CN107342596A - A kind of VSC HVDC system virtualization synchronous machine control structures and its method - Google Patents
A kind of VSC HVDC system virtualization synchronous machine control structures and its method Download PDFInfo
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- CN107342596A CN107342596A CN201710188907.9A CN201710188907A CN107342596A CN 107342596 A CN107342596 A CN 107342596A CN 201710188907 A CN201710188907 A CN 201710188907A CN 107342596 A CN107342596 A CN 107342596A
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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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
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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
-
- 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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/40—Synchronising a generator for connection to a network or to another generator
-
- 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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/388—Islanding, i.e. disconnection of local power supply from the network
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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 invention discloses a kind of VSC HVDC system virtualization synchronous machine control structures and its method, including VSC virtual synchronous machines, VSC virtual synchronous machine accesses power network by grid-connected switch KS；The control system of the control structure includes active adjustment module, Reactive-power control module, mechanical module and electrical module.The inertia and damping characteristic and frequency modulation, voltage regulation function of synchronous generator are simulated by VSC, improves the stability of alternating current system, and realizes networking and the seamless switching of island mode；This method includes DC voltage, the active class control method of two kinds of active power, can have DC voltage coordinated control function towards VSC applications all in VSC HVDC systems, enhance straight-flow system reliability of operation.
Description
Technical field
The invention belongs to high voltage power transmission technical field, is related to a kind of VSC-HVDC system virtualizations synchronous machine control structure；This
Invention further relates to the control method of above-mentioned VSC-HVDC system virtualizations synchronous machine.
Background technology
As the propulsion that the adjustment of China's energy resource structure and power grid construction are planned, flexible direct current power transmission system are active with its
Power, reactive power are independent flexibly controllable, without line commutation voltage, can obtain extensively should to advantages such as Tertiary in Gudao area power supplies
With, and develop towards the direction of high-voltage large-capacity.
VSC-HVDC uses the conventional Direct Current Control based on the bicyclic decouplings of PI under synchronous rotating frame more at present,
Active and reactive class control targe is mostly fixed numbers in such control, can not active response system voltage and frequency change,
Large Copacity VSC can not be played to act on the voltage of AC system, frequency support.And VSC shows as zero Inertia Characteristics, with
Permeabilities of the VSC-HVDC in power network is improved constantly, and generating set installed capacity demand is accordingly reduced in power system, power network
Equivalent rotary inertia reduces, and causes system fm capacity substantially to weaken, is highly detrimental to power system security stable operation.Separately
Outside, VSC-HVDC needs to realize isolated island with uninterruptedly transporting under networked mode by the switching of control model under conventional control mode
OK, this pattern switching strategy to VSC smooth and seamless proposes very high requirement, not only increases Control System Design difficulty,
And the electrical impact in handoff procedure is difficult to avoid that, it is unfavorable for the power supply of load safety and stability.
In recent years, gradually sent out in the systems such as micro-capacitance sensor, wind-power electricity generation based on the VSC control technologies of virtual synchronous generator
Exhibition is got up, its mechanical, electric equation by simulating conventional synchronization generator, and frequency modulation, Regulation Control etc., embodies VSC
Go out the operation characteristic of synchronous generator, so as to actively adjust power system voltage and frequency, and be applied to unit and multi-machine parallel connection
Operation.Great reference value for this solves the above problems to VSC-HVDC systems.
But research of the academic circles at present for virtual synchronous machine technology is only conceived to separate unit VSC or its frequency modulation, pressure regulation control
System.During applied to VSC-HVDC systems, a variety of operation controlling parties such as VSC DC voltage controls, active power controller how are tackled
Formula, and realize that two particularly more VSC DC voltage coordinates control, it is that the technology is faced to the popularization of VSC-HVDC systems
Matter of utmost importance, it is necessary to carry out in-depth study.
The content of the invention
It is an object of the invention to provide a kind of VSC-HVDC system virtualizations synchronous machine control structure；It is same by VSC simulations
The inertia and damping characteristic and frequency modulation, voltage regulation function of generator are walked, improves the stability of alternating current system, and realize networking
With the seamless switching of island mode.
Present invention also offers the control method of above-mentioned VSC-HVDC system virtualizations synchronous machine, this method includes direct current
Pressure, the active class control method of two kinds of active power, there can be direct current towards VSC applications all in VSC-HVDC systems
Coordinated control function is pressed, enhances straight-flow system reliability of operation.
The purpose of the present invention is achieved through the following technical solutions：
This VSC-HVDC system virtualizations synchronous machine control structure, including VSC virtual synchronous machines, VSC virtual synchronous machines lead to
Cross grid-connected switch KS accesses power network；The control system of the control structure includes active adjustment module, Reactive-power control module, mechanical mould
Block and electrical module；Wherein active adjustment module is combined or by having by DC voltage controller and f-P droop control devices
Work(power controller, DC voltage error method device and f-P droop control devices are combined, regulation output mechanical power Pm, and lead to
Mechanical module is crossed according to PmObtain the electrical angle θ of alternating current；Reactive-power control module passes through voltage regulator and Q-U droop control knots
Close the generator terminal potential E of output VSC virtual synchronous machinesp, and by electrical module, obtain the output three-phase electricity of VSC virtual synchronous machines
Flow iabc_ref。
Further, the features of the present invention also resides in：
Wherein VSC virtual synchronous machine is two or more that the VSC virtual synchronous machine access of two or more interconnections is not
Same power network.
Wherein VSC virtual synchronous machine is obtained VSC modulating wave by closed-loop current control VSC is controlled.
The present invention another technical scheme be：A kind of control method of VSC-HVDC system virtualizations synchronous machine, including it is following
Step：
Step 1, the active class control being combined by DC voltage controller and VSC virtual synchronous machine f-P droop control devices
System, or be combined by Active Power Controller, DC voltage error method device and VSC virtual synchronous machine f-P droop control devices
Active class control, to the mechanical output P of VSC virtual synchronous machinesmIt is adjusted；
Step 2, according to the mechanical output P of VSC virtual synchronous machinesmObtain the electrical angle θ of alternating current；
Step 3, the idle class being combined using AVR controllers and Q-U droop control devices is controlled, to VSC virtual synchronous machines
Generator terminal potential EpIt is adjusted, and obtains the output current instruction i of VSC virtual synchronous machinesabc_ref；
Step 4, i is instructed according to the output current of VSC virtual synchronous machinesabc_ref, revolved using electrical angle θ as with reference to angle
Turn changes in coordinates, obtain the instruction of D, Q shaft currentWithThen the adjustment of the VSC virtual synchronous machines obtained by current closed-loop
Ripple, VSC virtual synchronous machines are controlled.
Further, the features of the present invention also resides in：
The active class control that DC voltage controller and VSC virtual synchronous machine f-P droop control devices are combined wherein in step 1
The detailed process of system is：Pm=HPI_V(s)(Udc_ref-Udc)+kf(ω0-ω)；Wherein HPI_V(s) passed for DC voltage controller
Delivery function, kfFor the sagging coefficient of f-P droop control devices, Udc_refFor reference voltage；UdcTo measure voltage, ω is measurement angle speed
Degree, ω0For reference angular velocities.
By under Active Power Controller, DC voltage error method device and VSC virtual synchronous machines f-P wherein in step 1
The specific method of active class that vertical controller is combined control is：Pm=max { HPI_H(s)(Udc-UH),min(Pref,HPI_L(s)
(Udc-UL))}+kf(ω0- ω), wherein kfFor the sagging coefficient of f-P droop control devices, ω is to measure angular speed, ω0For reference
Angular speed, UdcTo measure voltage, UHFor DC voltage ceiling value, ULFor DC voltage lower limit value, HPI_H(s), HPI_L(s)。
Wherein E in step 3p=E0+ΔEU+ΔEQ, wherein E0For no-load emf, Δ EUFor AVR controller output potentials, Δ
EQFor Q-U droop control device output potentials.
Wherein Δ EUWith Δ EQIt is expressed asWherein HAVR(s) controlled for AVR
Device transmission function, Uac、Uac_ref、Q、Qref, kqFor the sagging coefficients of Q-U.
Wherein VSC virtual controllings machine masks AVR controllers, Q-U droop control devices or f-P droop control devices.
The beneficial effects of the invention are as follows：The inertia and damping characteristic of synchronous generator are simulated by VSC virtual synchronous machine, is led to
Frequency modulation, the function of pressure regulation are crossed, improves the stability of alternating current system；And realize networking and the seamless switching of island mode；Should
Control structure and control method include DC voltage and the active class control mode of two kinds of active power, can be towards VSC-HVDC systems
All VSC applications in system, while there is DC voltage coordinated control function, enhance DC system reliability of operation.
Brief description of the drawings
Fig. 1 is both-end VSC-HVDC system structure diagrams of the present invention；
Fig. 2 is VSC-HVDC system virtualizations synchronous machine control system schematic diagram of the present invention；
Fig. 3 is the schematic diagram of the middle VSC virtual synchronous machine current inner loop of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
The invention provides a kind of VSC-HVDC system virtualizations synchronous machine control structure, as shown in figure 1, the control structure is
Both-end VSC-HVDC systems, including two VSC virtual synchronous machines, wherein VSC1 are sending end, and VSC1 passes through grid-connected switch KS1Access
Power network S1；VSC2 is receiving end, and VSC2 accesses power network S2 by grid-connected switch；Two VSC virtual synchronous machines access low capacity and born
Lotus, the grid-connected switch of two of which represent to be connected to all switch combinations of two VSC virtual synchronous machines and power network.
As shown in Fig. 2 VSC virtual synchronous machine includes virtual synchronous machine algorithm and current closed-loop structure, virtual synchronous algorithm
Export three-phase current iabc_refInstruction, and rotating coordinate transformation is carried out using electrical angle θ as with reference to angle, obtain the electricity of D, Q axle
Stream instruction, then obtains the modulating wave of VSC virtual synchronous machines by closed-loop current control, so as to be carried out to VSC virtual synchronous machine
Control.
As shown in figure 3, the virtual synchronous machine algorithm of VSC virtual synchronous machines passes through active adjustment module, mechanical module, idle
Adjustment module and electrical module are realized；Wherein active adjustment module is that DC voltage controller and f-P droop control devices combine
Module, or active adjustment module are that Active Power Controller, DC voltage error method device and f-P droop control devices are combined
Module；Active power module passes through multiple adjusters, regulation output mechanical power Pm, mechanical module further calculates exchange
The electrical angle θ of electricity；The module that Reactive-power control module is voltage regulator and Q-U droop control devices combine, Reactive-power control module are defeated
Go out the generator terminal potential E of VSC virtual synchronous machinesp, electrical module further calculates and exports the output three-phase electricity of VSC virtual synchronous machines
Flow iabc_ref。
The invention also discloses a kind of control method of VSC-HVDC system virtualizations synchronous machine, comprise the following steps：
Step 1, the mechanical equation and electromagnetic equation of VSC virtual synchronous machines are determined, is expressed asWherein J is the rotary inertia of VSC virtual synchronous machines, and D is damped coefficient,
rtFor synchronous resistance, ltFor synchronous reactance, ω is angular speed, PmFor mechanical output, PeFor electromagnetic power, ωNFor rated angular velocity,
ωrFor power network angular speed, eabc、vabc、iabcRespectively three-phase generator terminal potential, the voltage and current of VSC virtual synchronous machine, j, d,
t；Wherein vabcTo measure the output voltage of obtained VS virtual synchronous machines, eabcPass through VSC virtual synchronous electromechanics gesture input quantities Ep
Obtained with angular velocity omega：Wherein
Step 2, the active class control being combined by DC voltage controller and VSC virtual synchronous machine f-P droop control devices
System, or be combined by Active Power Controller, DC voltage error method device and VSC virtual synchronous machine f-P droop control devices
Active class control, to the mechanical output P of VSC virtual synchronous machinesmIt is adjusted.
Step 3, according to the mechanical output P of VSC virtual synchronous machinesmObtain the electrical angle θ of alternating current.
Step 4, the idle class being combined using AVR controllers and Q-U droop control devices is controlled, to VSC virtual synchronous machines
Generator terminal potential EpIt is adjusted, and obtains the output current instruction i of VSC virtual synchronous machinesabc_ref；Wherein Ep=E0+ΔEU+
ΔEQ, E0For no-load emf, Δ EUFor AVR controller output potentials, Δ EQFor Q-U droop control device output potentials.Wherein Δ EU
With Δ EQIt is expressed asWherein HAVR(s) it is AVR controller transfer functions, Uac、
Uac_ref、Q、Qref, kqFor the sagging coefficients of Q-U.
Step 5, i is instructed according to the output current of VSC virtual synchronous machinesabc_ref, revolved using electrical angle θ as with reference to angle
Turn changes in coordinates, obtain the instruction of D, Q shaft currentWithThen the adjustment of the VSC virtual synchronous machines obtained by current closed-loop
Ripple, VSC virtual synchronous machines are controlled.
The mechanical equation of VSC virtual synchronous machine and electromagnetic equation are expressed as in the present invention：Wherein J is the rotary inertia of VSC virtual synchronous machines, and D is damped coefficient,
rtFor synchronous resistance, ltFor synchronous reactance, ω is angular speed, PmFor mechanical output, PeFor electromagnetic power, ωNFor rated angular velocity,
ωrFor power network angular speed, eabc、vabc、iabcRespectively three-phase generator terminal potential, the voltage and current of VSC virtual synchronous machine, j are void
Portion, dX/dt patterns represent that to X differential, t be the time；Wherein vabcTo measure the output voltage of obtained VS virtual synchronous machines,
eabcPass through VSC virtual synchronous electromechanics gesture input quantities EpObtained with angular velocity omega：Wherein
The specific embodiment of the control method of VSC-HVDC system virtualizations synchronous machine of the present invention includes：
Embodiment 1
Active class control is work(power controller, DC voltage error method device and VSC virtual synchronous machine f-P droop controls
The mode that device is combined, this method control method are specially：
Step 1, the mechanical equation and electromagnetic equation of VSC virtual synchronous machines are determined, is expressed asWherein J is the rotary inertia of VSC virtual synchronous machines, and D is damped coefficient,
rtFor synchronous resistance, ltFor synchronous reactance, ω is angular speed, PmFor mechanical output, PeFor electromagnetic power, ωNFor rated angular velocity,
ωrFor power network angular speed, eabc、vabc、iabcRespectively three-phase generator terminal potential, the voltage and current of VSC virtual synchronous machine, j, d,
t；Wherein vabcTo measure the output voltage of obtained VS virtual synchronous machines, eabcPass through VSC virtual synchronous electromechanics gesture input quantities Ep
Obtained with angular velocity omega：Wherein
Step 2, Active Power Controller, DC voltage error method device and VSC virtual synchronous machine f-P droop controls are passed through
The active class control that device is combined, to the mechanical output P of VSC virtual synchronous machinesmIt is adjusted, wherein
Pm=max { HPI_H(s)(Udc-UH),min(Pref,HPI_L(s)(Udc-UL))}+kf(ω0- ω), wherein kfFor f-P
The sagging coefficient of droop control device, ω are angular speed, ω0For reference angular velocities, UdcTo measure voltage, UHLimited for DC voltage is high
Value, ULFor DC voltage lower limit value, HPI_H(s), HPI_L(s)。
Step 3, according to the mechanical output P of VSC virtual synchronous machinesmObtain the electrical angle θ of alternating current.
Step 4, the idle class being combined using AVR controllers and Q-U droop control devices is controlled, to VSC virtual synchronous machines
Generator terminal potential EpIt is adjusted, and obtains the output current instruction i of VSC virtual synchronous machinesabc_ref；Wherein Ep=E0+ΔEU+
ΔEQ, E0For no-load emf, Δ EUFor AVR controller output potentials, Δ EQFor Q-U droop control device output potentials.Wherein Δ EU
With Δ EQIt is expressed asWherein HAVR(s) it is AVR controller transfer functions, Uac、
Uac_ref、Q、Qref, kqFor the sagging coefficients of Q-U.
Step 5, i is instructed according to the output current of VSC virtual synchronous machinesabc_ref, revolved using electrical angle θ as with reference to angle
Turn changes in coordinates, obtain the instruction of D, Q shaft currentWithThen the adjustment of the VSC virtual synchronous machines obtained by current closed-loop
Ripple, VSC virtual synchronous machines are controlled.
Embodiment 2
The mode that active class is adjusted to DC voltage controller and VSC virtual synchronous machine f-P droop control devices are combined, should
Control method is specially：
Step 1, the mechanical equation and electromagnetic equation of VSC virtual synchronous machines are determined, is expressed asWherein J is the rotary inertia of VSC virtual synchronous machines, and D is damped coefficient,
rtFor synchronous resistance, ltFor synchronous reactance, ω is angular speed, PmFor mechanical output, PeFor electromagnetic power, ωNFor rated angular velocity,
ωrFor power network angular speed, eabc、vabc、iabcRespectively three-phase generator terminal potential, the voltage and current of VSC virtual synchronous machine, j, d,
t；Wherein vabcTo measure the output voltage of obtained VS virtual synchronous machines, eabcPass through VSC virtual synchronous electromechanics gesture input quantities Ep
Obtained with angular velocity omega：Wherein
Step 2, the active class control being combined by DC voltage controller and VSC virtual synchronous machine f-P droop control devices
System, to the mechanical output P of VSC virtual synchronous machinesmIt is adjusted, wherein Pm=HPI_V(s)(Udc_ref-Udc)+kf(ω0-ω)；Its
Middle HPI_V(s) it is DC voltage controller transmission function, kfFor the sagging coefficient of f-P droop control devices, Udc_refFor reference voltage；
UdcTo measure voltage, ω is to measure angular speed, ω0For reference angular velocities.
Step 3, according to the mechanical output P of VSC virtual synchronous machinesmObtain the electrical angle θ of alternating current.
Step 4, the idle class being combined using AVR controllers and Q-U droop control devices is controlled, to VSC virtual synchronous machines
Generator terminal potential EpIt is adjusted, and obtains the output current instruction i of VSC virtual synchronous machinesabc_ref；Wherein Ep=E0+ΔEU+
ΔEQ, E0For no-load emf, Δ EUFor AVR controller output potentials, Δ EQFor Q-U droop control device output potentials.Wherein Δ EU
With Δ EQIt is expressed asWherein HAVR(s) it is AVR controller transfer functions, Uac、
Uac_ref、Q、Qref, kqFor the sagging coefficients of Q-U.
Step 5, i is instructed according to the output current of VSC virtual synchronous machinesabc_ref, revolved using electrical angle θ as with reference to angle
Turn changes in coordinates, obtain the instruction of D, Q shaft currentWithThen the adjustment of the VSC virtual synchronous machines obtained by current closed-loop
Ripple, VSC virtual synchronous machines are controlled.
The present invention illustrates the use process and effect of the present invention by taking both-end VSC-HVDC systems as an example.
Both-end VSC-HVDC systems are under the working condition operating mode of normal cluster, VSC1 and VSC2 angular velocity omega and power network
The approximately equal of angular velocity omega 0, then the effective power flow between power network S1 and S2 transmits determines that VSC1 is then by VSC2 active commands Pref
Play a part of stable DC busbar voltage.Meanwhile VSC1 and VSC2 is realized with each exchanging system by Q-U droop controls link
Reactive power exchange between system.
When VSC2 active commands increase/reduced suddenly, occurs positive/negative difference between Pm and Pe, by virtual inertia ring
Section, the slow increase/reduction of ω values, the active change that VSC2 exports to power network is slow, so as to effectively inhibit system frequency fast
Speed fluctuation.With increase/reduction of VSC2 active power of output, VSC-HVDC system dc voltages decrease/raised, VSC1
The active power that gradually increase/reduction conveys to VSC2 systems in the presence of DC voltage controller is with stable DC voltage.
And when power network S2 puts into/cuts off suddenly/a large amount of burdens with power when, AC system frequency is reduced/raised first, VSC output voltages
The after reaction of angular velocity omega makes it assume responsibility for the load power of part increase/reduction at the beginning of load input/excision, equally
Inhibit the quick change of frequency.It can therefore be seen that during using virtual synchronous machine control technology, VSC can effectively reduce exchange
System frequency rate of change, improve system frequency stability.
Above-mentioned power adjustment procedure later stage, ω change cause VSC f-P droop controls to play a role, and final system is defeated
The P gone outeValue and PrefΔ P be present in instructionrefDifference, adjustment controls of the VSC to AC system frequency is realized with this.For forceful electric power
For net, ω deviates very little under steady state condition, and VSC effective power flow can be guaranteed.If power network is weaker, particularly isolated island work
Under condition, VSC systems are then deviateed by larger active error to reduce system frequency stable state, similarly help to AC system frequency
Stability.
Likewise, in the instruction of VSC virtual synchronous machines reactive power or System Reactive Power load variations, AC system voltage meeting
Deviate, VSC Q-U droop controls ring and AVR adjusters can reduce AC system voltage by adjusting VSC generator terminals potential
Stable state deviates, so as to realize the adjustment effect to AC system voltage.
When the AC system of VSC2 accesses is changed into an island network, during S2 and the power of the network exchange are unexpected before this
It is disconnected, so as to cause the skew of AC system voltage magnitude and frequency.VSC2 adjusts in f-P droop controls, Q-U droop controls and AVR
The active and reactive power of its output can be gradually adjusted in the presence of section device to reduce the skew of voltage and frequency, is finally isolated island
Network establishes a stable AC system, it is ensured that load power supply continuity.
It is sagging in face of the change of AC system voltage, f-P when the AC system of VSC1 accesses is changed into an island network
Control, Q-U droop controls and AVR adjusters equally understand active role, and adjustment VSC1 power outputs with load to matching, so as to steady
Determine AC system voltage.At the same time, VSC1 loses DC voltage control ability, and DC voltage shifts, when reaching VSC2
DC voltage high and low limit value when, VSC2 enters DC voltage error method pattern, so as to stable DC voltage in ceiling value or
At lower limit value so that VSC-HVDC systems continue reliability service.
When needing VSC-HVDC systems to be incorporated into the power networks again, after certain operation, VSC carries out the quasi- same period with power network
Close a floodgate, load power is gradually shifted to reduce AC system voltage pulsation from VSC to power network.For VSC2 it is grid-connected for, most
Its power output recovers horizontal to command power eventually, and VSC1 then responds VSC2 and network process by DC voltage control all the time
Changed power, it is ensured that straight-flow system is stable；And for VSC1, after it is connected to the grid, load power is gradually connect by power network
Pipe, its DC voltage control ring play a role again so that VSC2 exits DC voltage error method and recovers Power Control, most
Whole VSC-HVDC systems carry out the stable state that is incorporated into the power networks.
In whole networking and the mutual handoff procedure of island mode, exchange system can be achieved without control mode switch by VSC
The stable operation of system and straight-flow system, so as to avoid, Control System Design difficulty is big in usual manner, and pattern switching has impact
The problems such as, good running environment is provided for load.VSC-HVDC systems have DC voltage coordinated control function simultaneously,
Under the operating modes such as DC voltage control station isolated island, remaining station effectively adapter DC voltage control, maintenance straight-flow system stably can may be used
By operation.
Claims (8)
1. a kind of VSC-HVDC system virtualizations synchronous machine control structure, it is characterised in that virtual including VSC virtual synchronous machines, VSC
Synchronous machine accesses power network by grid-connected switch KS；
The control system of the control structure includes active adjustment module, Reactive-power control module, mechanical module and electrical module；Wherein
Active adjustment module is combined by DC voltage controller and f-P droop control devices or by Active Power Controller, direct current
Voltage deviation controller and f-P droop control devices are combined, regulation output mechanical power Pm, and by mechanical module according to Pm
To the electrical angle θ of the alternating current of VSC virtual synchronous machine output；Reactive-power control module passes through voltage regulator and Q-U droop controls
Device combines the generator terminal potential E of output VSC virtual synchronous machinesp, and by electrical module, obtain the output three of VSC virtual synchronous machines
Phase current iabc_ref。
2. VSC-HVDC system virtualizations synchronous machine control structure according to claim 1, it is characterised in that the VSC is empty
Intend synchronous machine to be two or more, the VSC virtual synchronous machine of two or more interconnections accesses different power networks.
3. VSC-HVDC system virtualizations synchronous machine control structure according to claim 1, it is characterised in that the VSC is empty
The modulating wave that plan synchronous machine obtains VSC by closed-loop current control is controlled to VSC.
4. a kind of control method of VSC-HVDC system virtualizations synchronous machine, it is characterised in that comprise the following steps：
Step 1, the active class being combined by DC voltage controller and VSC virtual synchronous machine f-P droop control devices controls, or
It is combined by Active Power Controller, DC voltage error method device and VSC virtual synchronous machine f-P droop control devices active
Class controls, to the mechanical output P of VSC virtual synchronous machinesmIt is adjusted；
Step 2, according to the mechanical output P of VSC virtual synchronous machinesmObtain the electrical angle θ of VSC virtual synchronous machine alternating currents；
Step 3, the idle class being combined using AVR controllers and Q-U droop control devices is controlled, to the machine of VSC virtual synchronous machines
Hold potential EpIt is adjusted, and obtains the output current instruction i of VSC virtual synchronous machinesabc_ref；
Step 4, i is instructed according to the output current of VSC virtual synchronous machinesabc_ref, rotation seat is carried out using electrical angle θ as with reference to angle
Mark change, obtain the instruction of D, Q shaft currentWithThen the modulating wave of the VSC virtual synchronous machines obtained by current closed-loop, it is right
VSC virtual synchronous machines are controlled.
5. the control method of VSC-HVDC system virtualizations synchronous machine according to claim 4, it is characterised in that the step
The detailed process of DC voltage controller and VSC virtual synchronous machine f-P droop control devices are combined in 1 active class control is：
Pm=HPI_V(s)(Udc_ref-Udc)+kf(ω0-ω)；Wherein HPI_V(s) it is DC voltage controller transmission function, kfFor under f-P
The sagging coefficient of vertical controller, Udc_refFor reference voltage；UdcTo measure voltage, ω is to measure angular speed, ω0For reference angle speed
Degree.
6. the control method of VSC-HVDC system virtualizations synchronous machine according to claim 4, it is characterised in that the step
It is combined in 1 by Active Power Controller, DC voltage error method device and VSC virtual synchronous machine f-P droop control devices
The specific method of active class control is：Pm=max { HPI_H(s)(Udc-UH),min(Pref,HPI_L(s)(Udc-UL))}+kf(ω0-
ω), wherein kfFor the sagging coefficient of f-P droop control devices, ω is angular speed, ω0For reference angular velocities, UdcTo measure voltage, UH
For DC voltage ceiling value, ULFor DC voltage lower limit value, HPI_H(s) it is the transmission function of the high limit deviation controller of DC voltage,
HPI_L(s) it is the transmission function of DC voltage lower bound deviation controller.
7. the control method of VSC-HVDC system virtualizations synchronous machine according to claim 4, it is characterised in that the step
E in 3p=E0+ΔEU+ΔEQ, wherein E0For no-load emf, Δ EUFor AVR controller output potentials, Δ EQFor Q-U droop controls
Device output potential.
8. the control method of VSC-HVDC system virtualizations synchronous machine according to claim 7, it is characterised in that the Δ EU
With Δ EQIt is expressed asWherein HAVR(s) it is AVR controller transfer functions, UacFor
Alternating voltage amplitude measure, Uac_refFor alternating voltage amplitude command value, Q be VSC virtual synchronous machine output reactive power,
QrefFor the instruction of the reactive power of VSC virtual synchronous machine output, kqFor the sagging coefficients of Q-U.
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