CN106992530B - Angle type STATCOM based on power grid voltage feedforward control and control method thereof - Google Patents
Angle type STATCOM based on power grid voltage feedforward control and control method thereof Download PDFInfo
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Abstract
The invention relates to an angle type STATCOM based on power grid voltage feedforward control and a control method thereof, wherein the output quantity of a feedforward controller is superposed on the output quantity of a current inner loop, and before the STATCOM is unlocked, whether a power grid is in a steady state or a transient state is judged: if the power grid is in a stable state, a feedforward term based on the phase angle compensation of the voltage of the power grid is used as the output quantity of the feedforward controller, and after a control system is stable, the feedforward term based on the voltage of the direct-mining power grid is switched to be used as the output quantity of the feedforward controller; and if the power grid is in a transient state, taking a feedforward term based on the voltage of the direct-current power grid as the output quantity of the feedforward controller. The invention can realize the minimum impact current when unlocking under the steady-state condition of the power grid; the feedforward term based on the power grid voltage can better reflect the real condition of the power grid voltage under the transient condition of the power grid, the sampling delay of the power grid voltage is smaller, the delay of a control system is smaller, and better current control performance can be obtained. The invention combines the advantages of the two feedforward terms, avoids the disadvantages and improves the performance of the STATCOM.
Description
Technical Field
The invention belongs to the technical field of flexible alternating current transmission, and particularly relates to an angle type STATCOM based on power grid voltage feedforward control and a control method thereof.
Background
In recent years, with the progress of power electronic switching technology and the increasing maturity of modern control theory application, a Static Synchronous Compensator (STATCOM) in reactive compensation technology is gradually established. The STATCOM has multiple functions of compensating system inductive and capacitive reactive power, improving system power factor, improving electric energy intelligence, improving power system stability and the like, and is an important member of Flexible AC Transmission Systems (FACTS). The STATCOM is equivalent to a controllable reactive power supply, the reactive current of the STATCOM can quickly change along with the change of the load reactive current, the reactive power required by a power grid system is automatically compensated, and dynamic reactive power compensation is realized on the reactive power of the power grid.
The chain type STATCOM is divided into an angular type structure and a star type structure, and the high-voltage large-capacity STATCOM generally adopts the angular type chain type structure.
Generally, the whole control strategy of the chain type angle STATCOM adopts a control strategy of a voltage outer ring and a current inner ring, and after the total output voltage of the whole chain type delta connection STATCOM is obtained, the total output voltage is output in the form of a PWM signal. In order to improve the current control performance of the STATCOM under the transient condition of a power grid, a power grid voltage feedforward control method is generally adopted in a control system.
In view of the existing data, because the control system itself causes the direct-sampling grid voltage to have a certain phase angle delay, the control system generally adds a feedforward control quantity on the output quantity of the current inner loop, and the feedforward control quantity is based on the feedforward term of the grid voltage phase angle compensation, i.e. the amplitude and the phase angle of the grid voltage phase are adopted, and the compensation phase angle equivalent to the delay of the control system is considered, and the grid voltage feedforward term is inversely calculated. The feed-forward method can theoretically enable the unlocking impact current of the STATCOM to be 0 when the power grid is in a steady state.
During actual operation, it is found that at least half cycle of time is required to calculate the feedforward term of the grid voltage back. However, under the transient condition of the power grid, the voltage of the power grid may change rapidly, and when a feed-forward term of phase angle compensation of the voltage of the power grid is calculated, the amplitude and the phase angle of the voltage of the power grid change at the time and contain distortion harmonic components, so that the amplitude and the phase angle of the voltage output by the phase-locked loop are inaccurate, and compared with the real voltage of the power grid, the deviation is large, and the current control performance of the STATCOM under the working condition is reduced.
Disclosure of Invention
The invention aims to provide an angle type STATCOM based on power grid voltage feedforward control and a control method thereof, which are used for solving the problem that the STATCOM current control performance is poor due to the feedforward control of a feedforward term based on power grid voltage phase angle compensation under the transient condition of a power grid.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention discloses an angle type STATCOM control method based on power grid voltage feedforward control, which is characterized in that the output quantity of a feedforward controller is superposed on the output quantity of a current inner loop, and before the STATCOM is unlocked, whether a power grid is in a steady state or a transient state is judged:
if the power grid is in a stable state, a feedforward term based on the phase angle compensation of the voltage of the power grid is used as the output quantity of the feedforward controller, and after a control system is stable, the feedforward term based on the voltage of the direct-mining power grid is switched to be used as the output quantity of the feedforward controller;
and if the power grid is in a transient state, taking a feedforward term based on the voltage of the direct-current power grid as the output quantity of the feedforward controller.
Further, the conditions of the grid at steady state are: the amplitude of the power grid voltage lasts for 1 second within 0.95p.u. -1.05 p.u.; the condition that the power grid is in the transient state is as follows: the amplitude of the grid voltage is beyond 0.95p.u. -1.05 p.u.; and p.u. is a per unit value of the power grid voltage.
Further, the feed-forward term based on the grid voltage phase angle compensation is as follows:
uff1＝Umag*sin(ωt+Δθ)
wherein u isff1Input quantities for feed-forward controllers based on phase angle compensation of the network voltage, UmagAnd ω t is the phase angle and Δ θ is the compensated phase angle for the voltage amplitude of the corresponding phase.
Further, the feed-forward term based on the voltage of the direct power generation grid is as follows:
uff2＝usample
wherein u isff2Input quantity, u, for a feedforward controller based on the voltage of the direct production networksampleThe voltage is a power grid voltage digital signal after per unit processing.
Further, after the control system is stabilized, the compensated phase angle (delta theta) is reduced according to a set rate, and when the compensated phase angle (delta theta) is reduced to 0, the feedforward term based on the direct power generation network voltage is switched to be used as the output quantity of the feedforward controller.
The invention discloses an angle type STATCOM based on grid voltage feedforward control, which comprises a STATCOM main loop and a feedforward controller, wherein the output quantity of the feedforward controller is superposed on the output quantity of a current inner loop, and the output quantity of the feedforward controller is as follows: judging whether the power grid is in a steady state or a transient state before the STATCOM is unlocked:
if the power grid is in a stable state, the output quantity of the feedforward controller is a feedforward item based on the phase angle compensation of the voltage of the power grid, and after the control system is stable, the output quantity of the feedforward controller is a feedforward item based on the voltage of the direct-extraction power grid;
and if the power grid is in a transient state, the output quantity of the feedforward controller is a feedforward term based on the voltage of the direct-production power grid.
Further, the conditions of the grid at steady state are: the amplitude of the power grid voltage lasts for 1 second within 0.95p.u. -1.05 p.u.; the condition that the power grid is in the transient state is as follows: the amplitude of the grid voltage is beyond 0.95p.u. -1.05 p.u.; and p.u. is a per unit value of the power grid voltage.
Further, the feed-forward term based on the grid voltage phase angle compensation is as follows:
uff1＝Umag*sin(ωt+Δθ)
wherein u isff1Input quantities for feed-forward controllers based on phase angle compensation of the network voltage, UmagAnd ω t is the phase angle and Δ θ is the compensated phase angle for the voltage amplitude of the corresponding phase.
Further, the feed-forward term based on the voltage of the direct power generation grid is as follows:
uff2＝usample
wherein u isff2Input quantity, u, for a feedforward controller based on the voltage of the direct production networksampleThe voltage is a power grid voltage digital signal after per unit processing.
Further, after the control system is stabilized, the compensated phase angle (delta theta) is reduced according to a set rate, and when the compensated phase angle (delta theta) is reduced to 0, the feedforward term based on the direct power generation network voltage is switched to be used as the output quantity of the feedforward controller.
The invention has the beneficial effects that:
according to the angle type STATCOM based on the power grid voltage feedforward control and the control method thereof, before the STATCOM is unlocked, different feedforward controllers are designed according to the state of the power grid voltage:
if the power grid is in a stable state, the output quantity of the feedforward controller is a feedforward item based on the phase angle compensation of the voltage of the power grid, and the feedforward item is switched to a feedforward item based on the voltage of the direct-extraction power grid after the control system is stable, so that the minimum impact current can be realized when the power grid is unlocked in the stable state;
if the power grid is in a transient state, the output quantity of the feedforward controller is a feedforward item based on the voltage of the direct-sampling power grid, at the moment, the sampling delay of the voltage of the power grid is small, the delay of a control system is small, the feedforward distortion is small, better current control performance can be obtained, the real situation of the voltage of the power grid can be better reflected, and the current control performance under the transient state situation of the power grid is improved.
In general, the present invention combines the advantages of the two feedforward terms, avoids the disadvantages, and improves the performance of the STATCOM.
Drawings
FIG. 1 is a schematic diagram of a main circuit structure of a step-down angular chain type STATCOM;
fig. 2 is a schematic diagram of the AB phase control strategy of the angular chain STATCOM of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail with reference to the accompanying drawings and examples, but the embodiments of the present invention are not limited thereto.
The invention discloses an embodiment of an angle type STATCOM control method based on power grid voltage feedforward control, which comprises the following steps:
the present invention is described in detail below by taking a buck angular chain STATCOM as an example, as shown in fig. 1, and a schematic structural diagram of a main circuit of the buck angular chain STATCOM is shown in fig. 1 and mainly comprises a buck transformer, an angular internal connection reactance and a commutation chain. The angular chain type STATCOM generally adopts a split-phase control strategy to independently control three phases.
For the AB phase, a single-phase-locked loop is adopted to carry out phase locking on the AB phase at the 35kV side, and the voltage amplitude of the output AB phase is UmagPhase angle is ω t, then uAB＝UmagSin (ω t). Because the control system has certain time delay, the equivalent is delta theta, namely the moment of the output voltage of the converter chain of the STATCOM, and the actual AB phase voltage is uAB＝UmagSin (ω t + Δ θ). Therefore, the feedforward term based on the grid voltage phase angle compensation needs to take into account the compensation phase angle, i.e. uAB＝UmagSin (ω t + Δ θ). The control principle of the BC phase and the CA phase is the same as that of the AB phase.
For the AB phase, the angular chain STATCOM control method of the present invention is shown in fig. 2. Overall, the invention is the output m of the current inner loopcur_ctrlSuperimposing the output m of a feedforward controller on topff_ctrlAnd the feedforward controller is correspondingly designed according to the state of the power grid voltage.
Before unlocking, the STATCOM judges the state of the grid voltage, namely, whether the grid voltage is in a transient state or a steady state. The specific judgment method comprises the following steps: if the voltage amplitude of the power grid lasts for 1 second within 0.95p.u. -1.05 p.u., the power grid is considered to be in a steady state; and if the amplitude of the voltage of the power grid is judged to be out of 0.95p.u. -1.05 p.u., the power grid is considered to be in a transient state. And p.u. is a per unit value of the power grid voltage.
1) If the STATCOM is unlocked in the steady state of the grid voltage, firstly, a feedforward term based on the phase angle compensation of the grid voltage is adopted, namely uff1Output m as feedforward controllerff_ctrlSo as to realize non-impact grid connection. However, in order to deal with the sudden transient condition of the power grid, the control system cannot always adopt a feedforward term based on the phase angle compensation of the voltage of the power gridAnd after the system is stabilized, smoothly switching into a feedforward term based on the voltage of the direct-current power grid.
Because the power grid voltage sampling delay and the control system delay are inherent, if the STATCOM also adopts a feed-forward term based on the power grid voltage during the steady-state unlocking of the power grid, a larger impact current can be generated, and therefore the feed-forward term based on the phase angle compensation of the power grid voltage is adopted when the STATCOM is just unlocked.
When the control system is stable, the compensated phase angle delta theta is slowly reduced to 0 according to a set rate to realize smooth switching. When Δ θ is 0, uAB＝UmagSin (ω t), the feedforward term based on the grid voltage phase angle compensation is equal to the feedforward term based on the direct-collecting grid voltage, and smooth switching of the feedforward term and the direct-collecting grid voltage can be achieved at the moment. Therefore, after the grid-connected stable operation is carried out by adopting the feedforward term based on the grid voltage phase angle compensation, for example, after the grid-connected operation is carried out for 5s, the control system is stable, the delta theta is slowly reduced to 0 according to the slope of 0.5 degrees/s, and the feedforward term based on the direct-collecting grid voltage can be switched to, namely the output quantity m of the feedforward controller is output at the momentff_ctrlIs a radical of uff2The output of the feedforward controller is the input.
2) If the STATCOM is unlocked in the transient state of the power grid, a feed-forward item based on the direct-current power grid voltage is directly adopted, namely u is obtainedff2Output m as feedforward controllerff_ctrlTo improve current control performance.
The invention discloses an angle type STATCOM embodiment based on grid voltage feedforward control, which comprises the following steps:
the invention discloses an angle type STATCOM based on grid voltage feedforward control, which comprises a STATCOM main loop and a feedforward controller, wherein the output quantity of the feedforward controller is superposed on the output quantity of a current inner loop, and the output quantity of the feedforward controller is as follows:
judging whether the power grid is in a steady state or a transient state before the STATCOM is unlocked:
if the power grid is in a stable state, the output quantity of the feedforward controller is a feedforward item based on the phase angle compensation of the voltage of the power grid, and after the control system is stable, the output quantity of the feedforward controller is a feedforward item based on the voltage of the direct-extraction power grid;
and if the power grid is in a transient state, the output quantity of the feedforward controller is a feedforward term based on the voltage of the direct-production power grid.
The essential of the angular STATCOM based on grid voltage feedforward control of the present invention is that the STATCOM adopts the control method of the angular STATCOM based on grid voltage feedforward control described in the above embodiments, and the specific control method and process are sufficiently clear and understood in the above embodiments, so that the angular STATCOM is not described again.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. An angular STATCOM control method based on grid voltage feedforward control is characterized in that the output quantity of a feedforward controller is superposed on the output quantity of a current inner loop, and before the STATCOM is unlocked, whether a power grid is in a steady state or a transient state is judged:
if the power grid is in a stable state, a feedforward term based on the phase angle compensation of the voltage of the power grid is used as the output quantity of the feedforward controller, and after a control system is stable, the feedforward term based on the voltage of the direct-mining power grid is switched to be used as the output quantity of the feedforward controller;
and if the power grid is in a transient state, taking a feedforward term based on the voltage of the direct-current power grid as the output quantity of the feedforward controller.
2. The grid voltage feedforward control-based angle-type STATCOM control method according to claim 1, wherein the grid steady-state condition is: the amplitude of the power grid voltage lasts for 1 second within 0.95p.u. -1.05 p.u.; the condition that the power grid is in the transient state is as follows: the amplitude of the grid voltage is beyond 0.95p.u. -1.05 p.u.; and p.u. is a per unit value of the power grid voltage.
3. The grid voltage feedforward control-based angular STATCOM control method according to claim 1, wherein the feedforward term based on grid voltage phase angle compensation is:
uff1＝Umag*sin(ωt+Δθ)
wherein u isff1For feed-forward terms based on phase angle compensation of the network voltage, UmagAnd ω t is the phase angle and Δ θ is the compensated phase angle for the voltage amplitude of the corresponding phase.
4. The grid voltage feedforward control-based angular STATCOM control method according to claim 1, wherein the feedforward term based on the direct-current power generation grid voltage is:
uff2＝usample
wherein u isff2For feed-forward terms based on the voltage of the direct production grid, usampleThe voltage is a power grid voltage digital signal after per unit processing.
5. The grid voltage feedforward control-based angular STATCOM control method according to claim 3, wherein after the control system is stabilized, the compensated phase angle (Δ θ) is decreased at a set rate, and when the compensated phase angle (Δ θ) is decreased to 0, the feedforward term based on the direct power grid voltage is switched as the output of the feedforward controller.
6. An angle type STATCOM based on grid voltage feedforward control comprises a STATCOM main loop and a feedforward controller, wherein the output quantity of the feedforward controller is superposed on the output quantity of a current inner loop, and the output quantity of the feedforward controller is as follows:
judging whether the power grid is in a steady state or a transient state before the STATCOM is unlocked:
if the power grid is in a stable state, the output quantity of the feedforward controller is a feedforward item based on the phase angle compensation of the voltage of the power grid, and after the control system is stable, the output quantity of the feedforward controller is a feedforward item based on the voltage of the direct-extraction power grid;
and if the power grid is in a transient state, the output quantity of the feedforward controller is a feedforward term based on the voltage of the direct-production power grid.
7. The grid voltage feedforward control-based angle-type STATCOM according to claim 6, wherein the grid steady-state condition is: the amplitude of the power grid voltage lasts for 1 second within 0.95p.u. -1.05 p.u.; the condition that the power grid is in the transient state is as follows: the amplitude of the grid voltage is beyond 0.95p.u. -1.05 p.u.; and p.u. is a per unit value of the power grid voltage.
8. The grid voltage feedforward control-based angular STATCOM of claim 6, wherein the feedforward term based on grid voltage phase angle compensation is:
uff1＝Umag*sin(ωt+Δθ)
wherein u isff1For feed-forward terms based on phase angle compensation of the network voltage, UmagAnd ω t is the phase angle and Δ θ is the compensated phase angle for the voltage amplitude of the corresponding phase.
9. The grid voltage feedforward control-based angular STATCOM of claim 6, wherein the direct power generation grid voltage-based feedforward term is:
uff2＝usample
wherein u isff2For feed-forward terms based on the voltage of the direct production grid, usampleThe voltage is a power grid voltage digital signal after per unit processing.
10. The grid voltage feedforward control-based angular STATCOM of claim 8, wherein after the control system is stabilized, the compensated phase angle (Δ θ) is decreased at a set rate, and when decreasing to 0, the feedforward term based on the direct-current power grid voltage is switched as the output of the feedforward controller.
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