CN106208124B - Average value modeling and control method suitable for VSC-MTDC system - Google Patents
Average value modeling and control method suitable for VSC-MTDC system Download PDFInfo
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- CN106208124B CN106208124B CN201610578719.2A CN201610578719A CN106208124B CN 106208124 B CN106208124 B CN 106208124B CN 201610578719 A CN201610578719 A CN 201610578719A CN 106208124 B CN106208124 B CN 106208124B
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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
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
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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
- 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]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE 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
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]
Abstract
The average value modeling and control method that the present invention provides a kind of suitable for VSC-MTDC system, step 1: the mathematical model based on d, q rotational coordinates building VSC, and VSC-MTDC transmission system is combined, calculate active power, the reactive power of AC side of converter；Step 2: using the active power of AC side of converter, reactive power as reference value, constructing VSC-MTDC controller, realize the Collaborative Control of multiple converter stations；Step 3: simplifying the control process of VSC-MTDC, establish VSC-MTDC mean value model.Mean value model in the present invention can be applied in multi-terminal direct current transmission system, greatly quickening simulation velocity, improved simulation efficiency, reduced mathematical computations amount.
Description
Technical field
The present invention relates to electrical engineering fields, and in particular, to one kind is suitable for VSC-MTDC (Voltage Sourced
Converters Multi-terminal Direct Current, the multi-terminal HVDC transmission of voltage converter) system
Average value modeling and control method.
Background technique
It, can be real based on voltage converter DC transmission system relative to conventional current source type current transformer technology of transmission of electricity
Existing independent control active power and reactive power can apply small power station and asynchronous operation system in connection dispersion
It unites, construct city direct current transmission and distribution net and provide a variety of occasions such as economic electric energy to remote districts and isolated island.Meanwhile it is modern
VSC-HVDC (Voltage Sourced Converters-High Voltage Direct Current, voltage-source type unsteady flow
The direct current transportation of device) system have integrated and modularized design, be easy to in-site installation and debugging, be easy to extend and realize multiterminal
The exclusive technological merit such as direct current transportation.Therefore VSC (Voltage Sourced Converters, voltage-source type unsteady flow are based on
Device) technology D.C. high voltage transmission with its many advantages become Future Power System in an indispensable or important composition portion
Point, it is anticipated that the technology by be the following direct current transportation the main direction of development.It is more on the basis of both-end D.C. high voltage transmission
End HVDC Transmission Technology is able to development and gradual perfection.Compared with both-end high-voltage direct current, multi-terminal direct current transmission system in addition to
Except the control for needing to consider each converter station itself, it is also contemplated that the coordinated control between each converter station.
Pulse modulation technology (PWM), space vector modulation technique (SVPWM) greatly accelerate the dynamic response of VSC-HVDC
Speed, but calculation amount is also increased simultaneously.In electric system, the common method of research system dynamic response is that progress electromagnetism is temporary
State emulation, VSC detailed model include the modeling of IGBT switch valve value and take small integration step with standard in actual emulation system
Really systematic mathematical calculation amount can be undoubtedly significantly greatly increased by representing switch events each time.In multi-terminal direct current transmission system, if often
One end is all made of VSC detailed model, and simulation velocity will become very slowly.Therefore, foundation is capable of providing similar to detailed model
The efficient emulation model of even consistent system dynamic response is highly desirable.The mean value model of power converter is sent out in wind-force
The successful application of power technology greatly accelerates blower simulation velocity.However in high voltage dc transmission technology, current transformer is averaged
It is but uncommon to be worth model, is even more to rarely have article to mention for being applied using current transformer mean value model in multi-terminal direct current transmission system
And.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of average values suitable for VSC-MTDC system
Modeling and control method.
The average value modeling and control method suitable for VSC-MTDC system provided according to the present invention, including walk as follows
It is rapid:
Step 1: the mathematical model based on d, q rotational coordinates building VSC, and VSC-MTDC transmission system is combined, it calculates and becomes
Flow active power, the reactive power of device exchange side；
Step 2: using the active power of AC side of converter, reactive power as reference value, VSC-MTDC controller is constructed,
Realize the Collaborative Control of multiple converter stations；
Step 3: simplifying the control process of VSC-MTDC, establish VSC-MTDC mean value model.
Preferably, the step 1 includes:
Step 1.1: the mathematical model of VSC is established, the expression formula of model is as follows:
In formula: R indicates that line resistance, L indicate line reactance, edIndicate the supply voltage of net side d axis, eqIndicate net side q axis
Supply voltage, idIndicate d shaft current component, iqIndicate q shaft current component, UdIndicate that the DC voltage component of d axis, M indicate
PWM modulation ratio, δ indicate trigger angle, and ω indicates angular frequency, e0Indicate the supply voltage of 0 axis of net side, i0Indicate iqIndicate 0 axis electricity
Flow component；
Step 1.2: in VSC-MTDC transmission system, enabling A phase phase voltage initial phase angle is 0 °, i.e. ed=| e |, eq
=0, according to instantaneous power theory, ignore converter reactor and switching loss, be calculated AC side of converter active power,
Reactive power, calculation formula are as follows:
In formula: P indicates active power, and Q indicates reactive power.
Preferably, the step 2 includes:
Step 2.1: building VSC-MTDC local controller, the VSC-MTDC local controller using inner ring electric current loop and
The double circle structure of outer ring Voltage loop；When work is under AC voltage profile, outer ring Voltage loop can control alternating current pressure amplitude
Value and alternating current voltage frequency；
Step 2.2: building VSC-MTDC tuning controller, the VSC-MTDC tuning controller use DC voltage slope
Controller is applied DC voltage slope controller in the converter station with power regulation ability to coordinate each converter station power
Distribution, the Slope relationship between DC voltage and dc power are as follows:
Udc=Udcref+K(P-Pref)
In formula: UdcIndicate DC voltage, UdcrefFor direct voltage reference value, P is active power, PrefFor active power ginseng
Value is examined, K is DC voltage control slope.
Preferably, the step 3 includes:
Step 3.1: by being substituted with controlled voltage source for the IGBT in VSC circuit, and ignoring in current transformer output voltage
All higher hamonic waves only retain fundamental wave component, simplify the mathematical model of VSC, obtain VSC three-phase alternating current output voltage UaoAnd Ubo
Fundametal compoment:
Uab=Uao-Ubo=MEsin (ωsT)=MVdcsin(ωst)
Wherein: M=Us/Uc
In formula: UsIndicate the output voltage of double-closed-loop control device, UcIndicate carrier voltage, ωsIndicate electric voltage frequency, UaoTable
Show A phase phase voltage, VdcIt indicates DC voltage, is also indicated with E, t indicates time, UboIndicate B phase phase voltage, UabIndicate that AB is alternate
Voltage, E indicate DC voltage；
The step 3.2: establishing VSC-MTDC mean value model, and the expression formula of model is as follows:
Pacj=Uabj·Iaj-Ubcj·Icj=Pdcj
Idcj=(Uabj·Iaj-Ubcj·Icj)/Udc
PDc is total=∑ Udc·Idcj=∑ Pacj
In formula: PacjIndicate a, c phase power of j-th of converter station, PdcjIndicate the dc power of j-th of converter station, IdcjThe
The DC current of j converter station, UabjIndicate the voltage between a, b phase of j-th of converter station, IajIndicate a of j-th of converter station
Phase current, IcjIndicate the b phase current of j-th of converter station, UdcIndicate the DC voltage in step 2, PDc is totalIndicate all inverters
General power, C indicate DC capacitor, U 'dcIndicate the DC voltage obtained by VSC-MTDC mean value model.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the present invention ignores the higher hamonic wave of current transformer output voltage, VSC detailed model is substituted with controlled voltage source, just
Under normal operating condition, AC fault and DC Line Fault operating condition, the system dynamic response of VSC mean value model and detailed model is protected
It is consistent to hold height.
2, the local controller and DC voltage slope controller of the multi-terminal direct current transmission system in the present invention are not necessarily to change,
Using local controller output signal as controlled voltage sourse instruction, without carrying out pulse-width modulation process.
Although 3, the present invention on this basis may be used only by taking three end DC transmission systems of single-point DC voltage control as an example
This mean value model to be expanded to the multi-terminal direct current transmission system for being applied to multi-point DC voltage control.
4, VSC mean value model proposed by the invention is applied in multi-terminal direct current transmission system, can greatly accelerate to emulate
Speed improves simulation efficiency, reduces mathematical computations amount.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is three-phase vsc Basic Topological schematic diagram.
Fig. 2 is PWM control principle schematic diagram.
Fig. 3 is VSC detailed model output voltage schematic diagram.
Fig. 4 is VSC detailed model local controller schematic diagram.
Fig. 5 is DC voltage slope controller schematic diagram.
Fig. 6 is VSC mean value model schematic diagram.
Fig. 7 is VSC mean value model control block diagram.
Fig. 8 is virtual current source control block diagram.
Fig. 9 is the active power comparison of wave shape schematic diagram under normal operating conditions.
Figure 10 is the side the VSC1 DC voltage waveform contrast schematic diagram under normal operating conditions.
Figure 11 is the side the VSC1 alternating voltage waveform contrast schematic diagram under normal operating conditions.
Figure 12 is the side the VSC1 A phase alternating current comparison of wave shape schematic diagram under normal operating conditions.
Active power comparison of wave shape schematic diagram when Figure 13 is VSC1 single-phase earthing.
The side VSC1 DC voltage waveform contrast schematic diagram when Figure 14 is VSC1 single-phase earthing.
The side VSC1 alternating voltage waveform contrast schematic diagram when Figure 15 is VSC1 single-phase earthing.
The side VSC1 A phase alternating current comparison of wave shape schematic diagram when Figure 16 is VSC1 single-phase earthing.
Figure 17 is active power comparison of wave shape schematic diagram when DC Line Fault occurs for VSC1.
Figure 18 is the side VSC1 DC voltage waveform contrast schematic diagram when DC Line Fault occurs for VSC1.
Figure 19 is the side VSC1 dc current waveform contrast schematic diagram when DC Line Fault occurs for VSC1.
Figure 20 is the side VSC1 A phase alternating current comparison of wave shape schematic diagram when DC Line Fault occurs for VSC1.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
The average value modeling and control method suitable for VSC-MTDC system provided according to the present invention,
The following steps are included:
Step 1:VSC mathematical modeling, VSC basic structure comprising 6 IGBT as shown in Figure 1, switch.Wherein, there are three altogether
Bridge arm, the upper and lower each two IGBT switch of each bridge arm.Each switch is made of IGBT and freewheeling diode.Unsteady flow
Device uses basic PWM control mode, in the mathematical model of d, q rotational coordinates are as follows:
In formula (1), R represents line resistance, and L represents line reactance, and e represents net side supply voltage, and i represents electric current, Ud generation
The DC voltage component of table d axis, M represent PWM modulation ratio, and δ represents trigger angle, and ω represents angular frequency.Subscript d represents d axis point
Amount, subscript q represent q axis component.
In Fig. 1, Udc indicates DC voltage, and S1, S2, S3, S4, S5, S6 respectively indicate the switch function of 6 IGBT, a table
Show A phase, b indicates B phase, and c indicates C phase, iaIndicate A phase current, ibIndicate B phase current, icIndicate C phase current, ea、eb、ecIt indicates
Each phase voltage of three-phase alternating current system, N indicate neutral point.
When the operation of system three-phase symmetrical, following steady-state equation can be obtained:
In VSC-MTDC transmission system, enabling A phase phase voltage initial phase angle is 0 °, i.e. ed=| e |, eq=0, according to
The active power, idle of AC side of converter can be calculated if ignoring converter reactor and switching loss in instantaneous power theory
Power:
As can be seen from the above equation, although active-power P and iqIt is related, but i can first be calculated by reactive power Qq, then
Bring into P, in this way it is believed that active power only with idIt is related, so decoupled when above-mentioned model.Meanwhile line loss is much smaller than
Transimission power, thus system approximate can see it is linear.This is highly beneficial to controller design.
In multi-terminal direct current transmission system, to make system stable operation, it is necessary to keep the power-balance of direct current system, i.e., often
The power that a current transformer is injected into DC network needs to meet:
Wherein, Pj(j=1~5) represent the power that 5 VSC are inputted to DC network.
Step 2:VSC modulator approach and frequency analysis, voltage-source type converter station technology of transmission of electricity and Traditional DC technology of transmission of electricity
Difference, VSC-HVDC are controlled using voltage source converter and SPWM.The wherein basic functional principle of SPWM control technology such as Fig. 2
It is shown.By carrier triangular wave compared with modulating wave sine wave, so that the trigger pulse needed for generating, obtained pulse can touch
Turning on and off for the full-control type high-frequency element IGBT of the upper and lower bridge arm of VSC is sent out, the change of current of current transformer is realized with this.
Enabling modulation ratio is M=Us/Uc, carrier wave ratio N=ωc/ωs, m is the overtone order of opposite carrier wave, and n is relative modulation
The overtone order of wave can obtain a, the voltage between phases of b two o'clock are as follows:
Wherein, E represents DC voltage, fundamental voltage amplitude Uf=ME, harmonic amplitudeHarmonic frequency is
(mN+n)ωs, (m=2,4 ...；N=1,3 ...).Formula (5) is equally applicable to b, c two o'clock, and the presence of harmonic wave is to cause voltage wave
The main reason for shape distorts.Fig. 3 is the comparison of the output voltage Vc and AC supply voltage Vs of VSC detailed model, here with a, b
For the voltage between phases of two o'clock.
Step 3:VSC-MTDC controller design, including local controller design and tuning controller design.Due to MTDC
System includes multiple converter stations, and the control action between each converter station can influence each other, therefore the coordination of each change of current station control
It controls particularly significant.Wherein the cooperation between power is the basic premise that system is capable of stable operation.To prevent from changing individually
Stream station occurs disturbing or out of service, guarantees the stabilization of system, must carry out power coordination between each converter station.So
VSC-MTDC controller design includes that local controller design and tuning controller design two parts.According to local control method
Difference, VSC operating mode and working characteristics can be divided into following 3 kinds: DC voltage control mode, power control mode and friendship
Flow voltage mode control.If powering to passive network, AC voltage profile can only be used.
Local controller design, according to the difference of VSC operating mode, local control method is also classified into three kinds, according to formula (2)
With formula (3), designed local controller overall structure is double-closed-loop control.Wherein, DC voltage control mode, power control
Molding formula controller design such as Fig. 4.In Fig. 4, P*、And Q*Respectively given active power, DC voltage and reactive power
Reference value,WithRespectively current transformer exports desired value,WithRespectively d, q axis component reference value of electric current, PI are indicated
Proportional and integral controller, ω indicate electrical network angular frequency, LEIndicate line reactance,WithRespectively represent network voltage d, q axis point
Amount.Work the current transformer under AC voltage profile, and outer ring controller controls alternating voltage amplitude and alternating current voltage frequency.Its
In, electric voltage frequency can be generated by virtual three-phase phase-locked loop, and virtual three-phase phase-locked loop is that practical lock is simulated by given parameters
The output of phase ring.
Tuning controller design, tuning controller use DC voltage slope controller, and the controller thinking is from friendship
Primary frequency modulation controller in streaming system.In AC system, the static frequency characteristic of prime mover of generating set can be approximate
Straight line is used to replace to realize primary frequency modulation.In VSC-MTDC transmission system, DC voltage slope controller is applied and is being had
There is the converter station of power regulating power to coordinate each converter station power distribution, there is stable DC voltage, realize dc power
Quickly distribution does not need the switching for carrying out current transformer operating mode, the advantages that between converter station without communication.DC voltage is oblique
Rate controls shown in basic principle and control structure difference formula (6) and Fig. 5.
Slope relationship between DC voltage and dc power are as follows:
Udc=Udcref+K(P-Pref) (6)
In Fig. 5, P*、Respectively given active power, direct voltage reference value, K are DC voltage control slope.Formula
(6) in, UdcIndicate DC voltage, UdcrefFor direct voltage reference value, P is active power, PrefFor active power reference value, K
For DC voltage control slope.By formula (6) it is found that the imbalance in the size and DC network of DC voltage control slope K has
The distribution of function power has direct relationship.If each the converter station with power regulation uses identical slope, uneven
Power averaging distribution.If K value is different, biggish slope will undertake lesser imbalance power, and slope is smaller, undertake it is more not
Balance power.
The modeling of step 4:VSC-MTDC average value, voltage converter mean value model have made letter in terms of following two
Change.(1): in structure, the detailed current transformer model based on IGBT being substituted with controlled voltage source；(2): in principle, ignoring unsteady flow
All higher hamonic waves in device output voltage only retain fundamental wave component, the i.e. first item of formula (5).
In detailed model, the output voltage signal of double-closed-loop control device is led to as the modulating wave in PWM modulation link
It crosses compared with triangular carrier and generates pulse and go the shutdown of control IGBT, and then obtain the output waveform of VSC, but the waveform packet
Containing a large amount of harmonic waves.In mean value model, by the output voltage signal U of double-closed-loop control devicesAs controlled voltage source VabAnd Vbc
Control signal, directly substitute the output of VSC, and be not intended as modulating wave, thus PWM modulation process is saved, reduce number
Learn calculation amount；By power balance equation, with virtual controlled current source IdcAs characterization AC/DC interface relationship, eventually by
Capacitance voltage integral relation is back-calculated to obtain DC voltage.According to Fig. 1 and PWM modulation rule, available VSC three-phase alternating current output
Voltage UaoAnd UboFundametal compoment:
Uab=Uao-Ubo=MEsin (ωsT)=MVdcsin(ωst) (9)
Due to M=Us/Uc, U hereinsThe as output voltage of double-closed-loop control device can when triangle wave amplitude is taken as 1
To obtain following expression:
Uab=Us·Vdcsin(ωst) (10)
As can be seen that formula (10) and formula (5) are consistent.Similarly, above-mentioned derivation is also applied for voltage between phases Ubc.Since multiterminal are straight
Stream transmission system uses paralleling model, so each converter station shares DC voltage, i.e. DC voltage is equal, but DC current has
Difference.Meanwhile it is equal in each converter station left and right ends power, i.e. the active power of exchange side and the active power of DC side is flat
Weighing apparatus, i.e. formula (11).Moreover, system always exchanges active power and total DC power balance, that is, show as formula (13).In formula (12)
The DC current values I of each converter station arriveddcjIt can regard as virtual controlled current source, undertake characterization interface relationship, but need not
Occur in a model.Various middle j=1,2,3 below represent 3 different converter stations.
Pacj=Uabj·Iaj-Ubcj·Icj=Pdcj (11)
Idcj=(Uabj·Iaj-Ubcj·Icj)/Udc (12)
PDc is total=∑ Udc·Idcj=∑ Pacj (13)
Constructed VSC mean value model block diagram is as shown in fig. 6, wherein voltage source control signal is formula (9), current source control
Signal processed is formula (12), in formula (14), U 'dcFor new calculated DC voltage, just distinguished with former DC voltage in addition being marked with.Figure
7, Fig. 8 realize block diagram for the specific control in mean value model and virtual current source, consistent with formula (7)~(14).
Embodiment:
The application of average value modeling and method suitable for VSC-MTDC system.Using simulation software MATLAB/
Simulink has built 3 end DC transmission systems, wherein VSC3 connection wind power plant, and power swing is more frequent, and carries out number
Simulation study compares the dynamic response of VSC detailed model and mean value model.Simulation parameter is shown in Table listed by 1, table 2.It discusses and is
It unites in the response process of following several operating conditions, it may be assumed that (1) normal operating conditions, the mutation of VSC3 converter station side active power；(2)
Singlephase earth fault occurs for VSC1；(3) DC Line Fault occurs for system.
1 simulation parameter of table
2 converter station original operating state of table
(1) normal operating conditions, the mutation of VSC3 converter station side active power；
Fig. 9~12 show system dynamic response, reflect VSC detailed model and VSC mean value model.By Fig. 9~12
As can be seen that VSC3 is connected to wind power plant, output power has biggish fluctuation and randomness；VSC2, which is used, determines active power
Control model, output power are kept constant；VSC1 uses DC voltage slop control, assumes responsibility for stable DC voltage and adjusts function
The task of rate balance.Although the multi-terminal direct current transmission system have no station between communication system, VSC1 to the changed power in system according to
Quickly reaction and adjustment can be so made, ensure that the stable operation of system.In each figure, it can be seen that mean value model with
Each physical quantity of detailed model is almost consistent.Mean value model has ignored higher hamonic wave, and then eliminates power ripple, output
Voltage waveform quality is high, demonstrates the accuracy of mean value model.
(2) VSC1 exchanges side generation singlephase earth fault；
It is in this case observation VSC1 changed power, by VSC3 power control in constant 0.8pu..In 0.3s~0.5s
When VSC1 grid side occur singlephase earth fault, Figure 13~16 are the dynamic responses of system in the case of discussing, it is detailed to compared VSC
Thin model and VSC mean value model.
It can be seen from Figure 13~16 when short-time grounding fault occurs in VSC1, the VSC2 and VSC3 of power control mode
Continue to stable operation.The side VSC1 DC voltage is fluctuated, and active power occurs unstable.Under this operating condition, mean value model
It is still identical with the simulation result of detailed model.
(3) anode occurs at VSC1 to negative DC failure.
When anode occurs for VSC1 to negative DC failure, simulated in mean value model using DC voltage is set to zero
DC Line Fault operating condition.DC Line Fault occurred at 0.5 second for system, the dynamic response of system in the case of Figure 17~20 is discussed, comparison
VSC detailed model and VSC mean value model.
It can be seen from Figure 17~20 when DC Line Fault occurs for VSC1, mean value model uses DC voltage is direct
The method for being set to zero goes to simulate, and system response is consistent with the system response wave shape height of detailed model.
Simulation efficiency comparison:
By taking operating condition 1 as an example, detailed model and mean value model emulation duration are the 1s time, in MATLAB/Simulink
Platform is emulated.Simulated environment: Window8 (64bit), memory 4GB, processor are Intel Pentium CPU G3240,
Computer Simulation uses variable step, and maximum step-length takes 7.4us.Detailed model used time time-consuming about 26.3385s, mean value model consumption
Shi Yuewei 16.6362s can prove the high efficiency of mean value model with this.Table 3 show two kinds of models of all of above operating condition
Specific simulation time comparison used.
The comparison of 3 simulation efficiency of table
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (1)
1. a kind of average value modeling and control method suitable for VSC-MTDC system, which comprises the steps of:
Step 1: the mathematical model based on d, q rotational coordinates building VSC, and VSC-MTDC transmission system is combined, calculate current transformer
Exchange active power, the reactive power of side；
Step 2: using the active power of AC side of converter, reactive power as reference value, constructing VSC-MTDC controller, realize
The Collaborative Control of multiple converter stations；
Step 3: simplifying the control process of VSC-MTDC, establish VSC-MTDC mean value model；
The step 1 includes:
Step 1.1: the mathematical model of VSC is established, the expression formula of model is as follows:
In formula: R indicates that line resistance, L indicate line reactance, edIndicate the supply voltage of net side d axis, eqIndicate the electricity of net side q axis
Source voltage, idIndicate d shaft current component, iqIndicate q shaft current component, UdIndicate that the DC voltage component of d axis, M indicate PWM tune
Ratio processed, δ indicate trigger angle, and ω indicates angular frequency, e0Indicate the supply voltage of 0 axis of net side, i0Indicate iqIndicate 0 shaft current point
Amount；
Step 1.2: in VSC-MTDC transmission system, enabling A phase phase voltage initial phase angle is 0 °, i.e. ed=| e |, eq=0,
According to instantaneous power theory, ignore converter reactor and switching loss, the active power, idle of AC side of converter is calculated
Power, calculation formula are as follows:
In formula: P indicates active power, and Q indicates reactive power；
The step 2 includes:
Step 2.1: building VSC-MTDC local controller, the VSC-MTDC local controller use inner ring electric current loop and outer ring
The double circle structure of Voltage loop；When work under AC voltage profile when, outer ring Voltage loop can control alternating voltage amplitude and
Alternating current voltage frequency；
Step 2.2: building VSC-MTDC tuning controller, the VSC-MTDC tuning controller use DC voltage slop control
Device is applied DC voltage slope controller in the converter station with power regulation ability to coordinate each converter station power point
Match, the Slope relationship between DC voltage and dc power is as follows:
Udc=Udcref+K(P-Pref)
In formula: UdcIndicate DC voltage, UdcrefFor direct voltage reference value, P is active power, PrefFor active power reference value,
K is DC voltage control slope；
The step 3 includes:
Step 3.1: by being substituted with controlled voltage source for the IGBT in VSC circuit, and ignoring all in current transformer output voltage
Higher hamonic wave only retains fundamental wave component, simplifies the mathematical model of VSC, obtains VSC three-phase alternating current output voltage UaoAnd UboBase
Wave component:
Uab=Uao-Ubo=MEsin (ωsT)=MVdcsin(ωst)
Wherein: M=Us/Uc
In formula: UsIndicate the output voltage of double-closed-loop control device, UcIndicate carrier voltage, ωsIndicate electric voltage frequency, UaoIndicate A phase
Phase voltage, VdcIt indicates DC voltage, is also indicated with E, t indicates time, UboIndicate B phase phase voltage, UabIndicate AB voltage between phases, E
Indicate DC voltage；
Step 3.2: VSC-MTDC mean value model is established, the expression formula of model is as follows:
Pacj=Uabj·Iaj-Ubcj·Icj=Pdcj
Idcj=(, Uabj·Iaj-Ubcj·Icj)/Udc
PDc is total=∑ Udc·Idcj=∑ Pacj
In formula: PacjIndicate a, c phase power of j-th of converter station, PdcjIndicate the dc power of j-th of converter station, IdcjJ-th
The DC current of converter station, UabjIndicate the voltage between a, b phase of j-th of converter station, UbcjIndicate b, c of j-th of converter station
Voltage between phase, IajIndicate a phase current of j-th of converter station, IcjIndicate the b phase current of j-th of converter station, UdcIndicate step
DC voltage in rapid 2, PDc is totalIndicate the general power of all inverters, C indicates DC capacitor, U 'dcExpression passes through VSC-MTDC
The DC voltage that mean value model obtains.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610578719.2A CN106208124B (en) | 2016-07-21 | 2016-07-21 | Average value modeling and control method suitable for VSC-MTDC system |
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| CN107171355B (en) * | 2017-06-30 | 2020-04-03 | 东北电力大学 | Design method of VSC-HVDC system controller based on Clark conversion |
| CN108923448B (en) * | 2018-06-19 | 2022-04-29 | 东南大学 | Multi-terminal flexible direct current transmission coordination control method and system |
| CN108933434B (en) * | 2018-07-26 | 2020-02-28 | 云南电网有限责任公司电力科学研究院 | Flexible direct current transmission converter station fault current-limiting protection system and method |
| EP3853965A1 (en) * | 2018-09-19 | 2021-07-28 | Vestas Wind Systems A/S | Control of a wind turbine power generation system for optimising dc link voltage |
| CN109861287B (en) * | 2019-03-08 | 2020-12-08 | 爱士惟新能源技术(江苏)有限公司 | Unified control method and system for photovoltaic inverter |
| CN113078683B (en) * | 2021-04-25 | 2022-09-09 | 上海交通大学 | Composite power synchronous control method and system of voltage source type converter |
| CN115473226B (en) * | 2022-11-02 | 2023-03-28 | 国网江西省电力有限公司电力科学研究院 | Closed-loop equation-based VSC high-frequency impedance matrix modeling method and system |
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| CN101950975A (en) * | 2010-08-26 | 2011-01-19 | 哈尔滨九洲电气股份有限公司 | Control method of double-fed wind power converter |
| CN102694394A (en) * | 2012-04-28 | 2012-09-26 | 北方工业大学 | Method and system for controlling current of grid-side converter of wind driven generator under unbalanced power grid condition |
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| CN102694394A (en) * | 2012-04-28 | 2012-09-26 | 北方工业大学 | Method and system for controlling current of grid-side converter of wind driven generator under unbalanced power grid condition |
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