CN107425736A - Multi-end flexible direct current transmission system current conversion station control method based on model prediction - Google Patents
Multi-end flexible direct current transmission system current conversion station control method based on model prediction Download PDFInfo
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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
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
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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
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0012—Control circuits using digital or numerical techniques
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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
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/76—Power conversion electric or electronic aspects
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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]
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Abstract
The invention discloses a kind of Multi-end flexible direct current transmission system current conversion station control method based on model prediction, including determining power change of current stand control and determining DC voltage change of current stand control, initially set up the separate manufacturing firms equation of corresponding current conversion station, using without constrained forecast control method, obtain optimal control sequence, then according to separate manufacturing firms establishing equation closed loop states observer, the state variable estimate and optimal control sequence formula exported according to closed loop states observer tries to achieve optimal control sequence, take controlled quentity controlled variable of first value of the sequence as subsequent time, determine power double-closed-loop control device using tradition and track the controlled quentity controlled variable, and produce each IGBT of trigger pulse control current conversion station.The control method of the present invention can improve system response time when Spline smoothing occurs for wind farm wind velocity, reduce the amplitude fluctuations of different electrical quantity in system dynamic course while further increase systematic steady state performance.
Description
Technical field
The invention discloses a kind of Multi-end flexible direct current transmission system current conversion station control method based on model prediction, belong to
Power electronics control technology field.
Background technology
Have benefited from the development of Power Electronic Technique, based on voltage source converter (Voltage Source Converter,
Multi-end flexible direct current transmission system (Muiti Terminal Direct Current Transmission, MTDC) VSC)
Increasing application is arrived, especially on long distance power transmission and extensive offshore grid-connected wind farm.
In the soft straight transmission system of existing multiterminal, typically formed by determining power current conversion station and determine DC voltage current conversion station.It is fixed
In power current conversion station, general use determines power double-closed-loop control device；Determining general use of DC voltage current conversion station has droop characteristic
Determine DC voltage double-closed-loop control device.PI controller performances in double-closed-loop control device are controlled by it having a great influence for parameter,
And there is presently no the PI parameter adjusting methods of maturation, the general method using off-line simulation to carry out parameter tuning, but can not
All operating modes at scene are simulated.
The content of the invention
The technical problems to be solved by the invention are the defects of overcoming prior art, there is provided a kind of based on the more of model prediction
Flexible direct-current transmission system converter station control method is held, by determine power double-closed-loop control device and determining direct current pair to close to existing
The relation that separate manufacturing firms equation comes between forecasting system input and output is established in ring control, under real-time estimate difference operating mode, under
In the case that one controlling cycle inputs different controlled quentity controlled variables, the working condition of current conversion station.
Changed in order to solve the above technical problems, the present invention provides a kind of Multi-end flexible direct current transmission system based on model prediction
Stand control method is flowed, including is controlled and is controlled to determining DC voltage current conversion station to determining power current conversion station,
Determine power current conversion station and be controlled for described pair to comprise the following steps：
1-1) establish the separate manufacturing firms equation for determining power current conversion station；
1-2) set predicted value zp(k) it is：zp(k)=yp(k)-up0,
Wherein, yP(k) active power of current conversion station, u are injected for k moment AC networkp0Given for top level control strategy
The initial value of active power reference value；
Take the object function J of optimal controlp(u, k) is：
Wherein, zp(k+j | k) is the prediction value sequence in j sampling period backward, and N is sampling number；
Using without constrained forecast control method, optimal control sequence is obtained；
1-3) the separate manufacturing firms equation established according to the step 1), closed loop states are established using lineary system theory
Observer, the estimate of closed loop states observer output state variable；
1-4) power current conversion station AC three-phase voltage, electric current are determined in sampling, DC voltage, electric current, calculate acquisition system
It is injected into the active-power P determined in power current conversion stations, together with the controlled quentity controlled variable u for being input to current conversion station power controllerP(k) it is together defeated
Enter to closed loop states observer；
1-5) according to closed loop states observer export state variable estimate, utilize the step 1-2) optimum control
Sequence formula tries to achieve optimal control sequence, takes controlled quentity controlled variable of first value of the sequence as subsequent time；
1-6) determine power double-closed-loop control device tracking step 1-5 using tradition) in acquisition control variable, and produce triggering
The each IGBT of Pulse Width Control current conversion station；
1-7) every a sampling period TsReturn to step 1-3)；
Determine DC voltage current conversion station and be controlled for described pair to comprise the following steps：
1-a) establish the separate manufacturing firms equation for determining DC voltage current conversion station；
1-b) set predicted value zV(k) it is：zV(k)=yV(k)-uV0,
Wherein, uV0For the initial of the given direct voltage reference value of upper strata DC voltage, DC current droop control strategy
Value,
Take the object function J of optimal controlV(u, k) is：
Wherein, zV(k+j | k) for the j sampling period backward prediction value sequence；
Using without constrained forecast control method, optimal control sequence expression formula is obtained；
1-c) according to the step 1-a) establish separate manufacturing firms equation, established using lineary system theory loop-like
State observer, closed loop states observer output state variable estimate；
1-d) DC voltage current conversion station AC three-phase voltage, electric current, DC voltage, electric current are determined in sampling；
1-e) DC side electric current is input in droop control strategy, tries to achieve direct voltage reference value；
1-f) by step 1-e) in the direct voltage reference value tried to achieve, sample the DC side current value of acquisition and loop-like
State observer output state variable estimate be input to step 1-b) optimal control sequence expression formula, try to achieve optimum control sequence
Row, take controlled quentity controlled variable of first value of the sequence as subsequent time；
1-g) determine power double-closed-loop control device tracking step 1-f using tradition) in acquisition control variable, and produce triggering
The each IGBT of Pulse Width Control current conversion station；
1-h) DC voltage current conversion station AC three-phase voltage, electric current are determined in sampling, DC voltage, electric current, calculate and obtain
Each state variable actual value, is inputted to step 1-c) establish closed loop states observer, it is as follows：
Reconfiguration system state variable, control law is deviation feedback gain matrix G, so as to realize to system control variables u's
Amendment；
In formula,For the estimate of state variable,For the estimate of DC voltage；
1-i) every a sampling period TsReturn to step 1-c).
Foregoing step 1-1) the separate manufacturing firms equation for determining power current conversion station is established, detailed process is as follows：
1-1-1) definition status variable x1, x2, x3For：
Wherein, u=PrefFor upper strata active command reference value；
1-1-2) the simplified active power controller system state equation of structure：
Wherein,Y is the active power of injection current conversion station；
Current conversion station separate manufacturing firms equation 1-1-3) established under constant dc power control pattern：
Wherein, xP(1),xP(2)…xP(k)…xP(N) discrete series for being x, xP(k) power current conversion station shape is determined for the k moment
State variable, uP(1),uP(2)…uP(k)…uP(N) discrete series for being u, uP(k)=Pref(k), uP(k) it is the upper strata at k moment
Active command reference value, yP(1),yP(2)…yP(k)…yP(N) discrete series for being y, yP(k) injected for k moment AC network
The active power of current conversion station, N are sampling number,
R goes out port filter and transformer all-in resistance to determine power current conversion station, and L goes out port filter and change to determine power current conversion station
The total reactance of depressor, KpcFor interior electric current loop PI controller proportional gains, KicFor interior electric current loop PI controller storage gains, UsFor exchange
Network voltage amplitude, KppFor the proportionality coefficient of active power outer shroud, KipFor the integral coefficient of active power outer shroud, TsFor sampling week
Phase, APFor the matrix related to determining power current conversion station hardware parameter, BPFor the matrix related to determining power current conversion station control parameter.
Foregoing step 1-a) the separate manufacturing firms equation for determining DC voltage current conversion station is established, detailed process is as follows：
1-a-1) definition status variable x1, x2, x3, x4For：
x3=isd, x4=vdc
Wherein, e=vdc_ref-vdc；
1-a-2) have in the case of systematic steady state：vdc=vdc_ref, construct vdcLinear differential equation it is as follows：
Make 3Us/2Ceqvdc_ref=kisd, take u=vdc_ref, MMC DC voltage control system state equations can be obtained：
Wherein,
1-a-3) operation characteristic be present to the current conversion station of DC voltage control：
idc=kdr(vdc_ref-v0) (9)
Therefore MMC DC voltage control system state equations are rewritten as：
1-a-4) make w=v0, counted and what DC voltage-DC current was sagging determine DC voltage current conversion station discrete state
Space equation：
Wherein, xV(1),xV(2)…xV(k)…xV(N) discrete series for being x, xV(k) the DC voltage change of current is determined for the k moment
Stand state variable, uV(1),uV(2)…uV(k)…uV(N) discrete series for being u, uV(k)=vdc_ref, wV(1),wV(2)…wV
(k)…wV(N) discrete series for being w, yV(1),yV(2)…yV(k)…yV(N) discrete series for being y, yV(k) it is surely straight for the k moment
Flow voltage commutation station DC voltage, N is sampling number, uV(k) it is control variable, wV(k) it is measurable amount, AVFor with it is surely straight
Flow the related matrix of voltage commutation station hardware parameter, BVw、BVuFor the matrix related to determining DC voltage current conversion station control parameter, KpvOutside for DC voltage
The proportionality coefficient of ring, KivFor the integral coefficient of DC voltage outer shroud, KpcFor interior electric current loop PI controller proportional gains, KicTo be interior
Electric current loop PI controller storage gains, UsFor AC network voltage magnitude, KppFor the proportionality coefficient of active power outer shroud, KipTo have
The integral coefficient of work(power outer shroud, TsFor the sampling period, to determine, DC voltage current conversion station goes out port filter to R' and transformer is always electric
Resistance, L' go out port filter and the total reactance of transformer, C to determine DC voltage current conversion stationeqTo determine DC voltage current conversion station bridge arm equivalent
Electric capacity, kdrTo determine DC voltage current conversion station DC voltage-sagging coefficient of DC current, vdc_refFor droop characteristic, vdcFor the change of current
Stand DC voltage, isdIt is interior electric current loop d axis components, idcIt is DC current, v0It is a reference value of voltage droop control.
Foregoing sampling period TsTake 1ms.
Foregoing step 1-2) optimal control sequence be：
Wherein,
Middle subscript N refers to the A of N sampling instantspThe value of matrix,Middle subscript N-1 refers to the A of N-1 sampling instantsp
The value of matrix.
Foregoing step 1-b) optimal control sequence be：
Wherein,
Middle subscript N refers to the A of N sampling instantsVThe value of matrix,Middle subscript N-1 refers to the A of N-1 sampling instantsV
The value of matrix,Middle subscript N-1 refers to the A of N-1 sampling instantsVThe value of matrix.
It is compared with the prior art, the present invention has advantages below：
1st, control method of the invention can improve system response time when Spline smoothing occurs for wind farm wind velocity, reduce
The amplitude fluctuations of different electrical quantity while systematic steady state performance is further increased in system dynamic course.
2nd, the present invention can reduce the fluctuation of DC voltage in the case where short trouble occurs for grid side AC system, reduce
The fluctuation of alternating current-direct current power conversion, improve the robustness of system.
Brief description of the drawings
Fig. 1 determines power current conversion station control method flow chart for the present invention；
Fig. 2 determines DC voltage current conversion station control method flow chart for the present invention；
Fig. 3 is the closed loop states Observer Structure figure that the present invention determines power change of current stand control；
Fig. 4 is the closed loop states Observer Structure figure that the present invention determines DC voltage change of current stand control；
Fig. 5 is to determine power wind-powered electricity generation multiterminal element grid-connected system structural representation in embodiment；
Fig. 6 is that power current conversion station active power simulation waveform is determined in injection in embodiment, and Fig. 6 (a) has for injection current conversion station 1
Work(Simulation of SAR power image oscillogram, Fig. 6 (b) are the injection active power simulation waveform of current conversion station 2；
Fig. 7 is to determine power current conversion station DC side DC voltage simulation waveform in embodiment, and Fig. 7 (a) is the direct current of current conversion station 1
Side DC voltage simulation waveform, Fig. 7 (b) are the DC side DC voltage simulation waveform of current conversion station 2；
Fig. 8 is to determine DC voltage current conversion station in embodiment to inject network re-active power simulation waveform, and Fig. 8 (a) is the change of current
Stand 3 injection network re-active power simulation waveforms, Fig. 8 (b) be current conversion station 4 inject network re-active power simulation waveform；
Fig. 9 is to determine DC voltage current conversion station DC side DC voltage simulation waveform in embodiment, and Fig. 9 (a) is current conversion station 3
DC side DC voltage simulation waveform, Fig. 9 (b) are the DC side DC voltage simulation waveform of current conversion station 4.
Embodiment
The invention will be further described below.Following examples are only used for the technical side for clearly illustrating the present invention
Case, and can not be limited the scope of the invention with this.
The Multi-end flexible direct current transmission system current conversion station control method based on Model Predictive Control of the present invention includes determining work(
Rate current conversion station control method and constant DC voltage control method two parts.
As shown in figure 1, determining power current conversion station control method, comprise the following steps：
Step 1：Definition status variable x1, x2, x3For：
Wherein, u=PrefFor upper strata active command reference value；
Form simplified active power controller system state equation：
Wherein,Y is the active power of injection current conversion station.
The current conversion station separate manufacturing firms equation established under constant dc power control pattern：
Wherein, xP(1),xP(2)…xP(k)…xP(N) discrete series for being x, xP(k) power current conversion station shape is determined for the k moment
State variable, uP(1),uP(2)…uP(k)…uP(N) discrete series for being u, uP(k)=Pref(k), uP(k) it is the upper strata at k moment
Active command reference value, yP(1),yP(2)…yP(k)…yP(N) discrete series for being y, yP(k) injected for k moment AC network
The active power of current conversion station, N are sampling number,CP=[0 0 1],
R goes out port filter and transformer all-in resistance to determine power current conversion station, and L goes out port filter and change to determine power current conversion station
The total reactance of depressor, KpcFor interior electric current loop PI controller proportional gains, KicFor interior electric current loop PI controller storage gains, UsFor exchange
Network voltage amplitude, it is believed that it is constant, KppFor the proportionality coefficient of active power outer shroud, KipFor the integration of active power outer shroud
Coefficient, TsFor sampling period, APFor the matrix related to current conversion station hardware parameter, BPFor the square related to current conversion station control parameter
Battle array.
Step 2：If predicted value zp(k)=yp(k)-up0, up0The active power reference value given for top level control strategy
Initial value,
The object function for taking optimal control is：
Wherein, zp(k+j | k) for the j sampling period backward prediction value sequence.
Using without constrained forecast control method, optimal control sequence can be obtained：
Wherein,
Wherein,Middle subscript N refers to the A of N sampling instantspThe value of matrix,Middle subscript N-1 refers to N-1 sampling instants
ApThe value of matrix.
Step 3：The separate manufacturing firms equation established according to step 1, closed loop states are established using lineary system theory
Observer, closed loop states observer is as shown in figure 3, the estimate of closed loop states observer output state variable
In order to reduce closed loop states observer amount of calculation, certain closed state observer deviation feedback gain matrix G's sets
U when being scheduled on the operation of system normal tablesDuring=1pu.Formula (9) is observability standard pattern, and now sytem matrix is：
So as to there is system features value s1=-1.2972, s2,3=-1.2068 ± 6.0987i, original system proper polynomial are：
fo(s)=s3+3.7108s2+41.7817s+50.1381
The expectation limit of closed loop states observer is generally selected, the response speed of closed loop states observer should be made at least to compare shape
Fast 2~5 times of state feedback closed loop system, it is that this closed loop states observer system expected matrix is s1=-9, s2,3=-3.5 ±
1.22i, it is so as to the desired character multinomial of closed loop states observer：
p*(s)=(s+10) (s+3.5-1.22i) (s+3.5+1.22i)
So as to：
Step 4：Power current conversion station AC three-phase voltage, electric current, DC voltage, electric current are determined in sampling, and calculating is
System is injected into the active-power P determined in power current conversion stations, together with the controlled quentity controlled variable u for being input to current conversion station power controllerpIt is together defeated
Enter to closed loop states observer.Current conversion station power controller instructs from upper strata active power, upIt is the control change after discretization
Measure, here uP(k)=Pref(k).Current conversion station power controller refers to interior current loop controller in Fig. 1, d axis controllers, q axles
The inner and outer ring power controller of controller composition.
Step 5：The state variable estimate exported according to closed loop states observer, it is public using step 2 optimal control sequence
Formula tries to achieve optimal control sequence, takes controlled quentity controlled variable of first value of the sequence as subsequent time.
Step 6：The controlled quentity controlled variable for determining to obtain in power double-closed-loop control device tracking step 5 using tradition, and produce triggering arteries and veins
The each IGBT of punching control current conversion station.
Step 7：Every a sampling period TsReturn to step 3, in the present embodiment, TsTake 1ms.
DC voltage current conversion station control method is determined as shown in Fig. 2 comprising the following steps that：
Step 1：Definition status variable x1, x2, x3, x4For：
x3=isd, x4=vdc,
For MMC DC voltage control systems, it is contemplated that e=vdc_ref-vdc, v in the case of systematic steady statedc=vdc_ref, can
The following v of approximationdcLinear differential equation：
3U might as well be mades/2Ceqvdc_ref=kisd, isdIt is interior electric current loop d axis components, idcIt is DC current, while takes x4=
vdc, u=vdc_ref, MMC DC voltage control system state equations can be obtained：
Wherein, x=[x1 x2 x3 x4]T。
For Multi-end flexible direct current transmission system, it is feasible to ignore the dynamic response of the small time constant of transmission line of electricity
, while correlation be present between each current conversion station unit DC voltage and electric current, there is more scholar's research droop characteristic for this,
The presence relation of electric current and voltage during its stable state：
It is the sagging coefficient of DC current-DC voltage, idcIt is DC side electric current, v0It is the benchmark of voltage droop control
Value.
IfTo the current conversion station operation characteristic of DC voltage control：
idc=kdr(vdc_ref-v0) (9)
Therefore the MMC system state equations based on DC voltage control are rewritten as herein：
Make w=v0, T when taking smaller discrete time intervalss, can succeed in one's scheme and what DC voltage-DC current was sagging determines direct current
Press current conversion station separate manufacturing firms equation：
Wherein, xV(1),xV(2)…xV(k)…xV(N) discrete series for being x, xV(k) the DC voltage change of current is determined for the k moment
Stand state variable, uV(1),uV(2)…uV(k)…uV(N) discrete series for being u, uV(k)=vdc_ref,
wV(1),wV(2)…wV(k)…wV(N) discrete series for being w, yV(1),yV(2)…yV(k)…yV(N) for y from
Dissipate sequence, yV(k) DC voltage current conversion station DC voltage is determined for the k moment, N is sampling number, uV(k) it is control variable, wV
(k) it is measurable amount, AVFor the matrix related to current conversion station hardware parameter, BVw、BVuFor the square related to current conversion station control parameter
Battle array,
KpvFor the proportionality coefficient of DC voltage outer shroud, Kiv
For the integral coefficient of DC voltage outer shroud, KpcFor interior electric current loop PI controller proportional gains, KicAccumulated for interior electric current loop PI controllers
Divide gain, UsFor AC network voltage magnitude, it is believed that it is constant, TsFor the sampling period, R' exports to determine DC voltage current conversion station
Wave filter and transformer all-in resistance, L' go out port filter and the total reactance of transformer, C to determine DC voltage current conversion stationeqTo determine direct current
Voltage commutation station bridge arm equivalent electric capacity, kdrTo determine DC voltage current conversion station DC voltage-sagging coefficient of DC current, vdc_refFor
Droop characteristic, vdcFor current conversion station DC voltage.
Step 2：If predicted value zV(k)=yV(k)-uV0, uV0Given for upper strata DC voltage, DC current droop control strategy
The initial value of fixed direct voltage reference value,
The object function for taking optimal control is：
Wherein, zV(k+j | k) for the j sampling period backward prediction value sequence.
Using without constrained forecast control method, optimal control sequence expression formula can be obtained：
Wherein,
Middle subscript N refers to the A of N sampling instantsVThe value of matrix,Middle subscript N-1 refers to the A of N-1 sampling instantsV
The value of matrix,Middle subscript N-1 refers to the A of N-1 sampling instantsVThe value of matrix.
Step 3：The separate manufacturing firms equation established according to step 1, closed loop states are established using lineary system theory
Observer, closed loop states observer is as shown in figure 4, closed loop states observer output state variable estimate.
For the purposes of reducing closed loop states observer amount of calculation, certain closed state observer deviation feedback gain matrix G
Be set in system normal table operation when UsDuring=1pu.For system state equation formula, its state is entirely capable of observation system
(proving to omit), it is apparent that being not energy observed quantity standard type, need to further it be derived and calculating observation device deviation feedback oscillator square for this
Battle array G=[g1, g2, g3, g4]T。∑oThe proper polynomial of (A'=A-GC, B, C) closed loop states observer：
fo(s)=det [sI-A']
=s4+(a1+g4+1)s3+[a1+a2+a1g4+kisd(b1+g3)]s2
+[a2+a2g4+kisd(b2+g2)]s+kisd(b3+g1)
According to original system matrix A characteristic value, the suitably desired character value of closed loop states observer is chosen accordinglyAsk
Desired character multinomial corresponding to taking：
So as to there is its deviation feedback gain matrix of observation to be：
Specific calculating process is omitted, then this provides result of calculation：
G=[12472.4 1967.92 311.28 14.492]T。
Step 4：DC voltage current conversion station AC three-phase voltage, electric current, DC voltage, electric current are determined in sampling.
Step 5：DC side electric current is input in droop control strategy, tries to achieve direct voltage reference value.
Step 6：The direct voltage reference value that will be tried to achieve in step 5, sample the DC side current value of acquisition and loop-like
The state variable estimate of state observer output is input to the optimal control sequence expression formula of step 2, tries to achieve optimal control sequence,
Take controlled quentity controlled variable of first value of the sequence as subsequent time.
Step 7：The controlled quentity controlled variable for determining to obtain in power double-closed-loop control device tracking step 6 using tradition, and produce triggering arteries and veins
The each IGBT of punching control current conversion station.
Step 8：DC voltage current conversion station AC three-phase voltage, electric current, DC voltage, electric current are determined in sampling, and calculating obtains
Each state variable actual value is obtained, inputs the closed loop states observer established to step 3, it is as follows：
Reconfiguration system state, control law is deviation feedback gain matrix G, so as to realize the amendment to system control variables u.
In formula,For the estimate of state variable,For the estimate of DC voltage.
Step 9：Every a sampling period TsReturn to step 3.
Embodiment
The end direct current grid-connected system of offshore wind farm four as shown in Figure 5, for simplicity and the amount of calculation letter of emulation testing model
Change, the external characteristics of each wind power plant shown in figure is by being connected to the emulation of the single Wind turbines of marine wind electric field ac bus
Models fitting, VSC current conversion stations are connected to through converter power transformer, and then are saved as the wind field side of seabed multi-terminal HVDC transmission network
Point；Meanwhile for the wiring configuration of submarine cable, two marine wind electric field nodes are respectively through submarine cable Cable 1 and Cable
2 transmission powers, while the dc bus of land alternating current net side is delivered to dc bus Cable 5, respectively with the Hes of Cable 3
Cable 4 is connected with the VSC of land AC network, and drop point is in AC network AC 1 and AC2.
The active power setting valve of current conversion station 1 and current conversion station 2 drops to 120MW and 155MW respectively from 193MW during t=5s；
The active power setting valve of current conversion station 1 recovers constant to 193MW, the active power setting valve of current conversion station 2 during t=15s.
Under marine wind electric field current conversion station-MTDC grid-connected system droop control modes it can be seen from Fig. 6~9, the present invention carries
Go out and Model Predictive Control strategy more former current conversion station basic control method of the current conversion station based on droop control that designs have it is as follows
Effect feature：
Fig. 6 (a) gives the active power setting valve in t=5s of current conversion station 1 and drops to 120MW from 193MW；In t=15s
When setting valve recover to 193MW, traditional droop control strategy (solid line) and the sagging control based on Model Predictive Control herein
Make (dotted line) dynamic when power instruction changes to show, it can be seen that the inventive method inhibits former current conversion station to control substantially to be
The lower wind power plant active power of output overshoot of implementation effect of uniting, while it is steady to improve wind field side current conversion station active power controller system
State property energy.
Fig. 6 (b) gives the active power setting valve in t=5s of current conversion station 2 and drops to 155MW and inextensive from 193MW
Under multiple, traditional droop control strategy and the dynamic based on the droop control of Model Predictive Control when power instruction changes herein
Performance, it can also be seen that the inventive method inhibits the lower wind power plant output of former current conversion station basic control system implementation effect active
Power overshoot amount, while improve wind field side current conversion station active power controller systematic steady state performance.
In the case that Fig. 7 (a) and Fig. 7 (b) sets forth above-mentioned power instruction change, the direct current transmission of current conversion station 1 and 2
Line voltage situation of change, it can be seen that the stable state that the inventive method improves marine wind field side DC power transmission line busbar voltage is special
Property, the DC voltage fluctuation under stable state is reduced, shortens the lower DC voltage transient process of transmission power change.
Fig. 8 (a) and Fig. 8 (b) shows land two current conversion stations of grid side, and at sea wind field side power instruction changes
Active power injection response curve afterwards, it can be seen that power shortage is after two current conversion stations are shared, the inventive method energy
Immediate stability, absorption rate of the MTDC grid-connection control systems to active power of wind power field is accelerated, maintain the power-balance of system.
Fig. 9 (a) and Fig. 9 (b) shows the DC voltage response curve of land two current conversion stations of grid side, it can be seen that this
The DC voltage fluctuation of current conversion station 3 and 4 reduces under inventive method, shortens the lower DC voltage transient process of transmission power change,
Beneficial to raising MTDC DC voltage stabilities.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. the Multi-end flexible direct current transmission system current conversion station control method based on model prediction, it is characterised in that including to determining work(
Rate current conversion station is controlled and is controlled to determining DC voltage current conversion station,
Determine power current conversion station and be controlled for described pair to comprise the following steps：
1-1) establish the separate manufacturing firms equation for determining power current conversion station；
1-2) set predicted value zp(k) it is：zp(k)=yp(k)-up0,
Wherein, yP(k) active power of current conversion station, u are injected for k moment AC networkp0Given for top level control strategy active
The initial value of value and power reference；
Take the object function J of optimal controlp(u, k) is：
Wherein, zp(k+j | k) is the prediction value sequence in j sampling period backward, and N is sampling number；
Using without constrained forecast control method, optimal control sequence is obtained；
1-3) the separate manufacturing firms equation established according to the step 1), closed loop states observation is established using lineary system theory
Device, the estimate of closed loop states observer output state variable；
1-4) power current conversion station AC three-phase voltage, electric current are determined in sampling, DC voltage, electric current, calculate the injection of acquisition system
To the active-power P determined in power current conversion stations, together with the controlled quentity controlled variable u for being input to current conversion station power controllerP(k) together it is input to
Closed loop states observer；
1-5) according to closed loop states observer export state variable estimate, utilize the step 1-2) optimal control sequence
Formula tries to achieve optimal control sequence, takes controlled quentity controlled variable of first value of the sequence as subsequent time；
1-6) determine power double-closed-loop control device tracking step 1-5 using tradition) in acquisition control variable, and produce trigger pulse
Control each IGBT of current conversion station；
1-7) every a sampling period TsReturn to step 1-3)；
Determine DC voltage current conversion station and be controlled for described pair to comprise the following steps：
1-a) establish the separate manufacturing firms equation for determining DC voltage current conversion station；
1-b) set predicted value zV(k) it is：zV(k)=yV(k)-uV0,
Wherein, uV0The initial value of the direct voltage reference value given for upper strata DC voltage, DC current droop control strategy,
Take the object function J of optimal controlV(u, k) is：
<mrow>
<msub>
<mi>J</mi>
<mi>V</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>u</mi>
<mo>,</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msubsup>
<mi>z</mi>
<mi>V</mi>
<mi>T</mi>
</msubsup>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>+</mo>
<mi>j</mi>
<mo>|</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<msub>
<mi>z</mi>
<mi>V</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>+</mo>
<mi>j</mi>
<mo>|</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>12</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, zV(k+j | k) for the j sampling period backward prediction value sequence；
Using without constrained forecast control method, optimal control sequence expression formula is obtained；
1-c) according to the step 1-a) establish separate manufacturing firms equation, using lineary system theory establish closed loop states see
Survey device, closed loop states observer output state variable estimate；
1-d) DC voltage current conversion station AC three-phase voltage, electric current, DC voltage, electric current are determined in sampling；
1-e) DC side electric current is input in droop control strategy, tries to achieve direct voltage reference value；
1-f) by step 1-e) in the direct voltage reference value tried to achieve, the DC side current value and closed loop states for sampling acquisition see
Survey device output state variable estimate be input to step 1-b) optimal control sequence expression formula, try to achieve optimal control sequence,
Take controlled quentity controlled variable of first value of the sequence as subsequent time；
1-g) determine power double-closed-loop control device tracking step 1-f using tradition) in acquisition control variable, and produce trigger pulse
Control each IGBT of current conversion station；
1-h) DC voltage current conversion station AC three-phase voltage, electric current are determined in sampling, DC voltage, electric current, calculate and obtain each shape
State variable actual value, is inputted to step 1-c) establish closed loop states observer, it is as follows：
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Reconfiguration system state variable, control law is deviation feedback gain matrix G, so as to realize the amendment to system control variables u；
In formula,For the estimate of state variable,For the estimate of DC voltage；
1-i) every a sampling period TsReturn to step 1-c).
2. the Multi-end flexible direct current transmission system current conversion station control method according to claim 1 based on model prediction, its
It is characterised by, the step 1-1) the separate manufacturing firms equation for determining power current conversion station is established, detailed process is as follows：
1-1-1) definition status variable x1, x2, x3For：
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<mo>-</mo>
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<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
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<mn>1</mn>
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Wherein, u=PrefFor upper strata active command reference value；
1-1-2) the simplified active power controller system state equation of structure：
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<mn>0</mn>
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<mi>a</mi>
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<mi>b</mi>
<mn>2</mn>
</msub>
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</mtr>
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<mi>b</mi>
<mn>1</mn>
</msub>
</mtd>
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</mfenced>
<mi>u</mi>
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</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>y</mi>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
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<mtd>
<mn>0</mn>
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</mfenced>
<mi>x</mi>
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</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein,Y is the active power of injection current conversion station；
Current conversion station separate manufacturing firms equation 1-1-3) established under constant dc power control pattern：
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<mtable>
<mtr>
<mtd>
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<mi>x</mi>
<mi>p</mi>
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<mi>P</mi>
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<mi>B</mi>
<mi>P</mi>
</msub>
<msub>
<mi>u</mi>
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<mo>(</mo>
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</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
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<msub>
<mi>y</mi>
<mi>P</mi>
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<mrow>
<mo>(</mo>
<mi>k</mi>
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<mo>=</mo>
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<mi>C</mi>
<mi>P</mi>
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<mi>x</mi>
<mi>P</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
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<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, xP(1),xP(2)…xP(k)…xP(N) discrete series for being x, xP(k) change of power current conversion station state is determined for the k moment
Amount, uP(1),uP(2)…uP(k)…uP(N) discrete series for being u, uP(k)=Pref(k), uP(k) it is active for the upper strata at k moment
Instruction references value, yP(1),yP(2)…yP(k)…yP(N) discrete series for being y, yP(k) change of current is injected for k moment AC network
The active power stood, N are sampling number,CP=[0 0 1],
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<mo>=</mo>
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<mn>2</mn>
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<mo>+</mo>
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<mi>K</mi>
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<mi>L</mi>
</mrow>
</mfrac>
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</mfrac>
<mo>,</mo>
</mrow>
R goes out port filter and transformer all-in resistance to determine power current conversion station, and L goes out port filter and transformer to determine power current conversion station
Total reactance, KpcFor interior electric current loop PI controller proportional gains, KicFor interior electric current loop PI controller storage gains, UsFor AC network
Voltage magnitude, KppFor the proportionality coefficient of active power outer shroud, KipFor the integral coefficient of active power outer shroud, TsFor the sampling period,
APFor the matrix related to determining power current conversion station hardware parameter, BPFor the matrix related to determining power current conversion station control parameter.
3. the Multi-end flexible direct current transmission system current conversion station control method according to claim 1 based on model prediction, its
It is characterised by, the step 1-a) the separate manufacturing firms equation for determining DC voltage current conversion station is established, detailed process is as follows：
1-a-1) definition status variable x1, x2, x3, x4For：
x3=isd, x4=vdc,
Wherein, e=vdc_ref-vdc；
1-a-2) have in the case of systematic steady state：vdc=vdc_ref, construct vdcLinear differential equation it is as follows：
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<mover>
<mi>v</mi>
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<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
Make 3Us/2Ceqvdc_ref=kisd, take u=vdc_ref, MMC DC voltage control system state equations can be obtained：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>b</mi>
<mrow>
<mn>3</mn>
<mi>V</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>a</mi>
<mrow>
<mn>2</mn>
<mi>V</mi>
</mrow>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>b</mi>
<mrow>
<mn>2</mn>
<mi>V</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>a</mi>
<mrow>
<mn>1</mn>
<mi>V</mi>
</mrow>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>b</mi>
<mrow>
<mn>1</mn>
<mi>V</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<msub>
<mi>k</mi>
<mrow>
<mi>i</mi>
<mi>s</mi>
<mi>d</mi>
</mrow>
</msub>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mi>x</mi>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
<mo>/</mo>
<msub>
<mi>C</mi>
<mrow>
<mi>e</mi>
<mi>q</mi>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<msub>
<mi>i</mi>
<mrow>
<mi>d</mi>
<mi>c</mi>
</mrow>
</msub>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>b</mi>
<mrow>
<mn>3</mn>
<mi>V</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>b</mi>
<mrow>
<mn>2</mn>
<mi>V</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>b</mi>
<mrow>
<mn>1</mn>
<mi>V</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mi>u</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>y</mi>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mi>x</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein,
1-a-3) operation characteristic be present to the current conversion station of DC voltage control：
idc=kdr(vdc_ref-v0) (9)
Therefore MMC DC voltage control system state equations are rewritten as：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>b</mi>
<mrow>
<mn>3</mn>
<mi>V</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>a</mi>
<mrow>
<mn>2</mn>
<mi>V</mi>
</mrow>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>b</mi>
<mrow>
<mn>2</mn>
<mi>V</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>a</mi>
<mrow>
<mn>1</mn>
<mi>V</mi>
</mrow>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>b</mi>
<mrow>
<mn>1</mn>
<mi>V</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<msub>
<mi>k</mi>
<mrow>
<mi>i</mi>
<mi>s</mi>
<mi>d</mi>
</mrow>
</msub>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mi>x</mi>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mo>-</mo>
<msub>
<mi>k</mi>
<mrow>
<mi>d</mi>
<mi>r</mi>
</mrow>
</msub>
<mo>/</mo>
<msub>
<mi>C</mi>
<mrow>
<mi>e</mi>
<mi>q</mi>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<msub>
<mi>v</mi>
<mn>0</mn>
</msub>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>b</mi>
<mrow>
<mn>3</mn>
<mi>V</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>b</mi>
<mrow>
<mn>2</mn>
<mi>V</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>b</mi>
<mrow>
<mn>1</mn>
<mi>V</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>k</mi>
<mrow>
<mi>d</mi>
<mi>r</mi>
</mrow>
</msub>
<mo>/</mo>
<msub>
<mi>C</mi>
<mrow>
<mi>e</mi>
<mi>q</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mi>u</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>y</mi>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mi>x</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>10</mn>
<mo>)</mo>
</mrow>
</mrow>
1-a-4) make w=v0, counted and what DC voltage-DC current was sagging determine DC voltage current conversion station separate manufacturing firms
Equation：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>x</mi>
<mi>V</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>A</mi>
<mi>V</mi>
</msub>
<msub>
<mi>x</mi>
<mi>V</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>B</mi>
<mrow>
<mi>V</mi>
<mi>w</mi>
</mrow>
</msub>
<msub>
<mi>w</mi>
<mi>V</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>B</mi>
<mrow>
<mi>V</mi>
<mi>u</mi>
</mrow>
</msub>
<msub>
<mi>u</mi>
<mi>V</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>y</mi>
<mi>V</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>C</mi>
<mi>V</mi>
</msub>
<msub>
<mi>x</mi>
<mi>V</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>11</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, xV(1),xV(2)…xV(k)…xV(N) discrete series for being x, xV(k) DC voltage current conversion station shape is determined for the k moment
State variable, uV(1),uV(2)…uV(k)…uV(N) discrete series for being u,wV(1),wV(2)…wV(k)…wV
(N) discrete series for being w, yV(1),yV(2)…yV(k)…yV(N) discrete series for being y, yV(k) DC voltage is determined for the k moment
Current conversion station DC voltage, N are sampling number, uV(k) it is control variable, wV(k) it is measurable amount, AVFor with determining DC voltage
The related matrix of current conversion station hardware parameter, BVw、BVuFor the matrix related to determining DC voltage current conversion station control parameter, CV=[0 00 1], Kpv
For the proportionality coefficient of DC voltage outer shroud, KivFor the integral coefficient of DC voltage outer shroud, KpcFor interior electric current loop PI controller ratios
Gain, KicFor interior electric current loop PI controller storage gains, UsFor AC network voltage magnitude, KppFor the ratio of active power outer shroud
Coefficient, KipFor the integral coefficient of active power outer shroud, TsFor the sampling period, R' for determine DC voltage current conversion station go out port filter and
Transformer all-in resistance, L' go out port filter and the total reactance of transformer, C to determine DC voltage current conversion stationeqTo determine the DC voltage change of current
Bridge arm equivalent of standing electric capacity, kdrTo determine DC voltage current conversion station DC voltage-sagging coefficient of DC current, vdc_refFor droop characteristic,
vdcFor current conversion station DC voltage, isdIt is interior electric current loop d axis components, idcIt is DC current, v0It is the benchmark of voltage droop control
Value.
4. the Multi-end flexible direct current transmission system current conversion station control method based on model prediction according to Claims 2 or 3,
Characterized in that, the sampling period TsTake 1ms.
5. the Multi-end flexible direct current transmission system current conversion station control method according to claim 2 based on model prediction, its
Be characterised by, the step 1-2) optimal control sequence be：
<mrow>
<msub>
<mover>
<mi>z</mi>
<mo>~</mo>
</mover>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msub>
<mo>=</mo>
<mover>
<mi>C</mi>
<mo>~</mo>
</mover>
<msub>
<mi>x</mi>
<mi>p</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mover>
<mi>D</mi>
<mo>~</mo>
</mover>
<mi>u</mi>
</msub>
<mover>
<mi>u</mi>
<mo>~</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mover>
<mi>u</mi>
<mo>~</mo>
</mover>
<mn>0</mn>
</msub>
<mo>=</mo>
<msub>
<mover>
<mi>z</mi>
<mo>~</mo>
</mover>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
<mo>,</mo>
<mn>0</mn>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mover>
<mi>D</mi>
<mo>~</mo>
</mover>
<mi>u</mi>
</msub>
<mover>
<mi>u</mi>
<mo>~</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein,
Middle subscript N refers to the A of N sampling instantspThe value of matrix,Middle subscript N-1 refers to the A of N-1 sampling instantspMatrix
Value.
6. the Multi-end flexible direct current transmission system current conversion station control method according to claim 3 based on model prediction, its
Be characterised by, the step 1-b) optimal control sequence be：
<mrow>
<msub>
<mover>
<mi>u</mi>
<mo>~</mo>
</mover>
<mi>V</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mo>-</mo>
<msup>
<mrow>
<mo>(</mo>
<msubsup>
<mover>
<mi>D</mi>
<mo>~</mo>
</mover>
<mrow>
<mi>V</mi>
<mi>u</mi>
</mrow>
<mi>T</mi>
</msubsup>
<msub>
<mover>
<mi>D</mi>
<mo>~</mo>
</mover>
<mrow>
<mi>V</mi>
<mi>u</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<msubsup>
<mover>
<mi>D</mi>
<mo>~</mo>
</mover>
<mrow>
<mi>V</mi>
<mi>u</mi>
</mrow>
<mi>T</mi>
</msubsup>
<mrow>
<mo>(</mo>
<msub>
<mover>
<mi>C</mi>
<mo>~</mo>
</mover>
<mi>V</mi>
</msub>
<msub>
<mi>x</mi>
<mi>V</mi>
</msub>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
<mo>+</mo>
<msub>
<mover>
<mi>D</mi>
<mo>~</mo>
</mover>
<mrow>
<mi>V</mi>
<mi>w</mi>
</mrow>
</msub>
<msub>
<mover>
<mi>w</mi>
<mo>~</mo>
</mover>
<mi>V</mi>
</msub>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
<mo>-</mo>
<msub>
<mover>
<mi>u</mi>
<mo>~</mo>
</mover>
<mrow>
<mi>V</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>13</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein,
<mrow>
<msub>
<mover>
<mi>w</mi>
<mo>~</mo>
</mover>
<mi>V</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>j</mi>
</munderover>
<mi>w</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>+</mo>
<mi>j</mi>
<mo>-</mo>
<mi>i</mi>
<mo>|</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>,</mo>
<msub>
<mover>
<mi>u</mi>
<mo>~</mo>
</mover>
<mrow>
<mi>V</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>j</mi>
</munderover>
<mi>u</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>+</mo>
<mi>j</mi>
<mo>-</mo>
<mi>i</mi>
<mo>|</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>,</mo>
</mrow>
Middle subscript N refers to the A of N sampling instantsVThe value of matrix,Middle subscript N-1 refers to the A of N-1 sampling instantsVMatrix
Value,Middle subscript N-1 refers to the A of N-1 sampling instantsVThe value of matrix.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110042819A (en) * | 2019-04-16 | 2019-07-23 | 中国电建集团华东勘测设计研究院有限公司 | A kind of marine converter station for flexible HVDC transmission system |
| CN110932287A (en) * | 2019-11-14 | 2020-03-27 | 国网新疆电力有限公司 | Power grid voltage control method for reducing near-zone voltage fluctuation of extra-high voltage direct current converter station |
| CN111368489A (en) * | 2020-02-11 | 2020-07-03 | 南方电网科学研究院有限责任公司 | Test sequence modeling method and device for multi-terminal direct-current power transmission system |
| CN111725832A (en) * | 2020-06-05 | 2020-09-29 | 西安交通大学 | Direct-current side voltage indirect control method of multi-terminal flexible power transmission system based on simplified offline algorithm |
| CN112583040A (en) * | 2020-12-21 | 2021-03-30 | 中国科学院电工研究所 | Active management and control method for distributed energy and user alternating current-direct current power distribution system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110042819A (en) * | 2019-04-16 | 2019-07-23 | 中国电建集团华东勘测设计研究院有限公司 | A kind of marine converter station for flexible HVDC transmission system |
| CN110042819B (en) * | 2019-04-16 | 2021-06-01 | 中国电建集团华东勘测设计研究院有限公司 | Offshore converter station for flexible direct current transmission system |
| CN110932287A (en) * | 2019-11-14 | 2020-03-27 | 国网新疆电力有限公司 | Power grid voltage control method for reducing near-zone voltage fluctuation of extra-high voltage direct current converter station |
| CN110932287B (en) * | 2019-11-14 | 2023-03-24 | 国网新疆电力有限公司 | Power grid voltage control method for reducing near-zone voltage fluctuation of extra-high voltage direct current converter station |
| CN111368489A (en) * | 2020-02-11 | 2020-07-03 | 南方电网科学研究院有限责任公司 | Test sequence modeling method and device for multi-terminal direct-current power transmission system |
| CN111368489B (en) * | 2020-02-11 | 2023-05-16 | 南方电网科学研究院有限责任公司 | Test sequence modeling method and device for multi-terminal direct current transmission system |
| CN111725832A (en) * | 2020-06-05 | 2020-09-29 | 西安交通大学 | Direct-current side voltage indirect control method of multi-terminal flexible power transmission system based on simplified offline algorithm |
| CN112583040A (en) * | 2020-12-21 | 2021-03-30 | 中国科学院电工研究所 | Active management and control method for distributed energy and user alternating current-direct current power distribution system |
| CN113452068A (en) * | 2021-06-23 | 2021-09-28 | 湖北工业大学 | Multi-step model prediction control method for VSC rectification station connected with wind power plant |
| CN113452068B (en) * | 2021-06-23 | 2022-06-14 | 湖北工业大学 | Multi-step model prediction control method for VSC (Voltage Source converter) rectifier station connected with wind power plant |
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