapt to various UPFC power grid access modes and use scenes;
(2) the condition that the UPFC internally comprises a plurality of identical modules is fully considered, and the association and coordination control among the identical modules are realized.
Drawings
Fig. 1 is a VSC circuit diagram of the MMC structure of the present invention.
Fig. 2 is a VSC circuit diagram of the 2level architecture of the present invention.
Fig. 3 is a VSC unified equivalent circuit diagram of the present invention.
Fig. 4 is a raw equivalent circuit diagram of a UPFC serial module of the present invention.
Fig. 5 is a circuit diagram of the equivalent power injection circuit of the UPFC series module of the present invention.
Fig. 6 is a raw equivalent circuit diagram of a UPFC parallel module of the present invention.
Fig. 7 is a circuit diagram of equivalent power injection for a UPFC parallel module of the present invention.
Fig. 8 is an equivalent circuit diagram of a UPFC dc module of the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The technical scheme of the UPFC electromechanical transient modular modeling method based on the VSC (Voltage Source Converter) generally comprises the following steps: starting from a basic principle of the UPFC based on the VSC, the VSC with different topological structures such as two levels, three levels, MMC and the like is unified into an equivalent converter circuit, the UPFC is divided into four parts of a series module, a parallel module, a direct current module and a control module, the calculation sequence of each module of the UPFC is determined according to different seriesparallel combination modes, each module is sequentially solved, and finally the UPFC part and a network equation are alternately solved. The implementation steps of the scheme are as follows:
the method comprises the following steps: starting from the UPFC basic principle based on VSC, firstly, VSCs with different topological structures such as two levels, three levels, MMC and the like are unified into the same equivalent converter circuit. The results are shown in fig. 1, 2 and 3:
wherein i_{d}Is the equivalent current of the DC side of the VSC, u_{c}Is a DC side voltage, C_{d}The capacitor is equivalently charged on the direct current side.
Step two: the UPFC is divided into four parts, namely a series module, a parallel module, a direct current module and a control module. The detailed process is as follows:
(1) the UPFC series module has the original equivalent circuit and the equivalent power injection circuit shown in fig. 4 and 5 respectively:
for the original equivalent circuit, the following equation is given:
wherein:respectively are the voltage phasors of the first and last sections of the branch circuit where the series part of the UPFC is positioned,respectively are the current phasors of the first end and the last end of a branch circuit where the UPFC serial part is located,are respectively the first branch and the last branch of the UPFC serial partThe phasor of the end current is conjugated,the phasor of the voltage injected for the series part of the UPFC, Y being the admittance of the line on which the series part of the UPFC is located, b_{c}To the earth susceptance, S, of the line in which the series part of the UPFC is located_{s}、S_{r}Is the apparent power at the beginning and end of the branch in which the series portion of the UPFC is located.
For an equivalent power injection circuit, the following equation is given:
wherein:respectively are the voltage phasors of the first and last sections of the branch circuit where the series part of the UPFC is positioned,respectively are current phasors at two ends of a line in an equivalent circuit,respectively conjugate current phasors at two ends of a circuit in an equivalent circuit, Y is the admittance of the circuit where the series part of the UPFC is positioned, b_{c}To the earth susceptance, S, of the line in which the series part of the UPFC is located_{s}、S_{r}Apparent power S of the ends of the branch in which the series part of the UPFC is located_{ins}、S_{inr}Respectively the equivalent injection power of the first end and the last end of the branch in which the UPFC serial part is positioned.
In conjunction with the above formula, one can solve:
in the formula (I), the compound is shown in the specification,respectively are the voltage phasors of the first and the last sections of the branch circuit where the UPFC serial module is positioned,respectively are current phasors at two ends of a line in an equivalent circuit,respectively, the current phasors at two ends of the line in the equivalent circuit are conjugated, b_{c}For the ground susceptance value of the line on which the UPFC series module is located,is the conjugate of the line admittance of the UPFC serial module,is the conjugate of the voltage phasor injected by the UPFC series module, j is an imaginary symbol;
calculating the power exchange between it and the dc side, there are:
wherein: p_{SSSC}Active power injected into the ac system for the series portion of the UPFC,the voltage phasor injected for the UPFC series module,is the conjugate of the current phasor at the sending end of the line in the equivalent circuit, I_{s}For line terminal current in equivalent circuit, R_{tS}The sum of the transformer resistance and the converter resistance, P, being referred to in the series connection_{toDC}The power sent to the direct current module by the UPFC serial part is determined by whether the serial part absorbs active power from the alternating current system or injects active power, wherein the active power absorption time is positive, and the active power injection time is negative.Expressing the quantity of the phaseThe real part of (a).
(2) The equivalent circuit of the parallel connection part of the UPFC is shown in FIGS. 6 and 7:
for the parallel portion, there are:
wherein:the phasor of the voltage at the node where the parallel portion of the UPFC is located,current phasor, I, for a parallel part of a UPFC access system_{i}Is composed ofAmplitude of (S)_{ini}Equivalent injected power, real (S) for UPFC parallel section access system_{ini}) Is S_{ini}Active component of (1), R_{tP}The sum of the transformer resistance and the converter resistance, P, being referred to by the parallel part_{toDC}The power sent to the direct current module for the parallel connection part of the UPFC, the sign in the formula is determined by whether the parallel connection part absorbs active power from the alternating current system or injects the active power, the active power absorption time is positive, and the active power injection time is negative.
(3) The equivalent circuit of the UPFC direct current module is shown in FIG. 8:
for the dc part, there are:
wherein, U_{dc}Is a DC side voltage, C_{dc}For equivalently charging a capacitor, P, on the DC side_{dci}Injecting power on the DC side, [ dc ] for the ith converter]T represents time for the set of all converters connected to the dc side.
(4) The UPFC control module adopts active/reactive decoupling control, is divided into an active control loop and a reactive control loop, and adopts PI (proportionalintegral) control.
Wherein: the active control loop corresponds to the series part of the UPFC, the input is active power and a direct current voltage amplitude value, and the output is injection voltage of the series part; the reactive control loop corresponds to the parallel part, inputs reactive power and alternating voltage amplitude and outputs the injected current of the parallel part; when a plurality of identical modules are contained in one UPFC, the associated control can be set, namely when one module is stopped, the module which is controlled in association with the module realizes coordinated control by changing control reference values and parameters, and the control effect of the whole UPFC is kept unchanged.
Step three: and determining the calculation sequence of each module of the UPFC according to different seriesparallel combination modes, and solving each module in sequence. The conventional calculation sequence is to calculate each seriesparallel module in sequence and finally calculate the direct current module. The calculation sequence of each module can be adjusted according to different actual seriesparallel structures: the calculation sequence of the series module and the parallel module can be random when the single series part is used for the single parallel part, and then the direct current module is calculated; when the single serial part is used for the multiple parallel parts, the parallel module is calculated firstly, then the serial module is calculated, and finally the direct current module is calculated; and when the multiple serial parts are used for the single parallel part, the serial module is calculated first, then the parallel module is calculated, and finally the direct current module is calculated.
Step four: and the UPFC part and the network equation are alternately solved, the condition that a plurality of same modules are contained in the UPFC part is considered, and the coordination control among the same modules is realized. It includes in detail:
(1) taking the UPFC part as an equivalent injection current source, and solving a network equation to obtain the voltage of each node;
(2) taking the voltage solved in the step (1) as input, solving series, parallel and direct current modules of the UPFC, and solving a control module of the UPFC;
(3) and (3) updating the equivalent injection current of the UPFC, and repeatedly jumping into the step (1) until the system converges or the maximum iteration number is reached.
(4) And (5) modifying the current simulation time to be the next simulation time, jumping to (1), and performing the next largestepsize simulation until the simulation is completed.
Wherein: (2) the mediumresolution UPFC part can adopt smallstep simulation, namely n times of smallstep simulation in one largestep simulation. The specific method comprises the following steps: firstly, the last step is used for a long timeVoltage solved in (1) andmaking linear segmentsThen, the voltage value corresponding to each segment is sequentially obtainedAs input, solving series, parallel and direct current modules and control modules of the UPFC; and finally, obtaining the result of the large step size calculation through n times of small step size calculation.
It should be noted that the abovementioned embodiments are only for illustrating the technical solutions of the present application and not for limiting the scope of protection thereof, and although the present application is described in detail with reference to the abovementioned embodiments, those skilled in the art should understand that after reading the present application, they can make various changes, modifications or equivalents to the specific embodiments of the application, but these changes, modifications or equivalents are all within the scope of protection of the claims to be filed.
Claims (5)
1. A UPFC electromechanical transient modular modeling method based on VSC is characterized by comprising the following steps:
(1) unifying VSCs with different topological structures into the same equivalent converter circuit;
(2) dividing the UPFC into a series module, a parallel module, a direct current module and a control module;
(3) determining the calculation sequence of each module of the UPFC according to different seriesparallel combination modes and calculating in sequence;
(4) the UPFC part and the network equation adopt alternative solution;
in the step (2), the equivalent injection power S of the head end of the branch where the series module is located_{ins}As shown in the following formula:
equivalent injection power S at the end of the branch in which the series module is located_{inr}As shown in the following formula:
in the formula (I), the compound is shown in the specification,respectively are the voltage phasors of the first and the last sections of the branch circuit where the UPFC serial module is positioned,respectively are current phasors at two ends of a line in an equivalent circuit,respectively, the current phasors at two ends of the line in the equivalent circuit are conjugated, b_{c}For the ground susceptance value of the line on which the UPFC series module is located,is the conjugate of the line admittance of the UPFC serial module,is the conjugate of the voltage phasor injected by the UPFC series module, j is an imaginary symbol;
the power exchange between the series module and the dc side is calculated as follows:
in the formula, P_{SSSC}Active power injected into the ac system for the UPFC series module,the voltage phasor injected for the UPFC series module,for line termination in equivalent circuitsConjugation of current phasor, I_{s}For line terminal current in equivalent circuit, R_{tS}The sum of the transformer resistance and the converter resistance, P, involved in the series module_{toDC}The power transmitted to the direct current module for the UPFC serial module;
in the step (3), the calculation sequence of the series module and the parallel module is random when the single series module is used for calculating the single parallel module, and then the direct current module is calculated; when the single series module is used for the plurality of parallel modules, the parallel module is calculated firstly, then the series module is calculated, and finally the direct current module is calculated; when the multiple series modules are used for the single parallel module, the series modules are calculated firstly, then the parallel modules are calculated, and finally the direct current modules are calculated;
in the step (4), the alternating solving includes:
(71) taking the UPFC part as an equivalent injection current source, and solving a network equation to obtain the voltage of each node;
(72) solving a UPFC serial module, a parallel module, a direct current module and a control module by taking the voltage of each node as input;
(73) updating the equivalent injection current of the UPFC, and repeatedly jumping into (71) until the system converges or the maximum iteration number is reached;
and (74) modifying the current simulation time to be the next simulation time, jumping to (71), and carrying out the next largestepsize simulation until the simulation is finished.
2. Modeling method according to claim 1, characterized in that in step (2) the equivalent injected power S of the parallel module access system_{ini}As shown in the following formula:
the power P of the parallel module sent to the DC module_{toDC}As shown in the following formula:
in the formula (I), the compound is shown in the specification,is the voltage phasor of the node where the UPFC parallel module is located,current phasor, I, for UPFC parallel module access system_{i}Is composed ofAmplitude of (S), real (S)_{ini}) Is S_{ini}Active component of (1), R_{tP}Is the sum of the transformer resistance and the commutation resistance involved in the parallel connection part.
3. Modeling method according to claim 1, characterized in that in step (2) the i converters of the dc module inject the power P on the dc side_{dci}The sum is shown by the following formula:
wherein, U_{dc}Is a DC side voltage, C_{dc}For the equivalent charging of the capacitor on the DC side, [ dc ]]T represents time for the set of all converters connected to the dc side.
4. The modeling method according to claim 1, wherein in the step (2), the control module adopts active/reactive decoupling control, and is divided into an active control loop and a reactive control loop, and both the active control loop and the reactive control loop adopt PI control;
wherein: the active control loop corresponds to a series module of the UPFC, the input is active power and a direct current voltage amplitude value, and the output is injection voltage of the series module;
the reactive control loop corresponds to the parallel module, inputs reactive power and alternating voltage amplitude, and outputs the injected current of the parallel part.
5. The modeling method according to claim 1, wherein in (72), the solution employs a smallstep simulation, that is, n times of smallstep simulations are performed in one largestep simulation.
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