CN108206532A - The Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation - Google Patents
The Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation Download PDFInfo
- Publication number
- CN108206532A CN108206532A CN201810009486.3A CN201810009486A CN108206532A CN 108206532 A CN108206532 A CN 108206532A CN 201810009486 A CN201810009486 A CN 201810009486A CN 108206532 A CN108206532 A CN 108206532A
- Authority
- CN
- China
- Prior art keywords
- voltage
- control
- transmission system
- disturbance
- direct current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
- H02J2003/365—Reducing harmonics or oscillations in HVDC
-
- 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]
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Direct Current Feeding And Distribution (AREA)
Abstract
The invention discloses a kind of Auto-disturbance-rejection Controls of Multi-end flexible direct current transmission system DC voltage deviation, the PI controlling units of outer shroud control strategy of the tradition based on DC voltage error method are substituted for nonlinear state error feedback element by the method, utilize " big error, the small gain of nonlinear state error feedback element；Small error, the characteristics of large gain "; reduce " moving back saturation " time of PI links; i.e. when the control of DC voltage error method strategy outer shroud reaches the condition of switching control mode; the time for being switched to constant DC voltage control can be reduced; the voltage of systems stabilisation as early as possible, and reduce the voltage fluctuation that voltage adjusting is brought.In addition it changes the inner ring control strategy based on Active Disturbance Rejection Control into the inner ring control strategy of the outer shroud coordination of control strategy of DC voltage error method, further enhances the dynamic property and interference free performance of designed Novel DC voltage deviation control strategy.
Description
Technical field
The present invention relates to Power System Flexible technical field of direct current power transmission, and in particular to a kind of Multi-end flexible direct current transmission system
The Auto-disturbance-rejection Control for DC voltage deviation of uniting.
Background technology
Multi-end flexible direct current transmission system due to its trend distribution flexibly, can be used for connect weak AC system, do not need to
The features such as a large amount of reactive-load compensation equipments and as the research hot topic of electric power research worker and engineering circles.Because of transverter mathematical model
Complexity, accurately show that the mathematical model of Multi-end flexible direct current transmission system is nearly impossible thing.How not have
The difficult point that there is good robustness, rapidity, the control method of adaptability to become research is obtained in the case of accurate mathematical model.
In the control of Multi-end flexible direct current transmission system, it is most important that the active power of each current conversion station is made to obtain effectively
Allotment and maintain straight-flow system voltage stabilization, i.e., the cooperation of each current conversion station.In the nineties in last century, Chinese Academy of Sciences Han Jing
Clear researcher proposes automatic disturbance rejection controller (active disturbance rejection controller, ADRC), both
The superiority of PID loop section is remained, error is eliminated based on state error feedback, and eliminates some shortcomings of PID control.From
Disturbance rejection control, which does not need to controll plant, accurate mathematical model, has the spy of response quickly, control accuracy height and strong robustness
Point.Active Disturbance Rejection Control is applied in multiple fields such as space flight, chemical industry and electric power at present.Active Disturbance Rejection Control generally has three
Point：Nonlinear Tracking Differentiator (tracking differentiator, TD), extended state observer (extended state
Observer, ESO), nonlinear state error feedback (nonlinear state error feedback, NLSEF).TD is general
As reasonable arrangement transient process and extraction differential signal, coordinate the contradictory relation between the rapidity of system and overshoot；ESO
It is the core of Active Disturbance Rejection Control, the real-time operation to output, the inside and outside portion's interference of estimation controlled device and model are inaccurately made
Into disturbance, the object expansion state as nonlinear uncertainty is observed, and disturbance is compensated, pre- so as to reach
The target of phase；Nonlinear state error Feedback Control Laws (NLSEF) utilize non-linear disturbance suppression.
The basic principle of DC voltage error method is system dc voltage hair after main current conversion station is out of service because of failure
When changing reaches the definite value of spare current conversion station switching control mode, spare current conversion station detect after DC voltage deviation automatically by
Determine active power controller and be changed into constant DC voltage control, so as to maintain the voltage stabilization of DC transmission system.It is straight in order to accelerate
The governing speed of voltage deviation control is flowed, the scientific paper that voltage fluctuation, Li Meihang et al. is delivered is reduced and " it is flexible to be suitable for multiterminal
(Li Meihang, Liu Ximei, Chen Peng are suitable for Multi-end flexible direct current transmission to the quick voltage nargin control strategy of DC transmission system "
Quick voltage nargin control strategy [J] electric power network techniques of system, 2016,40 (10):3045-3051.) in propose it is a kind of novel
DC voltage error method strategy, by pattern convert switching link move on to PI links after PI links before, realize control mould
Formula is switched fast.The scientific paper that Tang Geng et al. is delivered " is suitable for the Novel DC voltage control of Multi-end flexible direct current transmission system
(Tang Geng, Xu Zheng, Liu's Noboru wait to be suitable for the Novel DC voltage control strategy of Multi-end flexible direct current transmission system to system strategy "
[J] Automation of Electric Systems, 2013,37 (15):125-132.) with reference to DC voltage error method and DC voltage slope control
The advantages of processed, proposes a kind of novel DC voltage control strategy, can accelerate the dynamic response of system, and there is preferable failure to wear
More characteristic.
Traditional DC voltage error method strategy and above-mentioned improved DC voltage error method strategy in control all
It is controlled using PI, PI controlling units can cause DC voltage error method switching control mode to postpone, and its PI parameter is difficult
To adjust, without the robustness, stability, rapidity of Guarantee control system well.
Invention content
It is traditional straight in Multi-end flexible direct current transmission system to solve the purpose of the present invention is in view of the deficiencies of the prior art
Stream voltage deviation control mode switching speed is slow, and control system robustness is not strong, and adjusting DC voltage and power are not quick enough
The problem of, provide a kind of Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation.
The purpose of the present invention can be achieved through the following technical solutions：
The Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation, the method is by tradition based on straight
The PI controlling units of the outer shroud control strategy of stream voltage deviation control are substituted for the outer shroud control based on DC voltage error method
The nonlinear state error feedback element of strategy, while will match with outer shroud control strategy of the tradition based on DC voltage error method
The inner ring control strategy of conjunction is substituted for the inner ring control strategy based on Active Disturbance Rejection Control.
Further, the nonlinear state error feedback loop of the outer shroud control strategy based on DC voltage error method
Saving mathematical model is：
Wherein, β influence functions linearity range siding-to-siding block length；α determines the nonlinearity of function, 0<α<1；E (k) is given
The error amount or given active power reference value of voltage reference value and actual voltage value and the error amount of practical active power value；m
For adjustability coefficients；When the input value of fal functions is less than β, function curve of output is linear, when the input value of fal functions is more than β
When, function curve of output is non-linear；The slope of the range of linearity is related with β, α, is inversely proportional with β, and α is directly proportional；In addition the value of α
The characteristic of inelastic region is influenced, the value of α is bigger, and non-linear behavior must get over unobvious, i.e. the size of α influences the non-of fal functions
Linear degree and the slope of the range of linearity.
Further, it in the parameter designing for carrying out the nonlinear state error feedback element mathematical model, needs to make
The function curve of output range of linearity slope it is big and the gain of nonlinear area is small so that when voltage deviation is larger,
Smaller gain is generated, when voltage deviation is smaller, generates larger gain, to ensure in system voltage and active power stabilization
Under the premise of, system voltage can quickly adjust and non-overshoot, and also making can between the control mode of DC voltage error method
It is switched fast.
Further, using the three of the Auto-disturbance-rejection Control of the Multi-end flexible direct current transmission system DC voltage deviation
It holds in flexible direct current power transmission system, current conversion station 1 (main current conversion station) uses the constant DC voltage control based on Active Disturbance Rejection Control, the change of current
2 (from current conversion station) that stand use the outer shroud control of the Auto-disturbance-rejection Control based on Multi-end flexible direct current transmission system DC voltage deviation
System, current conversion station 3 (from current conversion station) determine active power controller using based on Active Disturbance Rejection Control.
Further, using the more of the Auto-disturbance-rejection Control of the Multi-end flexible direct current transmission system DC voltage deviation
It holds in flexible direct current power transmission system, can have multiple current conversion stations using the outer shroud control strategy based on DC voltage error method
Nonlinear state error feedback element, but must difference using the set voltage margin of this outer shroud control, it is impossible to occur
There is a situation where that the voltage margin of current conversion station is identical, in addition when Multi-end flexible direct current transmission system is run, only there are one permissions
Current conversion station is operated under constant DC voltage control.
Further, the method is a kind of system-level control mode of Multi-end flexible direct current transmission system, can not only
For three ends, four end flexible direct current power transmission systems, additionally it is possible to for the flexible direct current power transmission system of more multiterminal.
Compared with prior art, the present invention having the following advantages that and advantageous effect：
The method of the invention utilizes nonlinear state error feedback element " big error, the small gain designed；Small error,
The characteristics of large gain ", reduces " moving back saturation " time of PI controlling units, i.e., when the control of DC voltage error method strategy outer shroud reaches
To switching control mode condition when, the voltage of the time for being switched to constant DC voltage control, as early as possible systems stabilisation can be reduced, and
Reduce the voltage fluctuation that voltage adjusting is brought.It realizes when current conversion station main in Multi-end flexible direct current transmission system exits, from changing
Stream station can not depend on the DC voltage deviation outer shroud control based on addition nonlinear state error feedback element in the case of communication
System is switched fast as constant DC voltage control, maintains the voltage stabilization of Multi-end flexible direct current transmission system, and based on active disturbance rejection
The inner ring control strategy of control also improves dynamic performance and interference free performance.
Description of the drawings
Fig. 1 is the current inner loop controller (d axis) based on Active Disturbance Rejection Control of flexible direct current power transmission system.
Fig. 2 is the current inner loop controller (q axis) based on Active Disturbance Rejection Control of flexible direct current power transmission system.
Fig. 3 is the outer shroud control block diagram that active power controller is determined based on Active Disturbance Rejection Control of flexible direct current power transmission system.
Fig. 4 is the outer shroud control block diagram that Reactive Power Control is determined based on Active Disturbance Rejection Control of flexible direct current power transmission system.
Fig. 5 is the outer shroud control block diagram based on Active Disturbance Rejection Control constant DC voltage control of flexible direct current power transmission system.
Fig. 6 is flexible straight using the multiterminal of the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation
Flow the inner and outer ring control block diagram of transmission system.
Fig. 7 exits system state change figure after current conversion station 3 for three-terminal flexible direct-current power transmission system.
Fig. 8 exits system state change figure after current conversion station 1 for three-terminal flexible direct-current power transmission system.
Fig. 9 is three-terminal flexible direct-current power transmission system topology diagram.
Figure 10 is modular multi-level converter topological structure figure.
Figure 11 (a) is using the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation and traditional
The DC voltage comparison diagram of DC voltage error method policy system, Figure 11 (b) are straight using Multi-end flexible direct current transmission system
Flow the Auto-disturbance-rejection Control of voltage deviation and traditional 1 DC side active power pair of DC voltage error method strategy current conversion station
Than figure, Figure 11 (c) is using the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation and traditional straight
2 DC side active power comparison diagram of voltage deviation control strategy current conversion station is flowed, Figure 11 (d) is using Multi-end flexible direct current transmission system
The Auto-disturbance-rejection Control and traditional 3 DC side wattful power of DC voltage error method strategy current conversion station for DC voltage deviation of uniting
Rate comparison diagram.
Figure 12 (a) is using the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation and traditional
DC voltage error method policy system, system dc voltage-contrast figure when voltage margin is 0.1pu under transient fault, Figure 12
(b) it is the Auto-disturbance-rejection Control using Multi-end flexible direct current transmission system DC voltage deviation and traditional DC voltage deviation
Control strategy system, 1 DC side active power comparison diagram of current conversion station when voltage margin is 0.1pu under transient fault, Figure 12 (c)
For the Auto-disturbance-rejection Control using Multi-end flexible direct current transmission system DC voltage deviation and traditional DC voltage deviation control
Policy system processed, 2 DC side active power comparison diagram of current conversion station when voltage margin is 0.1pu under transient fault, Figure 12 (d) are
Auto-disturbance-rejection Control and traditional DC voltage error method using Multi-end flexible direct current transmission system DC voltage deviation
Policy system, 3 DC side active power comparison diagram of current conversion station when voltage margin is 0.1pu under transient fault.
Figure 13 (a) is using the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation and traditional
DC voltage error method policy system, system dc voltage-contrast figure when voltage margin is 0.05pu under transient fault, figure
13 (b) is inclined using the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation and traditional DC voltage
Poor control strategy system, 1 DC side active power comparison diagram of current conversion station when voltage margin is 0.05pu under transient fault, Figure 13
(c) it is the Auto-disturbance-rejection Control using Multi-end flexible direct current transmission system DC voltage deviation and traditional DC voltage deviation
Control strategy system, 2 DC side active power comparison diagram of current conversion station when voltage margin is 0.05pu under transient fault, Figure 13
(d) it is the Auto-disturbance-rejection Control using Multi-end flexible direct current transmission system DC voltage deviation and traditional DC voltage deviation
Control strategy system, 3 DC side active power comparison diagram of current conversion station when voltage margin is 0.05pu under transient fault.
Specific embodiment
With reference to embodiment and attached drawing, the present invention is described in further detail, but embodiments of the present invention are unlimited
In this.
Embodiment：
Fig. 1 be flexible direct current power transmission system the current inner loop controller (d axis) based on Active Disturbance Rejection Control, Fig. 2 be based on
The current inner loop controller (q axis) of Active Disturbance Rejection Control, is mainly made of two parts：Expansion state viewer (ESO) and non-linear
State error feeds back (NLSEF), wherein the expansion state observation of the second order of the current inner loop controller of d axis components and q axis components
Device (ESO) can be expressed as respectively：
Wherein formula (1) is the ESO expression formulas of d axis component current inner loop controllers, and formula (2) is q axis component current inner loop controls
The ESO expression formulas of device processed.
First order nonlinear state error feedback element (NLSEF) side of the current inner loop controller of d axis components and q axis components
Journey can be taken as respectively：
There are two control dimensions for the control of flexible direct current power transmission system outer shroud, are divided into active class and the control of idle class, wherein having
Work(class includes constant DC voltage control and determines DC side active power controller, and as shown in Fig. 5 and Fig. 3, idle class is generally fixed to be handed over
Side Reactive Power Control is flowed, as shown in Figure 4.In order to realize the rapidity of tracking desired value, in nonlinear state error feedback loop
It saves and optimum control function fal functions is used in (NLSEF), determine active power controller and determine Reactive Power Control link equation difference
For：
Constant DC voltage control link equation is：
idref(k)=β3fal(Udcref(k)-Udc(k),α3,δ3) (7)
β in formula1、β2、β3For the proportionality coefficient of feedback rate control, influence system and voltage, active power and reactive power are joined
Examine the tracking approximation ratio of value.
Fig. 3 is the outer shroud control block diagram that active power controller is determined based on Active Disturbance Rejection Control, and Fig. 4 is determines based on Active Disturbance Rejection Control
The outer shroud control block diagram of Reactive Power Control, Fig. 5 are the outer shroud control block diagram based on Active Disturbance Rejection Control constant DC voltage control.
The characteristics of Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation：Tradition is based on direct current
The outer shroud control strategy PI controlling units of voltage deviation control are substituted for nonlinear state error feedback element (nonlinear
State error feedback, NLSEF), utilize " big error, the small gain of the nonlinear state error feedback element of design；
The characteristics of small error, large gain ", reduces " moving back saturation " time of PI links, i.e., when DC voltage error method strategy outer shroud control
When system reaches the condition of switching control mode, the electricity of the time for being switched to constant DC voltage control, as early as possible systems stabilisation can be reduced
Pressure, and reduce the voltage fluctuation that voltage adjusting is brought.
In addition the inner ring control strategy with the outer shroud coordination of control strategy of DC voltage error method is changed into based on active disturbance rejection
The inner ring control strategy of control further enhances the dynamic property of designed Novel DC voltage deviation control strategy and resists dry
Immunity energy.
Fig. 6 is in the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation provided in this embodiment
Outer shroud block diagram.Optimum control fal functions are as follows in figure：
In formula, β influence function linearity range siding-to-siding block lengths；α determines the nonlinearity of function, 0<α<1；E (k) is direct current
Press the input quantity of deviation control；M is adjustability coefficients.When fal functions input value be less than beta function, curve of output be it is linear,；When
When input value is more than β, function curve of output is non-linear.The slope of the range of linearity is related with β, α, is inversely proportional with β, and α is directly proportional.
In addition the value of α also influences the characteristic of inelastic region, and the value of α is bigger, and non-linear behavior must get over unobvious, i.e. the size of α influences
The nonlinear degree of fal functions and the slope of the range of linearity.In the parameter designing of the fal functions of Direct Current voltage bias control,
It is required that the linear region slopes of function are big, the gain of nonlinear area is smaller, i.e., when voltage deviation is larger, generates smaller
Gain when voltage deviation is smaller, generates larger gain.Under the premise of ensureing that system voltage and active power are stablized, make be
System voltage can quickly adjust and non-overshoot, also makes to be switched fast between the control mode of DC voltage error method.
With using three end flexible direct currents of the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation
For transmission system, in Multi-end flexible direct current transmission system, need there are one the task that current conversion station undertakes stable DC voltage,
If current conversion station 1 is main current conversion station, the balance of the imbalance power of system when being mainly responsible for stable state, active class outer shroud control is using base
In the constant DC voltage control of Active Disturbance Rejection Control.Principal and subordinate's voltage controls cutting for current conversion station in the case of communication failure in order to prevent
It changes and goes wrong, current conversion station 2 is using the Auto-disturbance-rejection Control based on Multi-end flexible direct current transmission system DC voltage deviation
Outer shroud controls, and in normal operation using active power controller is determined, when deviateing normal operating voltage, and reaches switching control
The definite value of mode will switch to constant DC voltage control.Since current conversion station 3 is without the regulating power of imbalance power, so
Determine active power controller strategy using based on Active Disturbance Rejection Control.
In stable operation, current conversion station 1 is constant DC voltage control, the uneven work(being responsible in balance DC transmission system
Rate, stable DC voltage.The DC voltage error method strategy of current conversion station 2, to determine active power controller, is changed in stable operation
Also there is active power controller at stream station 3 surely.During stable operation, the main control targe of multiterminal flexible direct current system is to maintain direct current
Voltage stabilization, each electrical quantity of system is steady, can realize that the fast power between each end is supported.
When current conversion station 2 or current conversion station 3 are because of failure locking, 1 control mode of current conversion station is constant DC voltage control, needs to balance
The imbalance power of system makes the DC voltage of system be maintained at reference value.Current conversion station 2 should keep normal operating condition, active
Power should not be affected, state such as Fig. 7 of the rear system because failure exits of current conversion station 3.
When main current conversion station (current conversion station 1) is out of service because of failure, because imbalance power can not be balanced by current conversion station 1, directly
Galvanic electricity pressure will appear variation, when DC voltage reaches 2 DC voltage error method strategy of current conversion station switching constant DC voltage control
Definite value when, current conversion station 2 is quickly switched into constant DC voltage control, such as voltage of systems stabilisation, Fig. 8.
Have below by the Auto-disturbance-rejection Control of simulating, verifying Multi-end flexible direct current transmission system DC voltage deviation
Effect property.
On PSCAD/EMTDC emulation platforms, according to the three-terminal flexible direct-current power transmission mould of Cigre standard test models transformation
Type carries out simulating, verifying, and Fig. 9 is for the three-terminal flexible direct-current power transmission of control method validity designed by the emulation testing present invention
System structure, Figure 10 are the topological structure of current conversion station, and current conversion station is formed using modularization multi-level converter.Each current conversion station parameter
Setting value is as shown in table 1：
Table 1
Current conversion station 1 uses the constant DC voltage control based on Active Disturbance Rejection Control for main current conversion station, and current conversion station 2 is spare electricity
Voltage-controlled current conversion station processed, using the outer shroud control strategy based on Active Disturbance Rejection Control DC voltage error method, current conversion station 3 is used and is based on
Active Disturbance Rejection Control determines active power controller strategy.Using traditional Multi-end flexible direct current transmission system DC voltage error method
Strategy and the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation compare, corresponding in contrast test
Current conversion station control strategy it is identical, i.e., current conversion station 1 take tradition determine DC voltage and direct current determined based on Active Disturbance Rejection Control
Press control strategy comparison, current conversion station 2 and current conversion station 3 similarly, wherein the outer shroud control strategy based on Active Disturbance Rejection Control needs to use
Current inner loop control strategy cooperation based on Active Disturbance Rejection Control, traditional outer shroud control side and traditional current inner loop control plan
Slightly coordinate.The DC voltage of straight-flow system and the situation of change of active power are observed in contrast test.
In order to examine the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation in rapid tidal current tune
Whether the dynamic property matched is good, and whether current conversion station 1 can quickly absorb imbalance power and stable DC voltage.In current conversion station
The regulating time and overshoot of the active power step signal of 3 application -0.3pu, observing system active power and DC voltage, and
It is compared with traditional DC voltage error method strategy.
Figure 11 (a) is the DC voltage of system, and Figure 11 (b) is 1 DC side active power of current conversion station, and Figure 11 (c) is the change of current
It stands 2 DC side active power, Figure 11 (d) is 3 DC side active power of current conversion station.It is it can be seen that either defeated using multiterminal flexible direct current
The Auto-disturbance-rejection Control of electric system DC voltage deviation or traditional DC voltage error method strategy are stood in the moment of step
1 is that the voltage stabilization of maintenance system and power-balance start quickly to adjust active power, since system can be fully compensated in station 1
Imbalance power, the voltage of system are still controlled by current conversion station 1, can finally stablized in 320kV.In addition the wattful power of current conversion station 2
Rate can finally remain steady, also not cause the disturbance of active power and the switching of control strategy.Due to control strategy not
Together, the step response of system is different.Using system meeting after power step of traditional DC voltage error method strategy
There is of short duration DC voltage and decline 1%, and the phenomenon that current conversion station 2 will appear active power changed power 8%, the in addition change of current
There is 8.3% and 3.3% overshoot respectively in 1,3 active power of standing during the adjusting after step.Using multiterminal flexibility
The active power and voltage of the Auto-disturbance-rejection Control system of DC transmission system DC voltage deviation being capable of quick non-overshoot
The command value of exterior ring power is tracked, and does not have each current conversion station of system the waveform of active power do not occur after step, is shown
Designed controller has good Control platform and good Immunity Performance.
Dynamic property and matched current conversion station for the Novel DC voltage deviation control strategy of detection design
Can control strategy maintain system to stablize, and transient emulation is carried out to Multi-end flexible direct current transmission system.Current conversion station 1 is using based on certainly
The constant DC voltage control of disturbance rejection control, control reference value are 320kV, and current conversion station 2 is using based on Multi-end flexible direct current transmission system
The outer shroud of the Auto-disturbance-rejection Control for DC voltage deviation of uniting controls, wherein determining active power controller reference value for -0.6pu, is
The performance of abundant test DC voltage error method device, voltage margin are set as 5% and 10%.Current conversion station 3 is based on certainly anti-
That disturbs control determines active power controller strategy, and control reference value is -0.4pu.In 5.5s, current conversion station 1 is because failure is stopped transport, temporary
When voltage margin is 0.1pu under state failure shown in system dc voltage-contrast figure such as Figure 12 (a), 1 DC side wattful power of current conversion station
Shown in rate comparison diagram such as Figure 12 (b), shown in 2 DC side active power comparison diagram such as Figure 12 (c) of current conversion station, 3 DC side of current conversion station
Shown in active power comparison diagram such as Figure 12 (d), system dc voltage-contrast figure when voltage margin is 0.05pu under transient fault
As shown in Figure 13 (a), shown in 1 DC side active power comparison diagram such as Figure 13 (b) of current conversion station, 2 DC side active power of current conversion station
Shown in comparison diagram such as Figure 13 (c), shown in 3 DC side active power comparison diagram such as Figure 13 (d) of current conversion station.
By Figure 12 (a), 12 (b), 12 (c), 12 (d) and 13 (a), 13 (b), 13 (c), 13 (d) it is found that before failure
Stable state after stable state and failure, traditional DC voltage error method and Multi-end flexible direct current transmission system DC voltage deviation
The control effect of Auto-disturbance-rejection Control is identical, and system can be made to reach required state.When current conversion station 1 because emergency closes
After lock, because the imbalance power of system can not be compensated, voltage will appear larger fall.Because of Multi-end flexible direct current transmission system
The deviation control strategy of the Auto-disturbance-rejection Control of DC voltage deviation is more sensitive to voltage change fluctuation, without conventional voltage
" moving back saturation " time of deviation control strategy, and due to the characteristic of fal optimum control functions, 2 control system of current conversion station more than
Switching constant DC voltage control strategy is had begun before the voltage limitation of systemic presupposition, reaches limit value when voltage continues to decline
When, it is switched to constant DC voltage control completely, and there is no super for the adjustment of the active power of DC voltage and current conversion station 2
It adjusts and the time of adjustment is shorter.Traditional DC voltage error method is reviewed, when reaching set margin value due to its voltage deviation,
Certain saturation time that moves back is needed, in the process, the DC voltage of system is uncontrolled, waits being switched to that determine direct current voltage-controlled completely
During system strategy, voltage could be adjusted, therefore fluctuation is bigger, governing speed is slower.In addition it uses and is determined based on Active Disturbance Rejection Control
The active power fluctuation smaller of the current conversion station 3 of active power controller strategy, and the adjusting process after fluctuation is smoother, can more protect
The even running of card system.
The above, patent preferred embodiment only of the present invention, but the protection domain of patent of the present invention is not limited to
This, any one skilled in the art is in the range disclosed in patent of the present invention, according to the skill of patent of the present invention
Art scheme and its patent of invention design are subject to equivalent substitution or change, belong to the protection domain of patent of the present invention.
Claims (6)
1. the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation, it is characterised in that：The method will
The PI controlling units of outer shroud control strategy of the tradition based on DC voltage error method are substituted for based on DC voltage error method
Outer shroud control strategy nonlinear state error feedback element, while by with outer shroud of the tradition based on DC voltage error method
The inner ring control strategy of coordination of control strategy is substituted for the inner ring control strategy based on Active Disturbance Rejection Control.
2. the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation according to claim 1,
It is characterized in that, the nonlinear state error feedback element mathematical modulo of the outer shroud control strategy based on DC voltage error method
Type is：
Wherein, β influence functions linearity range siding-to-siding block length；α determines the nonlinearity of function, 0<α<1；E (k) is given voltage
The error amount or given active power reference value of reference value and actual voltage value and the error amount of practical active power value；M is can
Adjust coefficient；When the input value of fal functions is less than β, function curve of output is linear, when the input value of fal functions is more than β,
Function curve of output is non-linear；The slope of the range of linearity is related with β, α, is inversely proportional with β, and α is directly proportional；In addition the value of α also shadow
The characteristic to inelastic region is rung, the value of α is bigger, and non-linear behavior must get over unobvious, i.e. the size of α influences the non-thread of fal functions
Property degree and the slope of the range of linearity.
3. the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation according to claim 2,
It is characterized in that：In the parameter designing for carrying out the nonlinear state error feedback element mathematical model, it is required that function is defeated
The slope for going out curve linear region is big and the gain of nonlinear area is small.
4. the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation according to claim 1,
It is characterized in that：It is flexible straight using three ends of the Auto-disturbance-rejection Control of the Multi-end flexible direct current transmission system DC voltage deviation
It flows in transmission system, current conversion station 1, i.e., main current conversion station uses the constant DC voltage control based on Active Disturbance Rejection Control, and current conversion station 2 uses
The outer shroud control of Auto-disturbance-rejection Control based on Multi-end flexible direct current transmission system DC voltage deviation, current conversion station 3 use base
Determine active power controller in Active Disturbance Rejection Control.
5. the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation according to claim 1,
It is characterized in that：It is flexible straight using the multiterminal of the Auto-disturbance-rejection Control of the Multi-end flexible direct current transmission system DC voltage deviation
It flows in transmission system, can there is the non-thread character that multiple current conversion stations use the outer shroud control strategy based on DC voltage error method
State error feedback element, but must difference using the set voltage margin of this outer shroud control, it is impossible to occur that there are the changes of current
The identical situation of the voltage margin stood in addition when Multi-end flexible direct current transmission system is run, only allows there are one current conversion stations to transport
Row is under constant DC voltage control.
6. the Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation according to claim 1,
It is characterized in that：The method is used not only for three ends, four end flexible direct current power transmission systems, additionally it is possible to for the flexibility of more multiterminal
DC transmission system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810009486.3A CN108206532A (en) | 2018-01-05 | 2018-01-05 | The Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810009486.3A CN108206532A (en) | 2018-01-05 | 2018-01-05 | The Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108206532A true CN108206532A (en) | 2018-06-26 |
Family
ID=62606055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810009486.3A Pending CN108206532A (en) | 2018-01-05 | 2018-01-05 | The Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108206532A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110620375A (en) * | 2019-08-23 | 2019-12-27 | 广东电网有限责任公司珠海供电局 | High-reliability shutdown method for direct-current power distribution system |
| CN111338205A (en) * | 2020-03-09 | 2020-06-26 | 国网山东省电力公司电力科学研究院 | Self-adaptive PID controller based on control deviation change partition and control method |
| CN112910291A (en) * | 2019-11-19 | 2021-06-04 | 北京金风科创风电设备有限公司 | Converter control method, controller and control equipment and converter system |
| CN113669163A (en) * | 2021-08-13 | 2021-11-19 | 哈尔滨工程大学 | Cascade gas turbine rotating speed control method based on active disturbance rejection control |
| CN115102152A (en) * | 2022-06-13 | 2022-09-23 | 国网江苏省电力有限公司苏州供电分公司 | Direct current system response method and system based on lightning early warning |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101969210A (en) * | 2010-10-22 | 2011-02-09 | 天津理工大学 | Active disturbance rejection control technology-based method for controlling synchronization of photovoltaic power generation system |
| CN103050967A (en) * | 2013-01-06 | 2013-04-17 | 华北电力大学（保定） | Active disturbance control method of flexible direct current power transmission system |
| CN105406502A (en) * | 2015-12-24 | 2016-03-16 | 安徽华电工程咨询设计有限公司 | Design method of light-weight direct-current power transmission system controller based on active disturbance rejection control |
-
2018
- 2018-01-05 CN CN201810009486.3A patent/CN108206532A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101969210A (en) * | 2010-10-22 | 2011-02-09 | 天津理工大学 | Active disturbance rejection control technology-based method for controlling synchronization of photovoltaic power generation system |
| CN103050967A (en) * | 2013-01-06 | 2013-04-17 | 华北电力大学（保定） | Active disturbance control method of flexible direct current power transmission system |
| CN105406502A (en) * | 2015-12-24 | 2016-03-16 | 安徽华电工程咨询设计有限公司 | Design method of light-weight direct-current power transmission system controller based on active disturbance rejection control |
Non-Patent Citations (2)
| Title |
|---|
| 范彬: "自抗扰控制技术在轻型高压直流输电系统中的应用", 《CNKI》 * |
| 范彬等: "基于自抗扰控制技术的VSC-HVDC系统控制器设计", 《电力自动化设备》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110620375A (en) * | 2019-08-23 | 2019-12-27 | 广东电网有限责任公司珠海供电局 | High-reliability shutdown method for direct-current power distribution system |
| CN112910291A (en) * | 2019-11-19 | 2021-06-04 | 北京金风科创风电设备有限公司 | Converter control method, controller and control equipment and converter system |
| CN111338205A (en) * | 2020-03-09 | 2020-06-26 | 国网山东省电力公司电力科学研究院 | Self-adaptive PID controller based on control deviation change partition and control method |
| CN111338205B (en) * | 2020-03-09 | 2023-04-18 | 国网山东省电力公司电力科学研究院 | Self-adaptive PID controller based on control deviation change partition and control method |
| CN113669163A (en) * | 2021-08-13 | 2021-11-19 | 哈尔滨工程大学 | Cascade gas turbine rotating speed control method based on active disturbance rejection control |
| CN115102152A (en) * | 2022-06-13 | 2022-09-23 | 国网江苏省电力有限公司苏州供电分公司 | Direct current system response method and system based on lightning early warning |
| CN115102152B (en) * | 2022-06-13 | 2024-01-23 | 国网江苏省电力有限公司苏州供电分公司 | Direct current system response method and system based on lightning early warning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108206532A (en) | The Auto-disturbance-rejection Control of Multi-end flexible direct current transmission system DC voltage deviation | |
| Andreasson et al. | Distributed frequency control through MTDC transmission systems | |
| US8058753B2 (en) | Wide area transmission control of windfarms | |
| US20190341777A1 (en) | Direct current power grid voltage control method | |
| CN104578084B (en) | Dynamic reactive compensating mechanism and AVC (Automatic Voltage Control) combined control system | |
| CN109149620A (en) | One kind is from the soft straight system control method of energy storage multiterminal and system | |
| CN112688307B (en) | AC/DC hybrid micro-grid controller and control method | |
| CN110783966B (en) | Distributed power generation unit cooperative control method and system | |
| CN103760400A (en) | Voltage stabilization on-line monitoring method based on wide area measuring system | |
| Chen et al. | Control induced explicit time-scale separation to attain dc voltage stability for a vsc-hvdc terminal | |
| Eriksson | Current sharing in multiterminal DC grids—The analytical approach | |
| CN108173277B (en) | A kind of change Target Control Method of flexible HVDC transmission system | |
| CN110957745A (en) | Method for improving frequency stability of power grid based on sliding mode control | |
| CN110061504A (en) | A kind of slave power control method based on quasi- ratio resonance complex controll | |
| Li et al. | An improved distributed secondary control to attain concomitant accurate current sharing and voltage restoration in DC microgrids | |
| CN106856334B (en) | A kind of power system state estimation method considering flexible direct current control characteristic | |
| Makarov et al. | Simulation 35 kV 35 MVar STATCOM in EMTDC PSCAD | |
| CN114513017B (en) | Distributed tracking method and system for power distribution network instructions of alternating current-direct current micro-grid | |
| CN110601210A (en) | Device and method for coordinated control of multiple parallel operations of magnetically controlled reactors | |
| CN103855716A (en) | Intelligent FLC-PID mixed STATCOM control method | |
| CN204243766U (en) | A kind of dynamic reactive compensation device control objectives converting system | |
| CN114362132A (en) | Interconnected power system load frequency controller design method based on fractional order sliding mode | |
| CN106786645B (en) | Dynamic reactive compensation device cooperative control method and system | |
| Kanojia et al. | Coordinated tuning of POD and PSS controllers with STATCOM in increasing the oscillation stability of single and multi-machine power system | |
| CN105743098B (en) | A kind of dynamic reactive compensation device control targe converting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180626 |