CN107039992B - Starting control method and system of MMC (modular multilevel converter) converter based on droop control - Google Patents
Starting control method and system of MMC (modular multilevel converter) converter based on droop control Download PDFInfo
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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
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- 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]
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Abstract
The invention relates to a starting control method and a starting control system of an MMC (modular multilevel converter) based on droop control, which are used for charging a submodule to enable the voltage of the submodule to reach a rated voltage value; when the system is an active network, calculating a network side voltage phase value, calculating an error value of a set phase value and the network side voltage phase value, endowing the error value to an additional phase integrator as an initial value, and calculating a phase additional phase value; and finally, unlocking the current converter according to the unlocking signal to finish starting. The starting control method is suitable for a flexible-direct non-switching island-networking control strategy, the phase is compensated in a phase compensation mode during starting, so that the phase meets the requirement, the current converter can smoothly enter a stable state, the current converter is smoothly started, and the impact generated in the starting process is reduced; the conditions of overvoltage and bridge arm overcurrent cannot occur in the starting process, so that the current converter can rapidly and stably operate.
Description
Technical Field
The invention belongs to the technical field of starting control of MMC current converters.
Background
A voltage source converter type direct current transmission (VSC-HVDC) adopts a turn-off power electronic device, can realize phase change without an external power supply, and has functions which are not possessed by a traditional direct current transmission system such as active and reactive independent control, power supply to a weak power grid and a passive network and the like. The flexible direct-current transmission technology expands the application field of direct-current transmission, as shown in fig. 1, is a typical flexible direct-current transmission system, and can be applied to power supply for an isolated area, such as an offshore island, in addition to being applied to traditional power grid interconnection.
When the alternating current power grid connected to the converter station is an active network, the converter station and the synchronous generator run in parallel, and the flexible direct current transmission system works in a networking mode; when the ac grid connected to the converter station is a passive network, the converter station will work alone and the flexible dc transmission system will work in islanding mode.
The control strategy of the flexible direct current power transmission system is completely different in a networking mode and an island mode. In the networking mode, the control mode of the converter can be fixed active/reactive control, and in the island mode, the control mode of the converter is switched to fixed alternating voltage control. An island-networking control mode adopting mode switching is currently applied to the Zhoushan five-end flexible-straight project in China. However, the design of the control system in this way is complex, and the islanding-networking state of the system needs to be judged. For this reason, researchers have proposed an island-network switching control strategy without mode switching, which is based on droop control and can smoothly implement system island-network switching.
However, the control strategy only proposes the island networking switching of the system under the steady-state operation condition, and does not consider the impact and instability of the system during the starting process.
Disclosure of Invention
The invention aims to provide a starting control method and a starting control system of an MMC converter based on droop control.
In order to achieve the above object, an aspect of the present invention includes a method for controlling starting of an MMC converter based on droop control, including:
(1) charging the submodule to make the voltage of the submodule reach a rated voltage value;
(2) judging whether the system is an active network or not;
(3) when the system is an active network, calculating a network side voltage phase value, and calculating an error value between a set phase value and the network side voltage phase value;
(4) and giving the error value to an additional phase integrator at the rising edge moment of the unlocking signal as an initial value of the integrator, enabling the additional phase integrator according to the rising edge moment of the unlocking signal, calculating an additional phase value according to the additional phase integrator, superposing the additional phase value and the set phase value to generate a final phase value, controlling the unlocking converter according to the final phase value, and finishing starting.
The set phase value is a phase value generated by a local 50Hz phase generator in a control system of the MMC current converter.
The additional phase value is also associated with a power offset, which is an error value of a set output power value and an actual output power value.
The mathematical calculation formula of the additional phase integrator is as follows:
θattached with＝mod(Kf∫(Pset-P)dt+θ′，2π)，
Where mod () is the remainder function, θAttached withFor said additional phase value, PsetTo set the output power value, P is the actual output power value, θ' is the error value, θ ═ θ01-θg，θ01To set phase values, θgIs a grid side voltage phase value, KfAre coefficients.
When the system is a passive network, the current converter is directly unlocked and started.
A start control system of an MMC transverter based on droop control comprises:
the charging module is used for charging the submodule to enable the voltage of the submodule to reach a rated voltage value;
the judging module is used for judging whether the system is an active network or not;
the calculation module is used for calculating a network side voltage phase value when the system is an active network, and calculating an error value between a set phase value and the network side voltage phase value;
and the unlocking module is used for endowing the error value to an additional phase integrator at the rising edge moment of the unlocking signal as an initial value of the integrator, enabling the additional phase integrator according to the rising edge moment of the unlocking signal, calculating an additional phase value according to the additional phase integrator, superposing the additional phase value and the set phase value to generate a final phase value, controlling the unlocking converter according to the final phase value, and finishing starting.
The set phase value is a phase value generated by a local 50Hz phase generator in a control system of the MMC current converter.
The additional phase value of the additional phase integrator is further associated with a power offset, which is an error value of a set output power value and an actual output power value.
The mathematical calculation formula of the additional phase integrator is as follows:
θattached with＝mod(Kf∫(Pset-P)dt+θ′，2π)，
Where mod () is the remainder function, θAttached withFor said additional phase value, PsetTo set the output power value, P is the actual output power value, θ' is the error value, θ ═ θ01-θg，θ01To set phase values, θgIs a grid side voltage phase value, KfAre coefficients.
When the system is a passive network, the current converter is directly unlocked and started.
In the starting control method provided by the invention, firstly, the submodule is charged, so that the voltage of the submodule reaches a rated voltage value; when the system is an active network, calculating a network side voltage phase value, and calculating an error value of a set phase value and the network side voltage phase value; and giving the error value to the additional phase integrator as an initial value at the rising edge moment of the unlocking signal, enabling the additional phase integrator according to a rising edge trigger signal of the unlocking signal, calculating an additional phase value, unlocking the current converter, and finishing starting. The starting control method is suitable for a flexible-direct non-switching island-networking control strategy, the phase is compensated in a phase compensation mode during starting, the phase meets the requirement in an active compensation mode, the current converter can smoothly enter a stable state, smooth starting of the current converter is realized, and impact generated in the starting process is reduced; the system oscillation caused by the fact that the converter enters an unstable area with dP/d delta less than 0 is avoided, and the disturbance resistance is strong; the conditions of overvoltage and bridge arm overcurrent cannot occur in the starting process, and the system protection is prevented from being triggered, so that the current converter can rapidly and stably operate.
Drawings
Fig. 1 is a schematic diagram of a typical flexible dc power transmission system;
FIG. 2 is a flow chart illustrating a method for controlling the start-up of the inverter;
FIG. 3 is a schematic diagram of the output phase of a 50Hz phase generation element;
FIG. 4 is a rising edge trigger signal diagram of the unlock signal;
FIG. 5 is a schematic diagram of the phase calculation in the startup control method;
FIG. 6 is a net side active power waveform diagram for a full power step start after compensation;
FIG. 7 is a graph of DC current waveform at full power step start after compensation;
FIG. 8-a is a plot of net side active reactive power waveforms for an uncompensated full power step start;
FIG. 8-b is a graph of the active power waveform of FIG. 8-a;
FIG. 8-c is a graph of the reactive power waveform of FIG. 8-a;
fig. 9 is a diagram of a dc current waveform for an uncompensated full power step start.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Embodiment of startup control method
As shown in fig. 2, a schematic flow chart of a start control method for an MMC converter based on droop control provided in the present invention specifically includes the following steps:
(1) charging a submodule in the MMC converter to enable the voltage of the submodule to reach a rated voltage value;
(2) judging whether the system is an active network or not, and if the system is the active network, continuing to perform starting control; if the network is a passive network, directly unlocking and starting the MMC current converter;
(3) if the system is an active network, then the network side voltage phase value is calculated and noted as thetagIn this embodiment, the voltage at the network side of the converter is phase-lockedTo obtain the grid side voltage phase value, of course, the calculation of the grid side voltage phase value is not limited to the above-mentioned manner. Setting a phase value, which is generated by a local 50Hz phase generator of the control system of the MMC converter in this embodiment, and is denoted by θ01The phase value θ is shown in FIG. 301The following computational expression may be used for expression:
θ01＝mod(2πft，2π)
where f is the reference frequency of the modulated wave, θ01Has a value range of [0, 2 pi]。
Then, θ is calculated01And thetagIn this embodiment, the calculated error value is the difference Δ θ, and the calculation formula is that Δ θ is θ01-θg. In addition, when an active signal is input, the calculated Δ θ is output, and when a passive signal is input, Δ θ is not output but 0 is output.
(4) Since the unlocking time comes when there is an unlocking signal, the rising edge of the unlocking signal can be obtained according to the change of the control signal before and after unlocking, and the rising edge is called as the rising edge trigger signal of the unlocking signal, so that the unlocking time is the arrival time of the rising edge of the unlocking signal, as shown in fig. 4. Therefore, the difference value Δ θ is given to the additional phase integrator at the unlocking time as an initial value θ' of the additional phase integrator; in addition, if the difference Δ θ is a variable, then θ 'is a value of the difference Δ θ at the unlocking time, i.e., at the rising edge of the unlocking signal, and θ' is given to the additional phase integrator at the unlocking time as an initial value of the additional phase integrator, and the calculation formula is: theta ═ delta theta ∞Moment of t unlocking。
(5) Enabling the additional phase integrator according to the rising edge trigger signal of the unlocking signal, and calculating an additional phase value according to an initial value theta' of the additional phase integrator and a mathematical calculation formula in the additional phase integrator. Then, this embodiment gives the calculation formula of the additional phase value, i.e. the mathematical calculation formula of the additional phase integrator, as follows:
θattached with＝mod(Kf∫(Pset-P)dt+θ′，2π)，
Where mod () is the remainder function, θAttached withTo add phase values, PsetTo set the output power value, P is the actual output power value, θ' is an initial value, θ ═ θ01-θg，θ01To set phase values, θgIs a grid side voltage phase value, KfAre coefficients.
(6) Adding the phase value thetaAttached withAnd a set phase value theta01And generating a final phase value θ by superposition, as shown in fig. 5, controlling the unlocking converter according to the final phase value θ, specifically: and generating a relevant modulation wave after corresponding decoupling transformation is carried out according to the final phase value theta, and then generating a trigger signal of a converter valve in the converter according to the modulation wave to complete starting.
In combination with the above specific technical solution, an application example is given below.
Assume that the system basic parameters are as shown in table 1.
TABLE 1
Since the submodule charging process is not the protection focus of the invention, the default submodule voltage has already reached the nominal value here.
The system is assumed to be active at start-up and therefore phase compensation is required. The phase difference between the 50Hz phase generator and the grid side voltage is-31 deg. before the system is unlocked.
According to the operation requirement after unlocking, the phase error value at the unlocking moment is calculated to be 31 degrees so as toThe phase error value is used as an initial value of an additional phase integrator, the additional phase integrator is enabled according to a rising edge trigger signal of an unlocking signal, and an additional phase value theta is calculated by combining a set output power value and an actual output power value (the part is not specifically described again)Attached withAnd then the system unlocking operation is completed, and the system can smoothly enter a steady state after starting, so that overvoltage and overcurrent cannot occur, as shown in fig. 6 and 7.
When the phase compensation is not performed and the position difference value is 165 degrees during unlocking operation, the system will have great oscillation and is not easy to enter a steady state, at this time, great overcurrent will occur in a bridge arm, overcurrent occurs on a direct current side, and overvoltage occurs on a valve side grid side, as shown in fig. 8-a, fig. 8-b, fig. 8-c and fig. 9.
Therefore, the comparison shows that the starting can be smoothly realized by adopting a phase compensation mode, the impact on a system is reduced, and the protection misoperation is avoided.
Startup control System embodiments
In this embodiment, the start control system of the MMC transverter based on droop control includes:
the charging module is used for charging the submodule to enable the voltage of the submodule to reach a rated voltage value;
the judging module is used for judging whether the system is an active network or not;
the calculation module is used for performing phase locking on the network side voltage of the converter when the system is an active network to obtain a network side voltage phase value and calculating an error value of a set phase value and the network side voltage phase value;
and the unlocking module is used for endowing the error value to the additional phase integrator at the rising edge moment of the unlocking signal as an initial value of the integrator, enabling the additional phase integrator according to the rising edge moment of the unlocking signal, calculating an additional phase value according to the additional phase integrator, superposing the additional phase value and a set phase value to generate a final phase value, controlling the unlocking converter according to the final phase value, and finishing the starting.
The modules are software modules, and the software modules are defined by corresponding functional actions, so that the protection range of each software module is corresponding functional action, that is, the control system is still a corresponding control method in essence.
The specific embodiments are given above, but the present invention is not limited to the described embodiments. The basic idea of the present invention lies in the above basic scheme, and it is obvious to those skilled in the art that no creative effort is needed to design various modified models, formulas and parameters according to the teaching of the present invention. Variations, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.
Claims (10)
1. A starting control method of an MMC converter based on droop control is characterized by comprising the following steps:
(1) charging the submodule to make the voltage of the submodule reach a rated voltage value;
(2) judging whether the system is an active network or not;
(3) when the system is an active network, calculating a network side voltage phase value, and calculating an error value between a set phase value and the network side voltage phase value;
(4) and giving the error value to an additional phase integrator at the rising edge moment of the unlocking signal as an initial value of the integrator, enabling the additional phase integrator according to the rising edge moment of the unlocking signal, calculating an additional phase value according to the additional phase integrator, superposing the additional phase value and the set phase value to generate a final phase value, controlling the unlocking converter according to the final phase value, and finishing starting.
2. The method for controlling starting of an MMC converter based on droop control according to claim 1, wherein the set phase value is a phase value generated by a local 50Hz phase generator in a control system of the MMC converter.
3. The method for controlling startup of an MMC converter based on droop control according to claim 1, wherein the additional phase value is further associated with a power offset, and the power offset is an error value between a set output power value and an actual output power value.
4. The starting control method of the MMC converter based on droop control of claim 3, wherein the mathematical formula of the additional phase integrator is as follows:
θattached with＝mod(Kf∫(Pset-P)dt+θ′，2π)，
Where mod () is the remainder function, θAttached withFor said additional phase value, PsetTo set the output power value, P is the actual output power value, θ' is the error value, θ ═ θ01-θg，θ01To set phase values, θgIs a grid side voltage phase value, KfAre coefficients.
5. The MMC converter starting control method based on droop control of claim 1, wherein when the system is a passive network, the starting converter is unlocked directly.
6. A start control system of MMC transverter based on droop control, characterized by includes:
the charging module is used for charging the submodule to enable the voltage of the submodule to reach a rated voltage value;
the judging module is used for judging whether the system is an active network or not;
the calculation module is used for calculating a network side voltage phase value when the system is an active network, and calculating an error value between a set phase value and the network side voltage phase value;
and the unlocking module is used for endowing the error value to an additional phase integrator at the rising edge moment of the unlocking signal as an initial value of the integrator, enabling the additional phase integrator according to the rising edge moment of the unlocking signal, calculating an additional phase value according to the additional phase integrator, superposing the additional phase value and the set phase value to generate a final phase value, controlling the unlocking converter according to the final phase value, and finishing starting.
7. The MMC converter startup control system based on droop control of claim 6, wherein the set phase value is a phase value generated by a local 50Hz phase generator in the control system of the MMC converter.
8. The droop control-based MMC converter start-up control system of claim 6, wherein the additional phase value of the additional phase integrator is further associated with a power offset, the power offset being an error value between a set output power value and an actual output power value.
9. The droop control-based MMC converter start-up control system of claim 8, wherein the mathematical formula of the additional phase integrator is:
θattached with＝mod(Kf∫(Pset-P)dt+θ′，2π)，
Where mod () is the remainder function, θAttached withFor said additional phase value, PsetTo set the output power value, P is the actual output power value, θ' is the error value, θ ═ θ01-θg，θ01To set phase values, θgIs a grid side voltage phase value, KfAre coefficients.
10. A start-up control system for an MMC converter based on droop control according to claim 6, characterized in that when the system is a passive network, the start-up converter is unlocked directly.
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