CN107134800B - Bipolar VSC passive control method and device of direct current transmission system - Google Patents
Bipolar VSC passive control method and device of direct current transmission system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
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Abstract
The invention relates to a bipolar VSC passive control method and a device of a direct current transmission system. The invention can realize the stable unlocking of the two-pole VSC, the voltage phases of the two-pole VSC are kept synchronous after the unlocking, and the same passive network is stably supplied with power.
Description
Technical Field
The invention belongs to the technical field of direct current transmission, and particularly relates to a bipolar VSC passive control method and device of a direct current transmission system.
Background
A Line Commutated Converter Based High Voltage Direct Current transmission system (LCC-HVDC) is widely applied to occasions of large-capacity long-distance transmission, back-to-back interconnection of asynchronous power grids and the like, but has the defects of failure in inverter station commutation, incapability of supplying power to a passive system, consumption of a large amount of reactive power in the operation process and the like; the Voltage Source Converter Based High Voltage Direct Current transmission system (VSC-HVDC) Based on the fully-controlled power electronic device has the advantages of capability of independently controlling active power and reactive power, no commutation failure, capability of supplying power to a passive system and the like, but has higher construction cost and smaller transmission capacity compared with LCC. In a plurality of VSC-HVDC power transmission topologies, a Modular Multilevel Converter (MMC-HVDC) Direct Current power transmission system has all the advantages of VSC-HVDC, but is not suitable for long-distance and High-power transmission occasions due to the defects of High manufacturing cost, incapability of effectively processing Direct Current faults and the like.
In order to integrate the advantages of two direct-current transmission systems, namely LCC-HVDC and VSC-HVDC, a hybrid direct-current transmission system is produced. The rectification side of the hybrid direct-current transmission system adopts the LCC, the inversion side adopts the VSC, the advantages that the capacity of the LCC direct-current transmission system is large, the distance is long, no commutation failure exists in the VSC, and the power can be supplied to the passive alternating-current system are fully exerted, and the hybrid direct-current transmission system has a great development prospect.
Generally, in a hybrid direct-current transmission system, an inversion-side VSC terminal can work in both an active mode and a passive mode. In an active mode, the VSC terminal module carries out active charging through an alternating current power grid connected with the VSC terminal module; during the passive mode, VSC terminal module carries out the passive charging through its direct current line of connecting. After charging is completed, the VSC is unlocked in two modes according to corresponding control modes, and power transmission of the direct current transmission system is achieved. In the prior art, a paper named as an LCC-MMC hybrid high-voltage direct-current transmission system is published in a journal of "papers on electrical technology, volume 28, No. 10, month 10, 2013, and the paper discloses a control method of a double-end unipolar direct-current transmission system, wherein the LCC is used for providing stable direct-current voltage to complete capacitor charging of each submodule of an MMC and unlocking of an IGBT.
And when the bipolar VSC of contravariant side accessed same passive network among the direct current system, only adopted the direct current voltage that the rectification side provided to charge and the mode of unblock for two poles of the earth VSC, can have the phase deviation of voltage after two poles of the earth VSC unblock, when the voltage phase deviation of two poles of the earth VSC is very big, can cause certain impact to the passive network, will lead to direct current transmission system can not the steady operation when strikeing seriously. In addition, when the mode that the direct-current voltage provided by the rectifying side is used for charging and unlocking the two-pole VSC is adopted, the problem of power coordination control of the two-pole VSC also exists.
Disclosure of Invention
The invention aims to provide a method and a device for controlling a bipolar VSC (voltage source converter) of a direct current transmission system in a passive mode, which are used for solving the unlocking control problem that the direct current system with the bipolar VSC is connected to the same passive network.
In order to solve the technical problem, the invention provides a bipolar VSC passive control method of a direct current transmission system, which comprises the following method schemes:
the first method scheme comprises the following steps:
1) the first pole VSC and the second pole VSC on the inverting side are passively charged through the direct-current voltage provided by the rectifying side;
2) after a first pole VSC on the control inversion side is unlocked, constant alternating voltage control is carried out on the first pole VSC to obtain three-phase modulation reference voltage of the first pole VSC, and therefore network side alternating voltage is established; and controlling a second-pole VSC on the inversion side to carry out phase locking on the phase of the network-side alternating voltage established by the first-pole VSC, and controlling the second-pole VSC to unlock after the phase locking.
In the second method, based on the first method, the constant ac voltage control is: correspondingly processing the difference between the grid-side alternating voltage reference value and the grid-side voltage d-axis component to obtain a first polar modulation voltage d-axis reference value;
and correspondingly processing the difference between 0 and the q-axis component of the network side voltage to obtain a q-axis reference value of the first pole modulation voltage, and performing park inverse transformation on the d-axis reference value of the first pole modulation voltage and the q-axis reference value of the first pole modulation voltage to obtain a three-phase modulation reference voltage value of the first pole VSC.
In a third method, on the basis of the second method, the d-axis reference value of the modulation voltage of the first pole is calculated by the following formula:
in the formula，Ud1_refIs a d-axis reference value of the first-pole modulation voltage, KpIs a coefficient of proportionality that is,is a network side AC voltage reference value Uac_refPer unit value of Uac_dIs the d-axis component of the net-side voltage, TiIs an integration time constant;
the first pole modulation voltage q-axis reference value Uq1_refCalculated by the following formula:
in the formula of Uq1_refFor the first pole modulating the q-axis reference value, KpIs a proportionality coefficient, Uac_qIs the q-axis component of the net side voltage, TiIs the integration time constant.
And in a fourth method scheme, on the basis of the first method scheme, double-loop control is adopted after the second-pole VSC is unlocked, wherein an outer loop is a power loop, and an inner loop is a current loop.
In the fifth method scheme, on the basis of the fourth method scheme, the double-loop control in which the outer loop is a power loop and the inner loop is a current loop specifically comprises the following steps: and PI control is carried out on the difference between the active power reference value and the active power measured value to obtain an inner ring current d-axis reference value, PI control is carried out on the difference between the reactive power reference value and the reactive power measured value to obtain an inner ring current q-axis reference value, the inner ring current d-axis reference value and the inner ring current q-axis reference value pass through an inner ring current controller to respectively obtain a second polar modulation voltage d-axis reference value and a second polar modulation voltage q-axis reference value, and inverse park transformation is carried out to obtain a three-phase modulation voltage reference value of the second polar modulation voltage.
In order to solve the above problems, the present invention further provides a bipolar VSC passive control device for a dc power transmission system, including the following device solutions:
the device scheme one comprises a charging unit and an unlocking control unit, wherein:
the charging unit is used for passively charging the first pole VSC and the second pole VSC on the inversion side through the direct-current voltage provided by the rectification side;
the unlocking control unit is used for controlling the first pole VSC on the inversion side to be subjected to constant alternating voltage control after the first pole VSC is unlocked, so that three-phase modulation reference voltage of the first pole VSC is obtained, and therefore network side alternating voltage is established; and controlling a second-pole VSC on the inversion side to carry out phase locking on the phase of the network-side alternating voltage established by the first-pole VSC, and controlling the second-pole VSC to unlock after the phase locking.
In the second device scheme, on the basis of the first device scheme, the method further comprises the step of correspondingly processing the difference between the grid-side alternating voltage reference value and the grid-side voltage d-axis component to obtain a first polar modulation voltage d-axis reference value; and correspondingly processing the difference between 0 and the q-axis component of the network side voltage to obtain a q-axis reference value of the first pole modulation voltage, and performing park inverse transformation on the d-axis reference value of the first pole modulation voltage and the q-axis reference value of the first pole modulation voltage to obtain a three-phase modulation reference voltage value unit of the first pole VSC.
The third device scheme further includes, on the basis of the second device scheme, a calculation unit: the d-axis reference value for the first pole modulation voltage is calculated by:
in the formula of Ud1_refIs a d-axis reference value of the first-pole modulation voltage, KpIs a coefficient of proportionality that is,is a network side AC voltage reference value Uac_refPer unit value of Uac_dIs the d-axis component of the net-side voltage, TiIs an integration time constant;
the first pole modulation voltage q-axis reference value Uq1_refCalculated by the following formula:
in the formula of Uq1_refIs modulated for the first poleReference value of voltage q-axis, KpIs a proportionality coefficient, Uac_qIs the q-axis component of the net side voltage, TiIs the integration time constant.
And in the fourth device scheme, on the basis of the first device scheme, a double-loop control unit for adopting an outer loop as a power loop and an inner loop as a current loop after the second-pole VSC is unlocked is further included.
And a fifth device scheme, based on the fourth device scheme, the third device scheme further includes a unit configured to perform PI control on a difference between the active power reference value and the active power actual measurement value to obtain an inner ring current d-axis reference value, perform PI control on a difference between the reactive power reference value and the reactive power actual measurement value to obtain an inner ring current q-axis reference value, and perform inverse park transformation on the inner ring current d-axis reference value and the inner ring current q-axis reference value to obtain a second pole modulation voltage d-axis reference value and a second pole modulation voltage q-axis reference value, respectively, through an inner ring current controller to obtain a three-phase modulation voltage reference value of the second pole VSC.
The invention has the beneficial effects that: after one of them utmost point VSC unblock through control contravariant side, adopt to it and decide alternating voltage control, then another utmost point VSC of control contravariant side carries out the lock phase to the phase place of above-mentioned one of them utmost point VSC output, controls another utmost point VSC unblock behind the lock phase. The invention can realize the stable unlocking of the two-pole VSC, the voltage phases of the two-pole VSC are kept synchronous after the unlocking, and the same passive network is stably supplied with power.
Drawings
Fig. 1 is a topological block diagram of a bipolar passive hybrid dc power transmission system;
FIG. 2 is a block diagram of the topology of one of the pole VSCs in a bipolar VSC;
FIG. 3 is a pole 1 controller schematic block diagram of a bipolar VSC;
fig. 4 is a pole 2 controller schematic block diagram of a bipolar VSC.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The embodiment of the invention relates to a bipolar VSC passive control method of a direct current transmission system, which comprises the following steps:
according to the bipolar passive hybrid direct-current transmission system shown in fig. 1, the rectification side adopts the LCC to access the alternating-current power grid, the inversion side adopts the VSC to access the passive network, the LCC sends power to the VSC end through a direct-current line, the LCC end direct-current side is connected with the smoothing reactor in series, the VSC end direct-current side is connected with the diode in series, the VSC end adopts the MMC structure, the converter comprises 6 three-phase bridge arms, each bridge arm comprises a bridge arm inductor and a submodule with the same number, as shown in fig. 2, the submodule adopts the half-bridge structure and comprises 2 IGBTs, 2 anti-parallel diodes and 1 energy storage capacitor.
Aiming at the hybrid direct current system shown in fig. 1, the bipolar LCC end on the rectifying side is controlled to be unlocked, stable direct current voltage provided by the bipolar LCC is utilized to charge capacitors in submodules of poles 1 and 2 on the inverting side (one pole VSC unlocked firstly in the bipolar VSC is called as a pole 1, and one pole VSC unlocked later is called as a pole 2), after charging is completed, the pole 1 on the VSC end is unlocked, and constant alternating current voltage control is adopted after the pole 1 is unlocked, so that three-phase voltage on the alternating current side of the VSC end is established. Because the VSC terminal pole 1 and the VSC terminal pole 2 are connected in the same passive network, after the VSC terminal pole 1 is unlocked at the moment, the alternating-current voltage exists on the alternating-current side, the voltage phase output by the pole 1 is phase-locked by the control pole 2, the voltage phase of the pole 2 is synchronized with the voltage phase of the pole 1, and then the pole 2 is unlocked in a constant active power control mode and a constant reactive power control mode. After the VSC terminal 2 is unlocked, the power distribution of the two poles can be completed through the active power and the reactive power output by the control pole 2, and the bipolar coordination control of the active power and the reactive power is realized.
After the VSC end is accomplished through the passive charging of direct current side, carry out the unblock to VSC end utmost point 1 and adopt and decide alternating voltage control, this control process is:
as shown in fig. 3, the AC voltage reference value U is compared with the grid sideac_refPer unit value and d-axis component U of network side voltageac_dIs controlled to obtain a d-axis reference value U of the first-pole modulation voltaged1_refFor 0 and the q-axis component U of the network side voltageac_qIs controlled to obtain a reference value U of a q axis of the first-pole modulation voltageq1_refThen inverse park transformation is carried out to obtain the three-phase modulation voltage reference value U of the pole 1a1_ref、Ub1_ref、Uc1_ref. Wherein, Uac_refIncreasing from 0 with a certain slope so that the established net side ac voltage rises smoothly.
After VSC end utmost point 1 unblock, because the two poles of the earth of VSC end are connected in same passive network, so the exchange side of VSC end utmost point 2 has had alternating voltage this moment, and the voltage phase place of 2 phase-locked utmost points 1 of control utmost point then with decide active power control and decide the reactive power control mode to extremely 2 unblocks, the control process of utmost point 2 does:
as shown in fig. 4, for the active power reference value Pac_refAnd the measured value P of active powerac_measPI control is carried out on the difference to obtain an inner ring current d-axis reference value Id_refFor reference value Q of reactive powerac_refAnd the actual measured value Q of the reactive powerac_measPerforming PI control on the difference to obtain an inner ring current q-axis reference value Iq_refRespectively obtaining a second polar modulation voltage d-axis reference value U through an inner ring current controllerd2_refAnd a second polar modulation voltage q-axis reference value Uq2_refCarrying out inverse park transformation to obtain the three-phase modulation voltage reference value U of the pole 2a2_ref、Ub2_ref、Uc2_ref. Wherein, Pac_refAnd Qac_refAnd the output active power and the output reactive power are smoothly changed by increasing or reducing from 0 at a certain rising and falling speed.
Then, by changing P of VSC terminal 2ac_ref、Qac_refAnd completing power distribution of two poles according to the corresponding lifting speed reference value, and realizing bipolar coordination control of active power and reactive power. In the operation process, if the pole 2 fails, the pole 2 is stopped and the pole 1 continues to operate; if the pole 1 fails, the pole 1 is shut down, and simultaneously the pole 2 control strategy is switched to constant alternating voltage control and continues to operate.
The invention establishes direct current voltage after unlocking by utilizing the LCC end at the rectifying side, passively charges a submodule at the VSC end at the inverting side through a direct current circuit, then unlocks the pole 1 at the VSC end, thereby establishing three-phase voltage at the alternating current side of the VSC end, generates alternating current voltage at the alternating current side of the pole 2 at the VSC end, and finally unlocks the pole 2 in a fixed active power and fixed reactive power control mode after the pole 2 locks the voltage phase of the pole 1. After the VSC terminal 2 is unlocked, the power distribution of the two poles can be completed through the active power and the reactive power output by the control pole 2, and the bipolar coordination control of the active power and the reactive power is realized. The invention has simple logic and easy engineering realization, can realize the stable unlocking of two-pole VSC and simultaneously stably supply power for the same passive network.
The method is used for solving the unlocking control problem that a direct current system with bipolar VSC is connected to the same passive network, therefore, the control method is not only suitable for the bipolar passive hybrid direct current transmission system shown in FIG. 1, namely, a converter on the rectifying side is not limited to LCC, but also can be bipolar VSC or other types of converters as long as the converter on the rectifying side can provide stable direct current voltage for the inverting side.
The mode of unlocking the bipolar LCC in the embodiment can be set as required, the bipolar LCC can be unlocked simultaneously to charge the capacitors at the terminal 1 and the terminal 2 of the VSC, and the terminal 1 and the terminal 2 are unlocked after the charging is finished; or unlocking the LCC at the opposite end of the pole 1, then unlocking the LCC at the opposite end of the pole 2, and then unlocking the pole 1 and the pole 2; and unlocking can be carried out on two stages of the rectification side and the inversion side respectively, if the LCC at the opposite end of the pole 1 is unlocked, the pole 1 of the VSC end is unlocked, then the LCC at the opposite end of the pole 2 is unlocked, and finally the pole 2 of the VSC end is unlocked.
An embodiment of a bipolar VSC passive control device of a direct current transmission system of the present invention:
the system comprises a charging unit and an unlocking control unit, wherein the charging unit is used for passively charging a first pole VSC and a second pole VSC on an inversion side through direct current voltage provided by a rectification side; the unlocking control unit is used for controlling the first pole VSC on the inversion side to be unlocked and then controlling the first pole VSC by adopting constant alternating voltage to obtain three-phase modulation reference voltage of the first pole VSC; and controlling a second-pole VSC on the inversion side to phase-lock the phase of the three-phase alternating-current voltage output by the first-pole VSC, and controlling the second-pole VSC to unlock after phase locking.
The bipolar VSC passive control device of the dc transmission system in the above embodiment is actually a computer solution based on the method flow of the present invention, that is, a software framework, and can be applied to the converter station, and the above device is a processing procedure corresponding to the method flow. Since the above method is described clearly and completely and the device claimed in this embodiment is actually a software structure, it will not be described in detail.
Claims (8)
1. A method of passive control of a bipolar VSC of a direct current transmission system, comprising the steps of:
1) the first pole VSC and the second pole VSC on the inverting side are passively charged through the direct-current voltage provided by the rectifying side;
2) after a first pole VSC on the control inversion side is unlocked, constant alternating voltage control is carried out on the first pole VSC to obtain three-phase modulation reference voltage of the first pole VSC, and therefore network side alternating voltage is established; controlling a second-pole VSC on an inversion side to carry out phase locking on the phase of the network-side alternating-current voltage established by the first-pole VSC, and controlling the second-pole VSC to unlock after the phase locking;
the constant alternating voltage control comprises the following steps: correspondingly processing the difference between the grid-side alternating voltage reference value and the grid-side voltage d-axis component to obtain a first polar modulation voltage d-axis reference value;
and correspondingly processing the difference between 0 and the q-axis component of the network side voltage to obtain a q-axis reference value of the first pole modulation voltage, and performing park inverse transformation on the d-axis reference value of the first pole modulation voltage and the q-axis reference value of the first pole modulation voltage to obtain a three-phase modulation reference voltage value of the first pole VSC.
2. A method of passive control of a bipolar VSC of a direct current transmission system according to claim 1, characterised in that the first pole modulation voltage d-axis reference value is calculated by:
in the formula of Ud1_refIs a d-axis reference value of the first-pole modulation voltage, KpIs a coefficient of proportionality that is,is a network side AC voltage reference value Uac_refPer unit value of Uac_dIs the d-axis component of the net-side voltage, TiIs an integration time constant;
the first pole modulation voltage q-axis reference value Uq1_refCalculated by the following formula:
in the formula of Uq1_refFor the first pole modulating the q-axis reference value, KpIs a proportionality coefficient, Uac_qIs the q-axis component of the net side voltage, TiIs the integration time constant.
3. A method of passive control of a bipolar VSC of a dc transmission system according to claim 1, characterised in that the unlocking of the second VSC takes a double loop control with an outer loop being a power loop and an inner loop being a current loop.
4. A method of bipolar VSC passive control of a dc transmission system according to claim 3, wherein the dual loop control with the outer loop being a power loop and the inner loop being a current loop is specifically: and PI control is carried out on the difference between the active power reference value and the active power measured value to obtain an inner ring current d-axis reference value, PI control is carried out on the difference between the reactive power reference value and the reactive power measured value to obtain an inner ring current q-axis reference value, the inner ring current d-axis reference value and the inner ring current q-axis reference value pass through an inner ring current controller to respectively obtain a second polar modulation voltage d-axis reference value and a second polar modulation voltage q-axis reference value, and inverse park transformation is carried out to obtain a three-phase modulation voltage reference value of the second polar modulation voltage.
5. A bipolar VSC passive control device for a direct current transmission system, comprising:
a charging unit: the passive charging device is used for passively charging a first pole VSC and a second pole VSC on the inversion side through direct-current voltage provided by the rectification side;
an unlocking control unit: after the first pole VSC used for controlling the inversion side is unlocked, the first pole VSC is controlled by constant alternating voltage to obtain three-phase modulation reference voltage of the first pole VSC, and therefore network side alternating voltage is established; controlling a second-pole VSC on an inversion side to carry out phase locking on the phase of the network-side alternating-current voltage established by the first-pole VSC, and controlling the second-pole VSC to unlock after the phase locking;
the device also comprises a step of carrying out corresponding processing on the difference between the grid-side alternating voltage reference value and the grid-side voltage d-axis component to obtain a first polar modulation voltage d-axis reference value;
and correspondingly processing the difference between 0 and the q-axis component of the network side voltage to obtain a q-axis reference value of the first pole modulation voltage, and performing park inverse transformation on the d-axis reference value of the first pole modulation voltage and the q-axis reference value of the first pole modulation voltage to obtain a three-phase modulation reference voltage value unit of the first pole VSC.
6. A bipolar VSC passive control device of a direct current transmission system according to claim 5, characterized by further comprising a calculation unit: the d-axis reference value for the first pole modulation voltage is calculated by:
in the formula of Ud1_refIs a d-axis reference value of the first-pole modulation voltage, KpIs a coefficient of proportionality that is,is a network side AC voltage reference value Uac_refPer unit value of Uac_dIs the d-axis component of the net-side voltage, TiIs an integration time constant;
the first pole modulation voltage q-axis reference value Uq1_refCalculated by the following formula:
in the formula of Uq1_refFor the first pole modulating the q-axis reference value, KpIs a proportionality coefficient, Uac_qIs the q-axis component of the net side voltage, TiIs the integration time constant.
7. A bipolar VSC passive control arrangement of a direct current transmission system according to claim 5, characterized by means for dual loop control with an outer loop being a power loop and an inner loop being a current loop after unlocking the second pole VSC.
8. A bipolar VSC passive control device of a DC power transmission system according to claim 7, characterized by further comprising means for PI controlling the difference between the active power reference value and the actual measured value of active power to obtain an inner loop current d-axis reference value, PI controlling the difference between the reference value of reactive power and the actual measured value of reactive power to obtain an inner loop current q-axis reference value, passing the inner loop current d-axis reference value and the inner loop current q-axis reference value through an inner loop current controller to obtain a second modulated voltage d-axis reference value and a second modulated voltage q-axis reference value, respectively, and performing inverse park transformation to obtain a three-phase modulated voltage reference value of the second VSC.
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| PCT/CN2017/114074 WO2018196381A1 (en) | 2017-04-27 | 2017-11-30 | Passive control method, device, and storage medium for bipolar voltage source converter |
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| EP3467986B1 (en) * | 2017-10-06 | 2022-07-13 | General Electric Technology GmbH | Converter scheme |
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| 《厦门柔性直流输电工程换流阀充电触发无源逆变试验研究》;胡文旺等;《中国电力》;20161130;第49卷(第11期);第51-56页 * |
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| Publication number | Publication date |
|---|---|
| WO2018196381A1 (en) | 2018-11-01 |
| CN107134800A (en) | 2017-09-05 |
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