CN107645173A - A kind of method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability - Google Patents
A kind of method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability Download PDFInfo
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- CN107645173A CN107645173A CN201610581039.6A CN201610581039A CN107645173A CN 107645173 A CN107645173 A CN 107645173A CN 201610581039 A CN201610581039 A CN 201610581039A CN 107645173 A CN107645173 A CN 107645173A
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- 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 provides a kind of method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability, methods described includes：The system model of droop control effect lower module multilevel converter DC voltage controller is established, the relation between sagging coefficient and system Dynamic Voltage Stability is analyzed with time domain method or frequency domain method.Analysis droop control provided by the invention influences method to direct current network Dynamic Voltage Stability, sagging coefficient is selected for direct current network or the following MTDC transmission system design department irrespective of size tuning controller that will be expanded into direct current network, the resistance to overturning for improving system provides technical support.
Description
Technical field
The present invention relates to direct current network (DC grid) field, in particular to a kind of analysis droop control is to direct current network
The method that Dynamic Voltage Stability influences.
Background technology
With the large-scale grid connection of regenerative resource, traditional electrical circuitry equipment, electric network composition and running technology etc. are being received
More seem unable to do what one wishes in terms of extensive intermittent energy.Direct current network is an intelligence with advanced energy management system
Energy, stable direct current wide-area transmission network, it is possible to achieve multiple feed and more drop points are to solve renewable energy at high proportion by electricity
The important means that source is collected and dissolved, building up for it will alleviate the above mentioned problem of prior art significantly.
DC voltage is the index of direct current network power-balance, when the power of system occurs compared with large disturbances, DC voltage
By substantial deviation rated value, the safe and stable operation of system is influenceed.Therefore, the DC voltage for coordinating control direct current network makes its guarantor
Keep steady fixed most important to the power-balance of system and stable operation.As a kind of direct current network coordination control strategy, sagging control
Direct current network multi-point DC voltage control can be achieved in system, can using the Slope relationship between given current conversion station power and DC voltage
To realize the control to the shared DC voltage of multiple current conversion stations, but it can consider that the size of sagging coefficient can be to system dc
The stability of side voltage produces certain influence.Research of the scholars to direct current network coordination control strategy at present focuses mostly on greatly
In terms of the improvement to traditional multi-point DC voltage control strategy, between droop control and direct current network Dynamic Voltage Stability
The research of relation far can not meet the needs of prior art.
The content of the invention
The present invention proposes a kind of method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability, is applied to
Ring-type, radial, netted or mixed structure direct current network, it can be achieved when the system-level coordination control strategy of direct current network is using sagging
During control, theoretically influence of the value of the different sagging coefficients of analysis to direct current network Dynamic Voltage Stability.
A kind of method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability, it is characterised in that the side
Method includes：The system model of droop control effect lower module multilevel converter DC voltage controller is established, uses time domain method
Or frequency domain method analyzes the relation between sagging coefficient and system Dynamic Voltage Stability.
Further, the transmission function of the system model of the modularization multi-level converter DC voltage controller is as follows
Shown in formula：
Wherein：
udc：Current conversion station DC voltage；
isd：The alternating current of d axles；
idc：Current conversion station DC current；
L：Bridge arm reactance；
C0：Submodule electric capacity；
uc 0：MMC submodule initial voltages；
kp：Proportionality coefficient；
Tp：Integral element time constant；
D：Sagging coefficient；
N：Constant；
udc ref：Current conversion station DC voltage reference value；
P：Current conversion station AC wattful power messurement value；
Pref：Current conversion station AC active power reference value；
Tmdc、TmpAnd TsFor three single order time delay processes to equivalent measurement and calculating dq shaft current times；
Tmdc：MMC DC voltages measure equivalent link；
Tmp：The equivalent link of power measurement；
Ts：The equivalent link of power network alternating current.
Further, closed loop transform function, sagging coefficient value scope Routh Criterion are obtained according to the transmission function
It is determined that.
Further, the time domain method analysis includes：
Closed loop transform function root locus is drawn, determines root locus burble point；The position for being located at complex plane according to root locus is true
Fix influence of the vertical coefficient to system voltage stability.
Further, when the sagging coefficient is less than the root locus burble point, DC voltage control system was in resistance
Buddhist nun's state, the dynamic stability of system are preferable；When sagging coefficient is more than root locus burble point but still in sagging coefficient value model
When enclosing, DC voltage control system enters underdamping state, and the dynamic stability of system is relatively poor；Under sagging coefficient exceeds
During coefficient value scope of hanging down, system will be in negative damping state, and DC voltage will be unstable.
Further, the frequency domain method analysis includes：
The Bode figures of the DC voltage control system under different sagging coefficients are drawn respectively；According to Bode figure determination system phases
The variation tendency of angle nargin and bandwidth；According to influence of the sagging coefficient of analysis of trend to system Dynamic Voltage Stability.
Further, when sagging coefficient is less than root locus burble point, the Phase margin of DC voltage control system is tieed up all the time
Hold in higher level, system damping is larger, and with the increase of sagging coefficient, the bandwidth of system gradually increases, direct current netting gear
Standby good Dynamic Voltage Stability；When sagging coefficient gradually increases more than burble point, the Phase margin of system is gradually reduced,
System damping constantly reduces, and bandwidth persistently increases, and the Dynamic Voltage Stability of direct current network is gradually reduced therewith.
With immediate prior art ratio, technical scheme provided by the invention has following excellent effect：
It is provided by the invention analysis droop control on direct current network Dynamic Voltage Stability influence method, be direct current network or
The MTDC transmission system design department irrespective of size tuning controller that future will be expanded into direct current network selects sagging coefficient, improves system
The resistance to overturning of system provides technical support.Prior art be compensate for droop control and direct current network Dynamic Voltage Stability
Between the research of relation the defects of can not much meeting prior art requirement.To build up the intelligence with advanced energy management system
Energy, stable direct current wide-area transmission network, realize that multiple feed and more drop points by electricity, solve regenerative resource at high proportion and collected
Play an important roll with the direct current network of consumption important means.
Brief description of the drawings
MMC DC voltage controller system models under the droop control effect that Fig. 1 is established for the present invention；
Fig. 2 be the specific embodiment of the invention used by direct current network Dynamic Voltage Stability temporal analysis flow
Figure；
Fig. 3 be the specific embodiment of the invention used by direct current network Dynamic Voltage Stability frequency domain analysis flow
Figure.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and case study on implementation
The present invention is in depth described in detail.It should be appreciated that specific implementation case described herein is only explaining this hair
It is bright, it is not used to limit invention.
For droop control provided by the invention to direct current network Dynamic Voltage Stability impact analysis method, target is to using
The direct current network of droop control strategy carries out Voltage stability analysis, studies sagging coefficient and direct current network Dynamic Voltage Stability
Between relation.
First, established with reference to droop control device structure and MMC DC voltage dynamic performance models under droop control effect
The system model of MMC DC voltage controllers.
The transmission function of the system model is calculated under time domain, is calculated using Routh Criterion and arranges an available spy
Fixed sagging coefficient value scope, the sagging coefficient in the range of this can maintain the stabilization of Converter DC-side voltage.MMC direct currents
A burble point in the root locus of voltage control system be present, when sagging coefficient is less than this, at DC voltage control system
In overdamping state, the output voltage of MMC DC sides is in aperiodic monotonous process, and the dynamic stability of system is preferable；Instantly
The coefficient that hangs down exceedes this point but during still in above-mentioned specific span, and DC voltage control system enters underdamping state, directly
The output voltage for flowing side is in damped oscillation process, and the dynamic stability of system is relatively poor；And when sagging coefficient exceeds this scope
When, system will be in negative damping state, and DC voltage will be unable to keep stable.
Frequency analysis method mainly considers influence of the sagging coefficient for system Phase margin and bandwidth.When sagging coefficient is less than
During above-mentioned root locus burble point, the Phase margin of MMC DC voltage control systems maintains higher level all the time, illustrates system
Damp it is larger, meanwhile, with the increase of sagging coefficient, the bandwidth of system gradually increases, and improves direct current network ac-side current
Response speed, the imbalances of charging and discharging currents on submodule electric capacity can be quickly compensated, so as to reduce submodule electric capacity electricity
Extrude existing fluctuation, it is ensured that direct current network possesses good Dynamic Voltage Stability；And when sagging coefficient exceed burble point but still
When in specific span, with the increase of sagging coefficient, the Phase margin of system is gradually reduced, and illustrates that system damping exists
Constantly reducing, bandwidth persistently increases, but too high bandwidth is too fast by the response speed for causing direct current network DC side electric current, so as to
Cause converter bridge arm reactance terminal voltage to vary widely, cause the Dynamic Voltage Stability of direct current network to decline.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, to the greatest extent
The present invention is described in detail with reference to above-described embodiment for pipe, those of ordinary skills in the art should understand that：Still
The embodiment of the present invention can be modified or equivalent substitution, and without departing from any of spirit and scope of the invention
Modification or equivalent substitution, it all should cover among scope of the presently claimed invention.
Claims (7)
- A kind of 1. method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability, it is characterised in that methods described Including：Establish the system model of droop control effect lower module multilevel converter DC voltage controller, with time domain method or Frequency domain method analyzes the relation between sagging coefficient and system Dynamic Voltage Stability.
- 2. a kind of method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability as claimed in claim 1, it is special Sign is that the transmission function of the system model of the modularization multi-level converter DC voltage controller is shown below：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>u</mi> <mrow> <mi>d</mi> <mi>c</mi> </mrow> </msub> <mo>=</mo> <msubsup> <mi>Nu</mi> <mi>c</mi> <mn>0</mn> </msubsup> <mo>+</mo> <mfrac> <mi>N</mi> <mrow> <mn>6</mn> <msub> <mi>C</mi> <mn>0</mn> </msub> <mi>s</mi> </mrow> </mfrac> <mrow> <mo>(</mo> <mfrac> <mn>3</mn> <mn>4</mn> </mfrac> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>d</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>i</mi> <mrow> <mi>d</mi> <mi>c</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>-</mo> <mfrac> <mrow> <mn>2</mn> <mi>L</mi> </mrow> <mn>3</mn> </mfrac> <mfrac> <mrow> <msub> <mi>di</mi> <mrow> <mi>d</mi> <mi>c</mi> </mrow> </msub> </mrow> <mrow> <mi>d</mi> <mi>t</mi> </mrow> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>d</mi> </mrow> </msub> <mo>=</mo> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mi>p</mi> </msub> <mo>+</mo> <mfrac> <mn>1</mn> <mrow> <msub> <mi>T</mi> <mi>p</mi> </msub> <mi>s</mi> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>&lsqb;</mo> <mi>D</mi> <mrow> <mo>(</mo> <msubsup> <mi>u</mi> <mrow> <mi>d</mi> <mi>c</mi> </mrow> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mo>-</mo> <msub> <mi>u</mi> <mrow> <mi>d</mi> <mi>c</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msup> <mi>P</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msup> <mo>-</mo> <mi>P</mi> <mo>&rsqb;</mo> </mrow> </mtd> </mtr> </mtable> </mfenced>Wherein：udc：Current conversion station DC voltage；isd：The alternating current of d axles；idc：Current conversion station DC current；L：Bridge arm reactance；C0：Submodule electric capacity；uc 0：MMC submodule initial voltages；kp：Proportionality coefficient；Tp：Integral element time constant；D：Sagging coefficient；N：Constant；udc ref：Current conversion station DC voltage reference value；P：Current conversion station AC wattful power messurement value；Pref：Current conversion station AC active power reference value；Tmdc、TmpAnd TsFor three single order time delay processes to equivalent measurement and calculating dq shaft current times；Tmdc：MMC DC voltages measure equivalent link；Tmp：The equivalent link of power measurement；Ts：The equivalent link of power network alternating current.
- 3. a kind of method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability as claimed in claim 2, it is special Sign is, obtains closed loop transform function according to the transmission function, sagging coefficient value scope is determined with Routh Criterion.
- 4. a kind of method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability as claimed in claim 1, it is special Sign is that the time domain method analysis includes：Closed loop transform function root locus is drawn, determines root locus burble point；It is located at according to root locus under the position determination of complex plane Vertical influence of the coefficient to system voltage stability.
- 5. a kind of method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability as claimed in claim 4, it is special Sign is that when the sagging coefficient is less than the root locus burble point, DC voltage control system is in overdamping state, system Dynamic stability it is preferable；When sagging coefficient is more than root locus burble point but during still in sagging coefficient value scope, direct current Pressure control system enters underdamping state, and the dynamic stability of system is relatively poor；When sagging coefficient exceeds sagging coefficient value During scope, system will be in negative damping state, and DC voltage will be unstable.
- 6. a kind of method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability as claimed in claim 1, it is special Sign is that the frequency domain method analysis includes：The Bode figures of the DC voltage control system under different sagging coefficients are drawn respectively；It is abundant according to Bode figure determination system phase angles The variation tendency of degree and bandwidth；According to influence of the sagging coefficient of analysis of trend to system Dynamic Voltage Stability.
- 7. a kind of method analyzed droop control and influenceed on direct current network Dynamic Voltage Stability as claimed in claim 6, it is special Sign is, when sagging coefficient is less than root locus burble point, the Phase margin of DC voltage control system maintains higher all the time Level, system damping is larger, and with the increase of sagging coefficient, the bandwidth of system gradually increases, and direct current network possesses good move State voltage stability；When sagging coefficient gradually increases more than burble point, the Phase margin of system is gradually reduced, and system damping is not Disconnected to reduce, bandwidth persistently increases, and the Dynamic Voltage Stability of direct current network is gradually reduced therewith.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110503214A (en) * | 2019-08-28 | 2019-11-26 | 华北电力大学（保定） | DC grid voltage transient based on additional electricity stablizes the method for restoring control |
| CN115276377A (en) * | 2022-09-20 | 2022-11-01 | 西安热工研究院有限公司 | Stability verification method for converter self-adaptive reactive current droop control system |
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| CN105140907A (en) * | 2015-08-19 | 2015-12-09 | 华北电力大学（保定） | Multi-agent self-adaptive drop consistency coordination control method and apparatus for direct current microgrid |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110503214A (en) * | 2019-08-28 | 2019-11-26 | 华北电力大学（保定） | DC grid voltage transient based on additional electricity stablizes the method for restoring control |
| CN115276377A (en) * | 2022-09-20 | 2022-11-01 | 西安热工研究院有限公司 | Stability verification method for converter self-adaptive reactive current droop control system |
| CN115276377B (en) * | 2022-09-20 | 2023-02-07 | 西安热工研究院有限公司 | Stability verification method for converter self-adaptive reactive current droop control system |
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