CN106505641A - The AC/DC decoupling control method of modularization multi-level converter and its application - Google Patents
The AC/DC decoupling control method of modularization multi-level converter and its application Download PDFInfo
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- CN106505641A CN106505641A CN201610907921.5A CN201610907921A CN106505641A CN 106505641 A CN106505641 A CN 106505641A CN 201610907921 A CN201610907921 A CN 201610907921A CN 106505641 A CN106505641 A CN 106505641A
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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
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Abstract
The invention discloses a kind of AC/DC decoupling control method of modularization multi-level converter, being included in current inner loop control increases DC current control, current inner loop control is made to include AC current control and DC current control, so that fundamental component of the output of the output of AC current control and DC current control collectively as the output voltage reference value of each phase bridge arm of modularization multi-level converter；The reference value of control AC current control and DC current control respectively, while control the output of AC current control and DC current control, you can realizes control to fundamental component, and then transverter locking because of bridge arm overcurrent when can achieve to prevent DC Line Fault.The invention also discloses application of the said method in flexible direct current power transmission system.The alternating current of each current conversion station, DC current and submodule capacitor voltage are controlled in safe range, and the DC Line Fault that can achieve flexible direct current power transmission system is passed through.
Description
Technical field
The invention belongs to power system transmission ＆ distribution electro-technical field, more particularly, to a kind of modularization multi-level converter
AC/DC decoupling control method and its application in built on stilts DC transmission system.
Background technology
Modularization multi-level converter (Modular Multilevel Converter, MMC) technology has construction module
Change, be easy to the advantages of extending, since proposition, be widely used in industrial quarters.End up till now, all throwings in the world
The MMC high voltage direct current transmission projects of fortune be using based on half-bridge submodule semi-bridge type MMC technology or with half-bridge submodule
Two level of cascade (Cascaded two level, the CTL) technology of (Half bridge sub-module, HBSM) homotype.But
Semi-bridge type MMC and CTL there is a problem of tackling DC Line Fault.After it there is DC Line Fault in transmission line of electricity, AC system
Fault current will be provided to trouble point persistently by the fly-wheel diode of semi-bridge type MMC and CTL, it usually needs transverter is coupled
AC circuit breaker so as to cutting off direct fault current.Therefore, existing engineering adopts direct current cables to be transmitted electricity to reduce mostly
The probability that DC Line Fault occurs.
With the further development of HVDC Transmission Technology, the voltage of flexible direct current power transmission system, capacitance grade more and more higher,
Transmission range is more and more remote, and this causes to become inexorable trend using trolley line long-distance transmissions.Direct current overhead transmission line fault rate compared with
Height, and be mostly transient fault, using cut-offfing AC circuit breaker so as to the method for cutting off direct fault current will be substantially increased
Time and the time for restoring electricity that system break is powered, jeopardize the safe and stable operation of power system and because interruption of power supply can
Heavy economic losses and social concern can be caused.
In order to tackle DC Line Fault problem, a kind of effective method is using semi-bridge type submodule and bridge-type submodule string
Mixed type MMC of connection.During generation DC Line Fault, by the power electronic devices drive signal of locking mixed type MMC so as to
Blocking direct fault current, prevents from cut-offfing AC circuit breaker.The method of above-mentioned locking requires that mixed type MMC interrupts, and
After DC Line Fault blocking, need to restart mixed type MMC, its Fault Isolation time is still longer with the time of restoring electricity.
In order to overcome the problems referred to above, locking mixed type MMC during DC Line Fault, patent document CN104300569A is prevented
Disclose a kind of DC Line Fault traversing control method of mixed type MMC, it is characterised in that when there is DC Line Fault, real-time monitoring is straight
Stream side residual voltage value, the alternating voltage reference value exported according to required for DC voltage residual voltage value is with MMC per phase, calculates
Obtain in every phase, the reference voltage level of upper and lower bridge arm full-bridge submodule equivalent voltage source and half-bridge submodule equivalent voltage source.
Scientific paper " submodule mixed type MMC-HVDC DC Line Fault passes through control strategy " that Kong Ming et al. is delivered (Kong Ming, Tang Guangfu,
The deep pool of he. submodule mixed type MMC-HVDC DC Line Fault passes through control strategy [J]. Proceedings of the CSEE, 2014,34
(30):Propose a kind of DC Line Fault of mixed type MMC in 5343-5351) and pass through control strategy, its during DC Line Fault,
The DC component zero setting of bridge arm output voltage reference value, bridge arm output voltage are all produced by full-bridge submodule, half-bridge submodule
The number zero setting of block input.
Scheme in CN104300569A needs the ginseng using DC side residual voltage value correction each bridge arm for monitoring
Magnitude of voltage is examined, is substantially a kind of open loop control strategy.The scheme of Kong Ming et al. and the scheme of CN104300569 have similar it
Place, difference are not real-time monitoring DC side residual voltage value, but it is zero artificially to arrange DC side residual voltage value, and this two
The defect of class method is to form closed-loop control to DC current and submodule capacitor voltage, so as to there is generation overcurrent
Or the potential safety hazard of submodule capacitance overvoltage, actually from Figure 12 of above-mentioned paper, DC Line Fault during, DC current
Value rises to instant of failure 8kA or so by the 1.6kA of stable state, and direct current overcurrent multiple is high may burn MMC up to 5 times.
Content of the invention
Disadvantages described above or Improvement requirement for prior art, the invention provides a kind of built on stilts flexible direct current power transmission system
AC/DC decoupling control method, its pass through to redesign existing MMC controls framework so that normal operation and DC Line Fault phase
Between, the alternating current of each current conversion station of flexible direct current power transmission system is maked somebody a mere figurehead, DC current and submodule capacitor voltage are controlled
System realizes that the DC Line Fault of built on stilts flexible direct current power transmission system is passed through in safe range.
A kind of AC/DC decoupling control method of modularization multi-level converter, possesses output for achievement unit molecular modules
Uninterrupted operation of the modularization multi-level converter of negative voltage ability under AC fault and/or DC Line Fault, its feature exist
In the control method includes
Increase DC current control in current inner loop control so that the current inner loop control includes AC current control
With DC current control, the output that the output and DC current so as to cause the AC current control is controlled is collectively as institute
State the fundamental component of the output voltage reference value of each phase bridge arm of modularization multi-level converter；
The reference value of the AC current control and DC current control is controlled respectively, while the control alternating current control
System and the output of DC current control, you can realize the control to the fundamental component, and then when can achieve to prevent DC Line Fault
Transverter locking because of bridge arm overcurrent.
Used as present invention further optimization, the reference value of the AC current control includes exchanging watt current reference value
With exchange two components of reactive current reference value, exchange watt current reference value is wherein set to the output of MMC energy holes,
Wherein described MMC energy holes are used for controlling the physical quantity for characterizing MMC institutes storage energy to corresponding reference value.
Used as present invention further optimization, the reference value of the DC current control is arranged to the control of direct current outer shroud
Output, wherein described direct current outer shroud control the amount related to dc power for control, the preferably direct current of dc power or MMC
Port voltage.
As present invention further optimization, additional DC current ginseng in the output for being additionally included in the control of direct current outer shroud, is superimposed
Examine value, wherein submodule average capacitor voltage be higher than capacitance voltage higher limit when the additional direct current current reference value be on the occasion of,
When submodule average capacitor voltage is less than capacitance voltage lower limit, the additional direct current current reference value is a negative value；Wherein, whole
Positive direction of the stream direction for alternating current, MMC are the positive direction of DC current to DC line Injection Current.
Used as present invention further optimization, the additional direct current current reference value is defeated by upper amplitude limit ring and lower amplitude limit ring
Go out to be formed by stacking, the input of wherein described upper limit width ring is submodule average capacitor voltage and the difference of the capacitance voltage upper limit, is somebody's turn to do
Difference obtains the output of the upper amplitude limit ring after proportional, integral device；The input of the lower amplitude limit ring is submodule average capacitance
Voltage and the difference of capacitance voltage lower limit, the difference obtain the output of the lower amplitude limit ring after proportional, integral device；Wherein, institute
The upper limit for stating the integrator of amplitude limit ring is set to one on the occasion of lower limit is set to zero；The upper limit of the integrator of the lower amplitude limit ring
Zero is set to, lower limit is set to a negative value.
Used as present invention further optimization, the reference value of the DC current control is arranged to MMC energy holes
Output, wherein described MMC energy holes are used for controlling the physical quantity for characterizing MMC institutes storage energy to corresponding reference value.
Used as present invention further optimization, the exchange watt current reference value is arranged to exchange active outer shroud control
Output, the active outer shroud of the exchange control for for controlling the amount related to active power, preferably exchange active power,
Frequency, dc power, the DC port voltage of MMC.
As present invention further optimization, it is additionally included in superposition in the output of the active outer shroud control of exchange and adds active electricity
Stream reference value, wherein when submodule average capacitor voltage is higher than capacitance voltage higher limit, the additional direct current current reference value is one
Negative value, submodule average capacitor voltage be less than capacitance voltage lower limit when the additional direct current current reference value be one on the occasion of；Its
Positive direction of the middle rectification direction for alternating current, MMC are the positive direction of DC current to DC line Injection Current.
As present invention further optimization, described active current reference value is added by the defeated of upper amplitude limit ring and lower amplitude limit ring
Go out to be formed by stacking, the input of wherein described upper limit width ring is the difference of capacitance voltage higher limit and submodule average capacitor voltage,
The difference obtains the output of " upper amplitude limit ring " after proportional, integral device, the input of the lower amplitude limit ring be capacitance voltage lower limit with
The difference of submodule average capacitor voltage, the difference obtain the output of " lower amplitude limit ring " after proportional, integral device；On wherein described
The upper limit of the integrator of amplitude limit ring is set to zero, and lower limit is set to negative value, and the upper limit of the integrator of " lower amplitude limit ring " is just set to
Value, lower limit are set to zero.
Used as present invention further optimization, the physical quantity by sign MMC institutes storage energy is controlled to corresponding ginseng
Examine value including but not limited to control the energy storage summation of all for MMC submodule electric capacity to corresponding reference value, by all for MMC submodules
The average capacitor voltage of block controls to control to reference value, by the energy storage summation of the submodule electric capacity of all for MMC exportable negative levels
To corresponding reference value, and the average capacitor voltage of all for MMC submodules for possessing output negative level ability is controlled to right
The reference value that answers.
Used as present invention further optimization, the AC current control is output as the reference of MMC ac output voltages
Value, the DC current control are output as the half of the reference value of MMC VDs.
Used as present invention further optimization, in each phase, the fundamental component of bridge arm output voltage reference value is (i.e. from electric current
The component of inner ring control) be DC current control difference of the output with the output of AC current control, under each phase, bridge arm is defeated
The fundamental component for going out voltage reference value is the output sum of the output with AC current control of the DC current control.
As present invention further optimization, when DC Line Fault occurs, the output that the DC current is controlled is quick
Transverter locking because of bridge arm overcurrent when reducing and realize control to the fundamental component, and then realizing preventing DC Line Fault.
As present invention further optimization, the DC current controlled output is quickly reduced and is passed through above-mentioned direct current
Integrator in flow control resets or its initial value is set to a lower limit so that integrator is in zero initial value or negative initial value
On restart to integrate, so as to realize quickly reducing the output of the DC current control.
As present invention further optimization, when there is DC Line Fault, will be quick for the exchange watt current reference value
Change near zero setting, and then realize that reducing AC gives modularization multi-level converter charge/discharge, prevents modular multilevel from changing
Stream device generation sustained overvoltage/under-voltage.
As present invention further optimization, near the quick change exchange watt current reference value zero setting preferably
The integrator of MMC energy holes is reset so that integrator on zero initial value restarts to integrate.
Used as present invention further optimization, each bridge arm output voltage reference value is also comprising loop current suppression controller output ginseng
Examine voltage amount of the inverted.
As present invention further optimization, can also in the output of DC current control changing of obtaining of superposition actual measurement
The DC voltage value of stream device direct current output port, so that improve response speed.
As present invention further optimization, when can also pass through the inductance restriction DC Line Fault generation for increasing MMC DC sides
Carve the incrementss that MMC DC currents in the period are functioned to DC current controller.
It is another aspect of this invention to provide that provide a kind of AC/DC decoupling control method of modularization multi-level converter existing
Application in two ends or the built on stilts flexible direct current power transmission system of multiterminal, wherein, the two ends or multiterminal make somebody a mere figurehead flexible DC power transmission system
The current conversion station of system includes that part submodule possesses the MMC of output negative voltage ability, and the part submodule possesses output negative voltage
The MMC of ability is controlled using described control method.
It is another aspect of this invention to provide that provide a kind of AC/DC decoupling control method of modularization multi-level converter existing
Application in the built on stilts flexible direct current power transmission system in two ends, wherein, the change of current that the built on stilts flexible direct current power transmission system in the two ends is often held
Stand the MMC for possessing output negative voltage ability including part submodule, it is intended that the current conversion station at any of which end is DC voltage control
Stand and other end current conversion station is Power Control station, and the part submodule in two current conversion stations possesses output negative voltage ability
MMC is controlled using described control method, with the reference of the DC voltage control by reducing DC voltage control station
Value is so as to realizing reducing the DC operating voltage of the built on stilts flexible direct current power transmission system in the two ends.
It is another aspect of this invention to provide that provide a kind of AC/DC decoupling control method of modularization multi-level converter existing
Application in flexible direct current power transmission system, its are included in when monitoring that DC Line Fault occurs, the ginseng that the DC current is controlled
Examine value to be directly disposed as absorbing DC current from AC line trackside, so as to quickly extinguish fault electric arc.
Used as present invention further optimization, the AC line trackside absorbs DC current for-the 0.1 of rated direct current
～-0.3 times.
It is another aspect of this invention to provide that provide a kind of AC/DC decoupling control method of modularization multi-level converter existing
Application in flexible direct current power transmission system, during restoring electricity, by whole flexible direct current power transmission system any one or many
The reference value of the DC current control of individual MMC is set to less on the occasion of the outer shroud control of replacement direct current, if through after a period of time
DC voltage is increased over certain value, then judge that DC Line Fault is removed, then will enable the outer ring controller of each current conversion station,
The method for realizing the fast recovery of power supply of flexible direct current power transmission system.
It is another aspect of this invention to provide that providing a kind of MMC degenerations that part submodule is possessed output negative voltage ability
For the operation method of semi-bridge type MMC, it is characterised in that the MMC that the part submodule possesses output negative voltage ability adopts institute
The control method that states is controlled, and maintains DC current control to be output as rated direct voltage when wherein normally running, and
DC current control is carried out during DC Line Fault.
In general, control method of the invention is compared and prior art, is had the following technical effect that：
(1) the AC/DC decoupling control method that invents is controlled in two electric currents comprising AC current control and DC current altogether
Ring is controlled, and two current inner loop controls guarantee that alternating current and DC current are in closed-loop control under any operating condition
State, so that it is guaranteed that during DC Line Fault, there is no overcurrent in the semiconductor devices of current conversion station, it is to avoid power electronic devices is straight
Damage because of overcurrent during stream failure；
(2), in normal operation and DC Line Fault, control logic is consistent, without using the direct current of actual measurement for the solution of the present invention
The fault-signal that voltage residual value or monitoring are obtained, and the reference value of bridge arm output voltage is changed under malfunction corresponding
Value, i.e., without the need for controller to be switched to controller under malfunction from the controller under normal operating conditions so that
Control is simple and reliable.
(3) the solution of the present invention applies also for the built on stilts flexible direct current power transmission system in two ends and the built on stilts flexible direct current of multiterminal is defeated
In electric system, it is adaptable to the control under the conventional control of built on stilts flexible direct current power transmission system, DC Line Fault state, and actively put out
Arc, quickly restart, reduce the control that DC voltage operation, built on stilts soft lineal system deteriorate to the operation of conventional half bridge MMC etc..
Description of the drawings
Fig. 1 is a kind of typical bridge-type modularization multi-level converter topology of the prior art；
Fig. 2 is a kind of typical intersection cascade connection type modularization multi-level converter topology of the prior art；
Fig. 3 is the mixed type MMC topology being made up of bridge-type submodule semi-bridge type submodule；
Fig. 4 is the mixed type MMC topology being made up of intersection cascade connection type submodule semi-bridge type submodule；
Fig. 5 is existing modularization multi-level converter typical case control topology；
Fig. 6 is the alternating current-direct current using exchange watt current control submodule average capacitor voltage of one embodiment of the invention
Uneoupled control principle assumption diagram；
Fig. 7 is the direct current decoupling control principle structure chart of another embodiment of the present invention；
Fig. 8 is the alternating current-direct current solution of the utilization DC current control submodule average capacitor voltage of another embodiment of the invention
Coupling control principle structure chart；
Fig. 9 is the AC/DC decoupling control principle structure chart of further embodiment of the present invention；
Figure 10 is the two-terminal direct current transmission system schematic diagram being made up of half-bridge full-bridge mixed type MMC；
Figure 11 is the instantaneity DC Line Fault simulation result figure of the AC/DC decoupling control method to the embodiment of the present invention；
Figure 12 is the permanent DC Line Fault simulation result figure of the AC/DC decoupling control method to the embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and
It is not used in the restriction present invention.As long as additionally, involved technical characteristic in invention described below each embodiment
Do not constitute conflict each other can just be mutually combined.
Fig. 1～Fig. 4 is the MMC topologys for being typically applicable to control method proposed by the invention in prior art.Such as
Shown in Fig. 1～4, wherein Fig. 1 is bridge-type MMC, and each bridge arm is in series by multiple full-bridge submodules.Fig. 2 is by intersecting
The MMC topologys that cascade connection type submodule is constituted, Fig. 2 each bridge arm are in series by multiple intersection cascade connection type submodules.Fig. 3 serves as reasons
The mixed type MMC topology that full-bridge submodule and half-bridge submodule are constituted, each of which bridge arm by multiple half-bridge submodules with multiple
Full-bridge submodule is in series.Fig. 4 is the mixed type MMC topology being made up of with half-bridge submodule intersection cascade connection type submodule, its
Each bridge arm is in series with multiple cascade submodules that intersect by multiple half-bridge submodules.Above-mentioned MMC its common trait topological
It is that each bridge arm contains the submodule (such as full-bridge submodule and intersection cascade connection type submodule) of exportable negative voltage, this
Bright control method is applied to various bridge arms and possesses the MMC topologys that output continues negative voltage ability.Bridge arm possesses output and persistently bears
The MMC of voltage capability is generally used for built on stilts flexible direct current power transmission system, but the control method not limited to this of the present invention, for example same
Sample is applicable for use with the flexible direct current power transmission system of direct current cables or direct current cables and direct current trolley line series-parallel connection circuit.
In various embodiments of the present invention, the physical significance of involved each primary variables or abbreviation is listed in the table below in 1.
Each primary variables, abbreviation physical significance involved by 1 embodiment of the present invention of table
Fig. 5 is the Typical Controller of existing module multilevel converter, is mainly controlled by active outer shroud, idle outer shroud control
System, AC current control, the change of current suppress control to constitute, and the DC component of its bridge arm output voltage reference value is fixed as nominal DC
The half of voltage switches to other open loop values in failure, causes a problem in that, cannot effective control during DC Line Fault
Direct fault current.
Control principle drawings of the Fig. 6 corresponding to the control method of one embodiment of the invention, as shown in fig. 6, the embodiment
HVDC Modulation is introduced in control method than Mdc, HVDC Modulation ratio is multiplied with rated direct voltage Vdcn and obtains the defeated of MMC
Go out direct voltage reference value.Existing MMC controllers (such as Fig. 5) normally only includes d axles modulation ratio Md and q axle modulation ratios Mq, and
The control method of the present embodiment is except comprising Md, Mq, further comprises Mdc, increased a control freedom degree, so that making somebody a mere figurehead
Flexible direct current power transmission system can control to exchange watt current Id, exchange reactive current Iq and DC current Idc simultaneously.And it is existing
MMC controllers only (can only be controlled to exchange watt current and exchange nothing comprising AC current control in current inner loop control plane
Work(electric current).
According to MMC basic theories, when bridge arm circulation is adequately suppressed, the expression formula of bridge arm current is iarm=idc/3+
Iac/2, wherein iarm, idc, iac represent each cross streams electric current of bridge arm current, DC current and MMC respectively.When bridge arm electricity
High (for example exceeding the twice of bridge arm current rated peak) is flow through, MMC will the locking because of bridge arm overcurrent.Existing control method
May insure that MMC does not occur exchange overcurrent, but due to not controlling the loop of DC current, it is impossible to guarantee direct current mistake
Electric current.And the control method proposed by the present embodiment can be while control alternating current and DC current, so that it is guaranteed that any operating mode
Under, there is no overcurrent in the bridge arm of MMC.
The principle of modulation ratio Mdc control DC current is the output DC voltage by using closed loop feedback control MMC
So as to precise control DC current.In order that Mdc can precise control DC current, the submodule capacitor voltage of MMC needs
Remain constant, in this embodiment scheme, devise MMC energy holes (the submodule average capacitor voltage control of such as Fig. 6), profit
With exchange watt current by MMC energy holes in reference value.It is alternating current to preferably set rectification direction in various embodiments of the present invention
The positive direction of stream, MMC is to the positive direction that DC line Injection Current is DC current.Submodule average capacitor voltage can pass through
To being obtained divided by submodule sum after the capacitance voltage summation of all submodules again.During DC Line Fault, normally only input can be exported
The submodule of negative voltage, therefore for improving the response speed of MMC energy holes, submodule average capacitor voltage can also be by all tools
The submodule capacitor voltage sum of standby output negative voltage ability is obtained divided by the submodule sum for possessing output negative voltage ability.?
Under normal operating condition, the submodule capacitor voltage Pressure and Control algorithm of MMC is maintained the capacitance voltage of all submodules automatically
Near the reference value of submodule capacitor voltage mean value.
As shown in fig. 6, " DC current control " part is output as the reference value that MMC exports DC voltage in the present embodiment
0.5 times, " AC current control " part is output as the reference value of MMC output AC voltages.Bridge arm output voltage in each phase
Reference value is taken as 0.5 times of the reference value of MMC output DC voltages and deducts MMC output AC voltage reference values, bridge arm under each phase
Output voltage reference value is taken as 0.5 times of reference value of MMC output DC voltages with MMC output AC voltage reference values.Pass through
" modulation and Pressure and Control " so that each bridge arms of MMC export corresponding bridge arm output voltage reference value and can achieve to alternating current
Precise control with DC current.
Fig. 6 remaining " idle outer shroud control ", " control of direct current outer shroud ", " loop current suppression control ", " modulation with voltage-controlled
System " is known technology, and its ins and outs is not repeated.As the control method of the present embodiment can cause the exchange of MMC to export
The VD of voltage and MMC is decoupled, it is also possible to referred to as AC/DC decoupling control method.
In a preferred embodiment, in order to reduce direct fault current, after DC Line Fault is monitored, can be by DC current
The integrator of inner ring control resets, or is set to the lower limit of HVDC Modulation ratio, so that integrator is opened under new initial value
Begin integration, reduces HVDC Modulation ratio.
In a preferred embodiment, for the charge and discharge of submodule capacitor voltage during reducing DC Line Fault, can be in monitoring
To after DC Line Fault, the integrator of MMC energy controllers is reset, so as to reduce the absolute value of exchange watt current reference value,
Reduce charge/discharge effect of the AC to MMC submodule electric capacity.
In a preferred embodiment, because DC current control has certain operating lag, in order to control in DC current
Direct fault current is limited before effect, can suitably increase the direct current current-limiting inductance of MMC.
In embodiment shown in Fig. 6, when AC system breaks down, it is understood that there may be the uncontrollable son of exchange watt current
The hidden danger of module average capacitor voltage, is that another embodiment shown in this Fig. 7 is carried to the direct current outer shroud control of above-described embodiment
Further improved technical scheme is gone out.As shown in fig. 7, the embodiment principle is, fold in the output of direct current outer shroud control
Additional direct current current reference value Δ Iref is added.When submodule average capacitor voltage is higher than submodule capacitor voltage higher limitWhen, " direct current outer shroud additional control " will export a positive Δ Iref so as to increasing what DC line was absorbed from MMC
Energy.When submodule average capacitor voltage is less than submodule capacitor voltage lower limitWhen, " direct current outer shroud additional control "
A negative Δ Iref will be exported so as to reducing the energy that DC line absorbs from MMC.
Described in Fig. 7, additional direct current current reference value is formed by stacking by the output of upper amplitude limit ring and lower amplitude limit ring, wherein, described
The input of upper amplitude limit ring is submodule average capacitor voltage and the difference of the capacitance voltage upper limit, after the difference is through proportional, integral device
Obtain the output of the upper amplitude limit ring；The input of the lower amplitude limit ring is submodule average capacitor voltage and capacitance voltage lower limit
Difference, the difference obtain the output of the lower amplitude limit ring after proportional, integral device, and the upper limit of the integrator of the upper amplitude limit ring sets
One is set on the occasion of lower limit is set to zero；The upper limit of the integrator of the lower amplitude limit ring is set to zero, and lower limit is set to a negative value,
So, in normal operation, the integrator output of upper amplitude limit ring and lower amplitude limit ring and total output are restricted to saturation value
Zero, upper amplitude limit ring and lower amplitude limit do not work；When submodule average capacitor voltage exceeds upper and lower limit, upper amplitude limit ring and lower amplitude limit
Ring exits saturation state, adjusts DC current reference value so as to maintaining submodule average capacitor voltage in the range of upper and lower limit.
Fig. 8 is the control method of another embodiment of the present invention, and its current inner loop is controlled and embodiment illustrated in fig. 6 complete
Cause, difference is the producing method of the exchange of the embodiment shown in Fig. 8 watt current reference value and DC current reference value not phase
With.Embodiment illustrated in fig. 6 be using exchange watt current control submodule average capacitor voltage, using DC current control with
The related amount (such as DC voltage or dc power) of MMC active power, and the present embodiment shown in Fig. 8 is then active using exchanging
The current control amount related to MMC active power, using DC current control submodule average capacitor voltage.Sheet shown in Fig. 8
Embodiment is compared to the advantage of embodiment illustrated in fig. 6, " DC current is controlled " is disabled and when to maintain Mdc be 1, Fig. 8 institutes
The present embodiment for showing deteriorates to conventional MMC controls.So can be in normal operation disabling " DC current control ", only in monitoring
To after DC Line Fault, enable " DC current control ", so as to simplify the control mode of built on stilts flexible direct current power transmission system.
During generation DC Line Fault, even if DC current is controlled in safe range, submodule capacitor voltage may be located
In uncontrolled state, for this purpose, another embodiment shown in Fig. 9 is given to the improved of the active outer shroud of embodiment illustrated in fig. 8
Technical scheme.The principle of the present embodiment is that output one is positive when submodule average capacitor voltage is less than lower limit is attached with
Work(current-order is superimposed upon in the output of " active outer shroud control ", exports one when submodule average capacitor voltage is higher than lower limit
Negative additional active current-order is superimposed upon in the output of " active outer shroud control ".
Figure 10 is the validity for the controller designed by the emulation testing present invention.In Figure 10, MMC1, MMC2's is specified
DC voltage and rated power are ± 320kV and 1000MW, MMC1 with each bridge arm of MMC2 by 100 full-bridge submodules
It is in series with 100 half-bridge submodules, the rated voltage of each submodule is taken as 3.2kV, the submodule of each submodule
Electric capacity is 5mF.During normal operation, MMC1 is used for the DC port voltage for controlling MMC1, and MMC2 is used for controlling MMC2 transmission
Active power.
Figure 11 is instantaneity DC Line Fault simulation result figure, and during 1.0s, direct-current overhead power transmission line generation positive pole is straight to negative pole
Stream failure, during 1.1s, DC Line Fault is removed automatically.Direct voltage reference value and measured value of the Figure 11 (a) for MMC1, it is known that direct current
During failure, DC voltage drops to zero or so, after fault clearance, and DC voltage quickly recovers to reference value.
Figure 11 (b) is submodule capacitor voltage mean value.Understand, under non-faulting state, submodule capacitor voltage mean value
It is controlled near reference value, DC Line Fault only brings 10% or so disturbance to submodule capacitor voltage.
Figure 11 (c) is DC current reference value and measured value.Understand that DC current is controlled to direct current under non-faulting state
During current reference value, DC Line Fault, DC current only rises to 2 times of rated value, and serious direct current overcurrent does not occur.
Figure 11 (d) and (e) are reference value and the measured value of d axis ACs electric current and q axis AC electric currents.Understand, alternating current
Each self-corresponding reference value is controlled to during normal operation with DC Line Fault.
Figure 11 (f) and (g) are the upper bridge arm current and lower bridge arm current of MMC1.Due to DC current and alternating current quilt
It is strict controlled near respective reference value, therefore the bridge arm of MMC is almost not subject to overcurrent.
Capacitance voltages of the Figure 11 (h) for the 1st～32 work song module of bridge arm in the A phases of MMC1, it is known that, when normally running, son
During module capacitance voltage reaches good equilibrium, DC Line Fault, the peak of submodule capacitor voltage is only risen to from 3.6kV
4kV.Submodule capacitance overvoltage will not occur during using the controller of present invention design, DC Line Fault.
Figure 12 is permanent DC Line Fault simulation result.During 1.0s, make somebody a mere figurehead DC power transmission line and occur permanently extremely to pole
DC Line Fault, during 1.2s, the referenced reactive current of MMC1 is from 0 step to 0.5pu.Figure 12 (a) is referred to for the DC voltage of MMC1
Value and measured value, during Figure 12 (a) shows DC Line Fault, the DC voltage of MMC1 drops to 0.Figure 12 (b) is active for MMC1's
Power and reactive power waveform, from 1.2s after waveform, during DC Line Fault, MMC still can be to AC system output nothing
Work(power.Upper bridge arm current and lower bridge arm current of Figure 12 (c)-(d) for MMC1, it is known that after there is permanent DC Line Fault, MMC
Bridge arm be also not subject to overcurrent.Capacitance voltage waveforms of the Figure 12 (e) for the 1st～32 work song module of bridge arm in the A phases of MMC1, can
Know, during DC Line Fault, MMC will not occur submodule overvoltage.
Except non-specifically is indicated, MMC involved in the present invention refers both to the MMC that part submodule possesses output negative voltage ability.
The MMC AC/DC decouplings control method of the present invention is applied to the module that part submodule possesses output negative voltage ability
Change the control of multilevel converter (MMC), to ensure the uninterrupted operation under AC fault and/or DC Line Fault.The program
Core is to increase DC current control in current inner loop control so that current inner loop control include AC current control with
DC circuit control two kinds, and by respectively control AC current control and direct current inner ring control reference value (
Referred to as command value), while controlling the output of AC current control and DC current control so that the output of AC current control and
Master of the output of DC current control collectively as the output voltage reference value of each phase bridge arm of the modularization multi-level converter
Want component.Further, the collective effect for being controlled by AC current control and DC current can achieve defeated to converter bridge arm
Transverter locking because of bridge arm overcurrent when going out the control of voltage reference value, and then realizing preventing DC Line Fault.
The solution of the present invention is particularly suited for the modular multilevel for possessing output negative voltage ability with part submodule
The built on stilts flexible direct current power transmission system of transverter (MMC), i.e., the MMC for being possessed output negative voltage ability by part submodule are constituted
Flexible direct current power transmission system, it typically is built on stilts DC power transmission line, or direct current cables circuit or the mixing of the two.Example
Such as two ends or the built on stilts flexible direct current power transmission system of multiterminal.
The AC/DC decoupling control method of the above-mentioned modularization multi-level converter of the present invention is maked somebody a mere figurehead soft at two ends or multiterminal
Property DC transmission system in an application concrete scheme in, the two ends or multiterminal built on stilts flexible direct current power transmission systems is changed
Stream station includes that part submodule possesses the modularization multi-level converter (MMC) of output negative voltage ability, and part submodule possesses
The modularization multi-level converter (MMC) of output negative voltage ability is controlled using above-mentioned control method.
The tool of application of the above-mentioned AC/DC decoupling control method of the present invention in the built on stilts flexible direct current power transmission system in two ends
In body scheme, the current conversion station that the built on stilts flexible direct current power transmission system of both end of which is often held includes that part submodule possesses output negative voltage
The modularization multi-level converter (MMC) of ability, the current conversion station that any of which end is specifically designated are DC voltage control station and another
One end current conversion station is Power Control station, and the part submodule in two current conversion stations possesses the modularization of output negative voltage ability
Multilevel converter (MMC) is controlled using above-mentioned control method, with the direct current by reducing DC voltage control station
The reference value of voltage-controlled system is so as to realizing reducing the DC operating voltage of the built on stilts flexible direct current power transmission system in the two ends.
The AC/DC decoupling control method of the above-mentioned modularization multi-level converter of the present invention is in flexible direct current power transmission system
In one application concrete scheme in, its be included in monitor DC Line Fault occur when, by the DC current control ginseng
Examine value to be directly disposed as absorbing DC current from AC line trackside, so as to quickly extinguish fault electric arc.Wherein AC line trackside is inhaled
Receive DC current preferably rated direct current -0.1～-0.3 times.
The AC/DC decoupling control method of the above-mentioned modularization multi-level converter of the present invention is in flexible direct current power transmission system
In one application concrete scheme in, its during restoring electricity, by whole flexible direct current power transmission system any one or
The reference value of the DC current control of multiple modularization multi-level converter (MMC) is set to less on the occasion of if through one section
After time, DC voltage is increased over certain value, then judge that DC Line Fault is removed, then will enable the control of each current conversion station
Device, the method for realizing the fast recovery of power supply of flexible direct current power transmission system.
The AC/DC decoupling control method of the above-mentioned modularization multi-level converter of the present invention possesses defeated in part submodule
In the application of the operation that the modularization multi-level converter for going out negative voltage ability deteriorates to semi-bridge type modularization multi-level converter,
The modularization multi-level converter that part submodule possesses output negative voltage ability is entered using control method proposed by the invention
Row control, maintains DC current control to be output as rated direct voltage, and carries out in DC Line Fault when wherein normally running
DC current is controlled.
The foregoing is only those skilled in the art's presently preferred embodiments of the present invention easy to understand, not in order to
The present invention, all any modification, equivalent and improvement that is made within the spirit and principles in the present invention etc. is limited, all should be included
Within protection scope of the present invention.
Claims (24)
1. a kind of AC/DC decoupling control method of modularization multi-level converter, possesses output for achievement unit molecular modules negative
Uninterrupted operation of the modularization multi-level converter of voltage capability under AC fault and/or DC Line Fault, it is characterised in that
The control method includes
Increase DC current control in current inner loop control so that current inner loop control includes AC current control and directly
Stream current control, so that cause the output of the output and DC current control of the AC current control collectively as the mould
The fundamental component of the output voltage reference value of each phase bridge arm of block multilevel converter；
The reference value of the AC current control and direct current inner ring control is controlled respectively, while the control alternating current
Flow control and the output of DC current control, you can realize the control to the fundamental component, and then can achieve to prevent direct current event
Transverter locking because of bridge arm overcurrent during barrier.
2. a kind of AC/DC decoupling control method of modularization multi-level converter according to claim 1, wherein, described
The reference value of AC current control is wherein handed over comprising exchanging watt current reference value and exchanging two components of reactive current reference value
Stream watt current reference value is set to the output of modularization multi-level converter energy hole, the modularization multi-level converter
Energy hole is used for controlling the physical quantity of characterization module multilevel converter institute storage energy to corresponding reference value.
3. a kind of AC/DC decoupling control method of modularization multi-level converter according to claim 2, wherein, described
DC current control reference value be arranged to direct current outer shroud control output, wherein described direct current outer shroud control for control with
The related amount of dc power, preferably the DC port voltage of dc power or modularization multi-level converter.
4. a kind of AC/DC decoupling control method of modularization multi-level converter according to claim 3, wherein, also wraps
Include and additional direct current current reference value is superimposed in the output of direct current outer shroud control, wherein in submodule average capacitor voltage higher than electricity
When holding upper voltage limit value, the additional direct current current reference value is on the occasion of when submodule average capacitor voltage is less than capacitance voltage lower limit
During value, the additional direct current current reference value is a negative value；
Wherein, positive direction of the rectification direction for alternating current, modularization multi-level converter is straight to DC line Injection Current
The positive direction of stream electric current.
5. a kind of AC/DC decoupling control method of modularization multi-level converter according to claim 4, wherein, described
Additional direct current current reference value is formed by stacking by the output of upper amplitude limit ring and lower amplitude limit ring, and the input of wherein described upper limit width ring is
Submodule average capacitor voltage and the difference of the capacitance voltage upper limit, the difference obtain the upper amplitude limit ring after proportional, integral device
Output；Difference of the input of the lower amplitude limit ring for submodule average capacitor voltage and capacitance voltage lower limit, the difference through than
The output of the lower amplitude limit ring is obtained after example-integrator；
Wherein, the upper limit of the integrator of the upper amplitude limit ring is set to one on the occasion of lower limit is set to zero；The product of the lower amplitude limit ring
The upper limit of device is divided to be set to zero, lower limit is set to a negative value.
6. a kind of AC/DC decoupling control method of modularization multi-level converter according to claim 1, wherein, described
The reference value of DC current control is arranged to the output of modularization multi-level converter energy hole, and wherein described modularization is more
Level converter energy hole is used for controlling the physical quantity of characterization module multilevel converter institute storage energy to corresponding
Reference value.
7. a kind of AC/DC decoupling control method of modularization multi-level converter according to claim 6, wherein, described
The reference value of AC current control includes exchange watt current reference value and exchanges two components of reactive current reference value, wherein,
Exchange watt current reference value is arranged to exchange the output of active outer shroud control, and wherein, the active outer shroud control of the exchange is used
In the amount related to active power is controlled, active power, frequency, dc power, modularization multi-level converter is preferably exchanged
DC port voltage.
8. a kind of AC/DC decoupling control method of modularization multi-level converter according to claim 7, wherein, also wraps
Include superposition in the output for exchanging active outer shroud control and add active current reference value, wherein high in submodule average capacitor voltage
When capacitance voltage higher limit, the additional direct current current reference value is a negative value, in submodule average capacitor voltage less than electric capacity electricity
Pressure limit value when the additional direct current current reference value be one on the occasion of；
Wherein rectification direction is the positive direction of alternating current, and modularization multi-level converter (MMC) is to DC line Injection Current
Positive direction for DC current.
9. a kind of AC/DC decoupling control method of modularization multi-level converter according to claim 8, wherein, described
Add active current reference value to be formed by stacking by the output of upper amplitude limit ring and lower amplitude limit ring, the input of wherein described upper limit width ring is
Capacitance voltage higher limit and the difference of submodule average capacitor voltage, the difference obtain upper amplitude limit ring after proportional, integral device
Output, the difference of the input of the lower amplitude limit ring for capacitance voltage lower limit and submodule average capacitor voltage, the difference through ratio-
The output of lower amplitude limit ring is obtained after integrator；
The upper limit of the integrator of wherein described upper limit width ring is set to zero, and lower limit is set to negative value, the integration of the lower amplitude limit ring
The upper limit of device is just set to, and lower limit is set to zero.
10. the AC/DC decoupling controlling party of a kind of modularization multi-level converter according to any one of claim 2 to 9
Method, wherein, the physical quantity by characterization module multilevel converter institute storage energy controls to include to corresponding reference value
But it is not limited to：
The energy storage summation of all for modularization multi-level converter submodule electric capacity is controlled to corresponding reference value, modularization is more
The average capacitor voltage of all submodules of level converter control to reference value, will be all for modularization multi-level converter exportable
The energy storage summation of the submodule electric capacity of negative level is controlled to corresponding reference value, and by all for modularization multi-level converter tools
The average capacitor voltage of the submodule of standby output negative level ability is controlled to corresponding reference value.
A kind of AC/DC decoupling control of 11. modularization multi-level converters according to any one of claim 1 to 10
Method, wherein, the AC current control is output as the reference value of modularization multi-level converter ac output voltage, described
DC current control is output as the half of modularization multi-level converter VD reference value.
A kind of AC/DC decoupling control of 12. modularization multi-level converters according to any one of claim 1 to 11
Method, wherein, in each phase, the fundamental component of bridge arm output voltage reference value is output and the alternating current of the DC current control
The difference of the output of flow control, under each phase the fundamental component of bridge arm output voltage reference value be DC current control output with
The output sum of AC current control.
A kind of AC/DC decoupling control of 13. modularization multi-level converters according to any one of claim 1 to 12
Method, wherein, when DC Line Fault occurs, by quickly reducing realization to described main by the output that the DC current is controlled
The control of component, and then transverter locking because of bridge arm overcurrent when realizing preventing DC Line Fault.
A kind of AC/DC decoupling control method of 14. modularization multi-level converters according to claim 13, wherein, will
The output of the DC current control is quickly reduced and is specially：Integrator in DC current control is reset or by its initial value
It is set to a lower limit so as on zero initial value or negative initial value restart to integrate, you can realization quickly reduces described straight
The output of stream current control.
A kind of AC/DC decoupling control of 15. modularization multi-level converters according to any one of claim 1 to 14
Method, wherein, when DC Line Fault occurs, by changing the exchange watt current reference value to zero or so, and then realizes
Reduce AC give modularization multi-level converter charge/discharge, prevent modularization multi-level converter occur sustained overvoltage/owe
Pressure.
A kind of AC/DC decoupling control method of 16. modularization multi-level converters according to claim 15, wherein, institute
State change alternating current watt current reference value to be preferably modularization multi-level converter energy hole or active to zero or so
The integrator of outer shroud control resets so that integrator restarts to integrate and realize on zero initial value.
A kind of AC/DC decoupling control of 17. modularization multi-level converters according to any one of claim 1 to 16
Method, wherein, the reference value of each bridge arm output voltage also includes loop current suppression controlled output reference voltage amount of the inverted, its with
The fundamental component collectively constitutes the reference value of the bridge arm output voltage.
A kind of AC/DC decoupling control of 18. modularization multi-level converters according to any one of claim 1 to 17
Method, wherein, also superposition can survey the transverter direct current output port direct current for obtaining in the output of DC current control
Magnitude of voltage, so that improve response speed.
A kind of AC/DC decoupling control of 19. modularization multi-level converters according to any one of claim 1 to 18
Method, wherein, the inductance that can also pass through to increase modularization multi-level converter DC side limits DC Line Fault and occurs to straight the moment
Stream current controller starts the incrementss of action period inner module multilevel converter DC current.
The AC/DC decoupling control method of the modularization multi-level converter any one of 20. claims 1 to 19 is two
Application in end or the built on stilts flexible direct current power transmission system of multiterminal, wherein, the two ends or multiterminal make somebody a mere figurehead flexible direct current power transmission system
Current conversion station include that part submodule possesses the modularization multi-level converter of output negative voltage ability, part submodule tool
The modularization multi-level converter of standby output negative voltage ability is entered using the control method described in any one of claim 1 to 19
Row control.
The AC/DC decoupling control method of the modularization multi-level converter any one of 21. claims 1 to 19 is two
Application in end-rack sky flexible direct current power transmission system, wherein, the current conversion station that the built on stilts flexible direct current power transmission system in the two ends is often held
Including the modularization multi-level converter that part submodule possesses output negative voltage ability, it is intended that the current conversion station at any of which end is
DC voltage control station and other end current conversion station are Power Control station, and the part submodule in two current conversion stations possesses output
The modularization multi-level converter of negative voltage ability is controlled using the control method any one of claim 1-19
System, realizes reducing the built on stilts flexibility in the two ends to pass through the reference value of the DC voltage control for reducing DC voltage control station
The DC operating voltage of DC transmission system.
The AC/DC decoupling control method of the modularization multi-level converter any one of 22. claims 1 to 19 is soft
Property DC transmission system in application, its be included in monitor DC Line Fault occur when, by the DC current control reference
Value is directly disposed as absorbing DC current from AC line trackside, so as to quickly extinguish fault electric arc.
The AC/DC decoupling control method of the modularization multi-level converter any one of 23. claims 1 to 19 is soft
Application in property DC transmission system, during restoring electricity, by whole flexible direct current power transmission system any one or more
The reference value of the DC current control of modularization multi-level converter is set to less on the occasion of if through direct current after a period of time
Voltage is increased over certain value, then judge that DC Line Fault is removed, then will enable the outer ring controller of each current conversion station, realizes
The method of the fast recovery of power supply of flexible direct current power transmission system.
24. a kind of by part submodule possess output negative voltage ability modularization multi-level converter deteriorate to semi-bridge type module
Change the operation method of multilevel converter, wherein, the part submodule possesses the modular multilevel of output negative voltage ability
Transverter is controlled using the control method described in any one of claim 1-19, maintains DC current when wherein normally running
Control is output as rated direct voltage, and carries out DC current control in DC Line Fault.
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