CN107039992A - The startup control method and control system of MMC transverters based on droop control - Google Patents
The startup control method and control system of MMC transverters based on droop control Download PDFInfo
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- CN107039992A CN107039992A CN201710178552.5A CN201710178552A CN107039992A CN 107039992 A CN107039992 A CN 107039992A CN 201710178552 A CN201710178552 A CN 201710178552A CN 107039992 A CN107039992 A CN 107039992A
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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
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/36—Means for starting or stopping converters
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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 present invention relates to the startup control method of the MMC transverters based on droop control and control system, submodule is charged, submodule voltage is reached load voltage value；When system is active electric network, voltage on line side phase value is calculated, and calculates the phase value of setting and the error amount of voltage on line side phase value, the error amount is assigned to additive phase integrator as initial value, phase additive phase value is calculated；Finally according to unlocking signal, transverter is unlocked, completes to start.The startup control method is applied to soft straight without switching isolated island networking control strategy, phase is compensated using the mode of phase compensation on startup, phase is met requirement, the entrance stable state of transverter smoothly can be made, realize the impact produced in the smooth startup of transverter, reduction start-up course；Be not in the situation generation of overvoltage and bridge arm excessively stream in start-up course so that transverter being capable of quick steady-state operation.
Description
Technical field
The present invention relates to the startup control method of the MMC transverters based on droop control and control system, belong to the MMC changes of current
The startup control technology field of device.
Background technology
The direct current transportation of voltage source converter type (VSC-HVDC) use can turn off power electronic devices, without external electrical
Source can realize commutation, possess active reactive independent control, Traditional DC transmission system is powered etc. to light current net and passive network not
The function of possessing.Technology of HVDC based Voltage Source Converter has expanded the application field of direct current transportation, as shown in figure 1, straight for typical flexibility
Transmission system is flowed, except being applied to traditional Power System Interconnection, is applied also for lonely remote regional power supply, such as offshore island are supplied
Electricity.
When the AC network for being connected to current conversion station is active electric network, current conversion station and synchronous generator are soft by paired running
Property DC transmission system will be operate under networked mode；When the AC network for being connected to current conversion station is passive network, current conversion station
It will work independently, flexible direct current power transmission system will be operate under island mode.
Flexible direct current power transmission system is under networked mode and under island mode, and its control strategy is completely different.In networking
Under pattern, the control mode of transverter can be surely active/idle control, and under island mode, the control mode of transverter
It will switch to and determine in alternating voltage control.Using isolated island-networking control mode of pattern switching at present in the Zhoushan five of China
Hold in soft straight engineering and be applied.But the Control System Design of which is complex, isolated island-networking shape to system is also needed
State is judged.Therefore, there is scholar to propose isolated island-networking conversion and control strategy without pattern switching, the control strategy base
In droop control, system isolated island-networking conversion can be smoothly realized.
However, the control strategy only propose system in the case of steady-state operation isolated island networking conversion, and do not consider be
System impact that may be present and unstability in start-up course.
The content of the invention
It is an object of the invention to provide the startup control method of the MMC transverters based on droop control and control system.
To achieve the above object, the solution of the present invention includes a kind of startup control of MMC transverters based on droop control
Method, comprises the following steps：
(1) submodule is charged, submodule voltage is reached load voltage value；
(2) whether judge system is active electric network；
(3) when system is active electric network, voltage on line side phase value is calculated, and calculate the phase value and the net side of setting
The error amount of voltage-phase value；
(4) rising edge time by the error amount in unlocking signal assigns additive phase integrator, is used as the integrator
Initial value, the additive phase integrator is enabled according to the rising edge of unlocking signal, calculates attached according to additive phase integrator
Plus phase value, and the phase value of additive phase value and the setting is overlapped the final phase value of generation, according to described final
Phase value control unblock transverter, completes to start.
The phase value set is by local 50Hz phase generators are generated in the control system of MMC transverters phase
Value.
The additive phase value is also related to power deviation, and the power deviation is setpoint power output value and reality output
The error amount of performance number.
The formula of mathematical of the additive phase integrator is：
θIt is attached=mod (Kf∫(Pset- P) dt+ θ ', 2 π),
Wherein, mod () is remainder function, θIt is attachedFor the additive phase value, PsetFor setpoint power output value, P is actual defeated
Go out performance number, θ ' is the error amount, θ '=θ01-θg, θ01For the phase value of setting, θgFor voltage on line side phase value, KfTo be
Number.
When system passive network, directly unblock starts transverter.
A kind of startup control system of the MMC transverters based on droop control, including：
Charging module, for being charged to submodule, makes submodule voltage reach load voltage value；
Judge module, for judging whether system is active electric network；
Computing module, for when system is active electric network, calculating voltage on line side phase value, and calculate the phase value of setting
With the error amount of the voltage on line side phase value；
Unlocked state, assigns additive phase integrator for the rising edge time by the error amount in unlocking signal, makees
For the initial value of the integrator, the additive phase integrator is enabled according to the rising edge of unlocking signal, accumulated according to additive phase
Divide device to calculate additive phase value, and the phase value of additive phase value and the setting is overlapped the final phase value of generation, root
According to the final phase value control unblock transverter, complete to start.
The phase value set is by local 50Hz phase generators are generated in the control system of MMC transverters phase
Value.
The additive phase value of the additive phase integrator is also related to power deviation, and the power deviation exports for setting
The error amount of performance number and real output value.
The formula of mathematical of the additive phase integrator is：
θIt is attached=mod (Kf∫(Pset- P) dt+ θ ', 2 π),
Wherein, mod () is remainder function, θIt is attachedFor the additive phase value, PsetFor setpoint power output value, P is actual defeated
Go out performance number, θ ' is the error amount, θ '=θ01-θg, θ01For the phase value of setting, θgFor voltage on line side phase value, KfTo be
Number.
When system passive network, directly unblock starts transverter.
In the startup control method that the present invention is provided, first, submodule is charged, reaches submodule voltage specified
Magnitude of voltage；When system is active electric network, voltage on line side phase value is calculated, and calculate the phase value and voltage on line side phase of setting
The error amount of value；Additive phase integrator is assigned as initial value in the rising edge time of unlocking signal using the error amount, according to
The rising edge trigger signal of unlocking signal enables additive phase integrator, and calculates additive phase value, unlocks transverter, completes to open
It is dynamic.The startup control method utilizes the mode of phase compensation on startup suitable for soft straight without switching isolated island-networking control strategy
Phase is compensated, phase is met requirement by way of Active Compensation, and then the entrance of transverter smoothly can be made steady
State, realizes the impact produced in the smooth startup of transverter, reduction start-up course；Avoid transverter and enter dP/d δ ＜ 0 not
Stable region and cause system oscillation, Ability of Resisting Disturbance is strong；It is not in the situation hair of overvoltage and bridge arm excessively stream in start-up course
It is raw, it is to avoid triggering system protection so that transverter being capable of quick steady-state operation.
Brief description of the drawings
Fig. 1 is typical flexible direct current power transmission system schematic diagram；
Fig. 2 is the startup control method schematic flow sheet of transverter；
Fig. 3 is the output phase schematic diagram that 50Hz phases generate link；
Fig. 4 is the rising edge trigger signal schematic diagram of unlocking signal；
Fig. 5 is to start the phase calculation principle schematic in control method；
Fig. 6 is the net side active power oscillogram of full power step startup after compensation；
Fig. 7 is the dc current waveform figure of full power step startup after compensation；
Fig. 8-a are the net side active reactive power waveform figures for not compensating the startup of full power step；
Fig. 8-b are the active power oscillograms in Fig. 8-a；
Fig. 8-c are the reactive power oscillograms in Fig. 8-a；
Fig. 9 is the dc current waveform figure for not compensating the startup of full power step.
Embodiment
The present invention will be further described in detail below in conjunction with the accompanying drawings.
Start control method embodiment
As shown in Fig. 2 the flow of the startup control method of the MMC transverters based on droop control provided for the present invention is shown
It is intended to, specifically includes following steps：
(1) submodule in MMC transverters is charged, submodule voltage is reached load voltage value；
(2) whether be active electric network, if active electric network if judging system, proceeds to start control；If passive
Network, directly unblock start MMC transverters；
(3) if system is active electric network, then, voltage on line side phase value is calculated, θ is designated asg, in the present embodiment, pass through
Enter horizontal lock to transverter voltage on line side to obtain voltage on line side phase value, certainly, the calculating of voltage on line side phase value not office
It is limited to aforesaid way.A phase value is set, in the present embodiment, the phase value of the setting is the control system by MMC transverters
The phase value that local 50Hz phase generators of uniting are generated, is designated as θ01, as shown in figure 3, phase value θ01It can be calculated using following
Expression formula is expressed：
θ01=mod (2 π ft, 2 π)
Wherein, f is modulating wave reference frequency, θ01Span be [0,2 π].
Then, θ is calculated01With θgError amount, in the present embodiment, the error amount of calculating is difference DELTA θ, and calculation formula is Δ
θ=θ01-θg.In addition, when inputting active signal, output calculates obtained Δ θ, when inputting passive signal, it would not export
Δ θ, but output 0.
(4) arrived due to just representing the unblock moment when there is unlocking signal, according to the change of the control signal before and after unblock
The rising edge of unlocking signal can be obtained, the rising edge is referred to as to the rising edge trigger signal of unlocking signal, then, unlock the moment
It it is exactly the rising edge arrival moment of unlocking signal, as shown in Figure 4.Therefore, additive phase product is assigned by difference DELTA θ at the unblock moment
Divide device, be used as the initial value θ ' of additive phase integrator；In addition, if difference DELTA θ is a variable, then, the θ ' is difference
Δ θ unblock moment, i.e. unlocking signal rising edge time numerical value, and unblock the moment by θ ' impartings additive phase integrate
Device, as the initial value of additive phase integrator, calculation formula is：θ '=Δ θ |T unlocks the moment。
(5) additive phase integrator is enabled according to the rising edge trigger signal of unlocking signal, according to additive phase integrator
Initial value θ ', and formula of mathematical in additive phase integrator calculates and obtains an additive phase value, the present embodiment
In, the additive phase value is except outside the Pass, also related to power deviation, power deviation is setting output work with above-mentioned initial value θ ' phases
The error amount of rate value and real output value.So, the present embodiment provides the calculation formula of the additive phase value, i.e., additional phase
The formula of mathematical of position integrator, it is as follows：
θIt is attached=mod (Kf∫(Pset- P) dt+ θ ', 2 π),
Wherein, mod () is remainder function, θIt is attachedFor additive phase value, PsetFor setpoint power output value, P is reality output work(
Rate value, θ ' is initial value, θ '=θ01-θg, θ01For the phase value of setting, θgFor voltage on line side phase value, KfFor coefficient.
(6) by additive phase value θIt is attachedWith the phase value θ of setting01The final phase value θ of generation is overlapped, as shown in figure 5, root
According to the final phase value θ controls unblock transverter, it is specially：According to final phase value θ by corresponding decoupling change alternatively after give birth to
Into associated modulation ripple, the trigger signal of converter valve in transverter is then generated according to modulating wave, completes to start, due to this part
Belong to prior art, just no longer illustrate here.
With reference to above-mentioned concrete technical scheme, an application example given below.
Assuming that system basic parameter is as shown in table 1.
Table 1
| Parameter item | Design load |
| Change of current rated valve capacity/MW | 100 |
| DC voltage/kV | ±200 |
| Valve side rated voltage/kV | 208.2 |
| Voltage on line side rated value/kV | 115 |
| Burden with power/MW | 60 |
| Load or burden without work/Mvar | 15 |
Because submodule charging process is not belonging to the key protection point of the present invention, therefore acquiescence submodule voltage has reached here
It is specified.
Assuming that being active during system startup, it is therefore desirable to carry out phase compensation.Before system unblock operation, 50Hz phases
Phase difference value between position maker and voltage on line side is -31 °.
According to the service requirement after unblock, the phase error at the unblock moment is calculated, is 31 °, with the phase error
As the initial value of additive phase integrator, additive phase integrator is enabled according to the rising edge trigger signal of unlocking signal, with reference to
Setpoint power output value calculates with real output value (this part is no longer illustrated) and obtains additive phase value θIt is attached, then
The unblock operation of completion system, the entrance stable state that system can be smooth after startup, is not in over-voltage and over-current, such as Fig. 6 and Fig. 7 institutes
Show.
When not carrying out phase compensation, when potential difference value is 165 ° during unblock operation, great vibration will occurs in system, be difficult
Into stable state, now great overcurrent will occurs in bridge arm, and overcurrent occurs in DC side, and overvoltage occurs in valve side net side, such as
Shown in Fig. 8-a, Fig. 8-b, Fig. 8-c and Fig. 9.
Therefore, contrast as can be seen that being started using realization that can be smooth by way of phase compensation, reduction is to system
Impact, it is to avoid protection misoperation.
Start control system embodiment
In the present embodiment, the startup control system of the MMC transverters based on droop control, including：
Charging module, for being charged to submodule, makes submodule voltage reach load voltage value；
Judge module, for judging whether system is active electric network；
Computing module, for when system is active electric network, entering horizontal lock to transverter voltage on line side, obtaining voltage on line side
Phase value, and calculate the phase value of setting and the error amount of voltage on line side phase value；
Unlocked state, assigns additive phase integrator for the rising edge time by error amount in unlocking signal, is used as this
The initial value of integrator, additive phase integrator is enabled according to the rising edge of unlocking signal, is calculated according to additive phase integrator
Additive phase value, and the phase value of additive phase value and setting is overlapped the final phase value of generation, according to final phase value
Control unblock transverter, completes to start.
Above-mentioned modules are software module, and each software module is limited by correspondingly function, so, each software
The protection domain of module is that corresponding function, the i.e. control system are substantially still corresponding control methods, due to upper
State and this method is made that in embodiment of the method described in detail, the present embodiment is just no longer illustrated.
Specific embodiment is presented above, but the present invention is not limited to described embodiment.The base of the present invention
This thinking is above-mentioned basic scheme, for those of ordinary skill in the art, according to the teachings of the present invention, designs various changes
The model of shape, formula, parameter simultaneously need not spend creative work.It is right without departing from the principles and spirit of the present invention
The change, modification, replacement and modification that embodiment is carried out are still fallen within protection scope of the present invention.
Claims (10)
1. a kind of startup control method of the MMC transverters based on droop control, it is characterised in that comprise the following steps：
(1) submodule is charged, submodule voltage is reached load voltage value；
(2) whether judge system is active electric network；
(3) when system is active electric network, voltage on line side phase value is calculated, and calculate the phase value and the voltage on line side of setting
The error amount of phase value；
(4) rising edge time by the error amount in unlocking signal assigns additive phase integrator, is used as the first of the integrator
Initial value, the additive phase integrator is enabled according to the rising edge of unlocking signal, and additional phase is calculated according to additive phase integrator
Place value, and the phase value of additive phase value and the setting is overlapped the final phase value of generation, according to the final phase
Value control unblock transverter, completes to start.
2. the startup control method of the MMC transverters according to claim 1 based on droop control, it is characterised in that institute
The phase value that sets is stated by local 50Hz phase generators are generated in the control system of MMC transverters phase value.
3. the startup control method of the MMC transverters according to claim 1 based on droop control, it is characterised in that institute
State that additive phase value is also related to power deviation, the power deviation is the mistake of setpoint power output value and real output value
Difference.
4. the startup control method of the MMC transverters according to claim 3 based on droop control, it is characterised in that institute
The formula of mathematical for stating additive phase integrator is：
θIt is attached=mod (Kf∫(Pset- P) dt+ θ ', 2 π),
Wherein, mod () is remainder function, θIt is attachedFor the additive phase value, PsetFor setpoint power output value, P is reality output work(
Rate value, θ ' is the error amount, θ '=θ01-θg, θ01For the phase value of setting, θgFor voltage on line side phase value, KfFor coefficient.
5. the startup control method of the MMC transverters according to claim 1 based on droop control, it is characterised in that when
During system passive network, directly unblock starts transverter.
6. a kind of startup control system of the MMC transverters based on droop control, it is characterised in that including：
Charging module, for being charged to submodule, makes submodule voltage reach load voltage value；
Judge module, for judging whether system is active electric network；
Computing module, for when system is active electric network, calculating voltage on line side phase value, and calculate phase value and the institute of setting
State the error amount of voltage on line side phase value；
Unlocked state, assigns additive phase integrator for the rising edge time by the error amount in unlocking signal, is used as this
The initial value of integrator, enables the additive phase integrator, according to additive phase integrator according to the rising edge of unlocking signal
Additive phase value is calculated, and the phase value of additive phase value and the setting is overlapped the final phase value of generation, according to institute
Final phase value control unblock transverter is stated, completes to start.
7. the startup control system of the MMC transverters according to claim 6 based on droop control, it is characterised in that institute
The phase value that sets is stated by local 50Hz phase generators are generated in the control system of MMC transverters phase value.
8. the startup control system of the MMC transverters according to claim 6 based on droop control, it is characterised in that institute
The additive phase value for stating additive phase integrator is also related to power deviation, and the power deviation is setpoint power output value and reality
The error amount of border output power value.
9. the startup control system of the MMC transverters according to claim 8 based on droop control, it is characterised in that institute
The formula of mathematical for stating additive phase integrator is：
θIt is attached=mod (Kf∫(Pset- P) dt+ θ ', 2 π),
Wherein, mod () is remainder function, θIt is attachedFor the additive phase value, PsetFor setpoint power output value, P is reality output work(
Rate value, θ ' is the error amount, θ '=θ01-θg, θ01For the phase value of setting, θgFor voltage on line side phase value, KfFor coefficient.
10. the startup control system of the MMC transverters according to claim 6 based on droop control, it is characterised in that when
During system passive network, directly unblock starts transverter.
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| CN201710178552.5A CN107039992B (en) | 2017-03-23 | 2017-03-23 | Starting control method and system of MMC (modular multilevel converter) converter based on droop control |
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| CN201710178552.5A CN107039992B (en) | 2017-03-23 | 2017-03-23 | Starting control method and system of MMC (modular multilevel converter) converter based on droop control |
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| CN108872790A (en) * | 2018-07-10 | 2018-11-23 | 武汉科技大学 | A kind of MMC method for diagnosing faults based on Kalman filtering and support vector machines |
| CN112086989A (en) * | 2020-08-26 | 2020-12-15 | 东南大学 | Power electronic equipment control initialization method |
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