CN108233408A - A kind of MMC-MTDC system self-adaptions droop control method - Google Patents
A kind of MMC-MTDC system self-adaptions droop control method Download PDFInfo
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Abstract
The invention discloses a kind of MMC MTDC system self-adaption droop control methods, it is characterized in that, introduce power impact factor, line impedance impact factor, using the active power that current conversion station exchange side PPC points input as input quantity, using sagging coefficient as output quantity, it adjusts sagging coefficient in real time under the action of impact factor, makes P V characteristic curves under the premise of high-speed communication is not depended on to optimal power allocation direction approximation.The advantageous effect that the present invention is reached：Main application scenario of the invention is the MMC MTDC systems applied to extensive offshore grid-connected wind farm.Power impact factor, line impedance impact factor are introduced, sagging coefficient is adjusted in real time under the action of impact factor, makes P V characteristic curves to optimal power allocation direction approximation.The present invention has the advantages of not depending on high-speed communication, DC voltage deviation is small, and line loss is low.
Description
Technical field
The present invention relates to a kind of MMC-MTDC system self-adaptions droop control methods, belong to electrical engineering technical field.
Background technology
In recent years, due to extensive regenerative resource is grid-connected, asynchronous Power System Interconnection, the remote electric energy transmission of large capacity need
It asks, the Multi-end flexible direct current transmission based on voltage source converter receives more and more attention.It is defeated compared to traditional both ends direct current
Electricity, Multi-end flexible direct current transmission have preferable flexibility, economy, stability, are to solve clean energy resource " on not ", " send
Do not go out ", one of the effective means of " hardly possible consumption " Three Difficult Issues.Modularization multi-level converter is a kind of novel voltage source converter
Device has many advantages, such as that DC voltage polarity is constant when low voltage class height, harmonic content, tide turns, flexible straight for multiterminal
Stream transmission of electricity develops to large capacity, remote direction to be of great significance.Therefore the present invention is directed to MMC-MTDC systems.
MTDC system wiring modes are broadly divided into three classes：Parallel connection type, tandem type, mixed type.Match from adjustable range, insulation
Conjunction, extension flexibility etc. consideration, parallel connection type MTDC topologys have more technical advantage.Parallel connection type MTDC system coordinations control
Core is DC voltage control, and the minimum requirements of safe operation is to meet N-1 rules.
Traditional droop control realizes multiple station shared DC voltage controls using the P-V Slope relationships of each current conversion station
Purpose, essence is to participate in the adjusting of active power using DC voltage static difference as cost.Traditional droop control is without at a high speed
Voltage overshoot is small when communication and active power step.But traditional droop control, using fixed sagging coefficient, there are direct currents
The shortcomings of quality of voltage is low, power distribution is not independent, flexibility, economy are poor.
Invention content
To solve the deficiencies in the prior art, the purpose of the present invention is to provide a kind of sagging controls of MMC-MTDC system self-adaptions
Method processed, to solve the problems, such as that traditional droop control quality of voltage is low, power distribution is not independent.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that：
A kind of MMC-MTDC system self-adaptions droop control method, it is characterized in that, introduce power impact factor, line impedance
Impact factor, using the active power that current conversion station exchange side PPC points input as input quantity, using sagging coefficient as output quantity,
Sagging coefficient is adjusted under the action of impact factor in real time, makes P-V characteristic curves under the premise of high-speed communication is not depended on to optimal
Power distribution direction approximation.
A kind of aforementioned MMC-MTDC system self-adaptions droop control method, it is characterized in that, include the following steps：
Step 1) determines MTDC systems according to marine wind electric field position, land AC network tie point, submarine cable distribution
Parameter setting, complete fixed sagging coefficient kdroopi_fixedWith line impedance factor εiAdjust work；
Step 2) measures local electrical quantities, i.e., the active-power P that current conversion station i exchange side PCC points flow intoi, which is sent
To local controller；
Step 3) local controller according toPiNIt is the rated active power of current conversion station i, calculates
Instantaneous sagging coefficient kdroopiValue, as new instantaneous sagging coefficient kdroopi_fixed, controller is using new instantaneous sagging system
Number participates in MTDC system coordinations control, forms new sagging curve.
A kind of aforementioned MMC-MTDC system self-adaptions droop control method, it is characterized in that, sagging system in the step 1)
Number kdroopi_fixedSetting method is as follows：
Note is a using the common m of current conversion station of droop control, to realize each current conversion station while fully loaded purpose under extreme case,
kdroopi_fixedMeet：kdroop(n+1)_fixed:kdroop(n+2)_fixed:…:kdroop(n+m)_fixed=P(n+1)N:P(n+2)N:…:P(n+m)N。
A kind of aforementioned MMC-MTDC system self-adaptions droop control method, it is characterized in that, step 1) the center line roadlock
Anti- impact factor εiSetting method is as follows：
For i-th of current conversion station, power accounting a during optimal power allocation is introducedi%, according to during m output node most
Excellent power distribution condition is：Understand εiPower accounting b when=0i%,
It can be obtained according to P-V curves：
Introduce the voltage deviation △ U of underload pointlow_load, ε can be obtainediSetting valve：
The advantageous effect that the present invention is reached：Main application scenario of the invention is to be applied to extensive offshore grid-connected wind farm
MMC-MTDC systems.Power impact factor, line impedance impact factor are introduced, under being adjusted in real time under the action of impact factor
Hang down coefficient, makes P-V characteristic curves to optimal power allocation direction approximation.The present invention, which has, does not depend on high-speed communication, DC voltage
The advantages of deviation is small, and line loss is low.
Description of the drawings
Fig. 1 is the control block diagram of adaptive droop control method of the invention；
Fig. 2 is a kind of MTDC system topologicals of typical connection marine wind electric field of the present invention；
Fig. 3 is the MTDC systems of two output nodes；
Fig. 4 (a) is -1<εi<GSCi P-V characteristic curves when 0, (b) is εi>GSCi P-V characteristic curves when 0；
Fig. 5 is using line loss schematic diagram during adaptive droop control method of the invention；
Fig. 6 is a four end MMC-MTDC system test platform schematic diagrames；
Fig. 7 is GSC3P-V characteristic curves (ε in the embodiment of the present invention3=1.88)；
Fig. 8 is GSC4P-V characteristic curves (ε in the embodiment of the present invention4=-0.53)；
Fig. 9 is GSC3 DC voltage responses when Different Strategies are used in the embodiment of the present invention；
Figure 10 is Approximation effect schematic diagram in the embodiment of the present invention；
Active power wave simulation result when Figure 11 (a) is steady-state operation in the embodiment of the present invention；
DC voltage waveform simulation result when Figure 11 (b) is steady-state operation in the embodiment of the present invention；
GSC when Figure 11 (c) is steady-state operation in the embodiment of the present invention3Bridge arm submodule capacitor voltage emulation knot in A phases
Fruit；
GSC when Figure 11 (d) is steady-state operation in the embodiment of the present invention3AC current waveform simulation result；
Active power wave simulation result when Figure 12 (a) is power swing in the embodiment of the present invention；
Active power waveform (ε when Figure 12 (b) is power swing in the embodiment of the present invention3=ε4=0) simulation result；
Approximation effect simulation result when Figure 12 (c) is power swing in the embodiment of the present invention；
Figure 13 (a) is active power wave simulation result when N-1 is run in the embodiment of the present invention；
Figure 13 (b) is GSC when N-1 is run in the embodiment of the present invention4DC voltage Udc4Simulation result；
Figure 13 (c) is GSC when N-1 is run in the embodiment of the present invention3Alternating current simulation result；
Figure 13 (d) is GSC when N-1 is run in the embodiment of the present invention4Alternating current simulation result.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and be not intended to limit the protection scope of the present invention and limit the scope of the invention.
PI refers to pi regulator in Fig. 1, for DAZ gene designated value, is widely used in field of power electronics.
This method includes the following steps：
Step 1：It is determined according to factors such as marine wind electric field position, land AC network tie point, submarine cable distributions
MTDC system design parameters complete fixed sagging coefficient kdroopi_fixedWith line impedance factor εiAdjust work.
Step 2：Measure local electrical quantities, i.e., the active-power P that current conversion station i exchange side PCC points flow intoi, which is sent
To local controller.
Step 3：Local controller according toPiNIt is the rated active power of current conversion station i, calculates
Instantaneous sagging coefficient kdroopiValue, as new instantaneous sagging coefficient kdroopi_fixed, controller is using new instantaneous sagging system
Number participates in MTDC system coordinations control, forms new sagging curve.
Further, using the current conversion station of adaptive droop control method, P-V curve representations formula such as (1).In formula, Udci、Udci *For the DC voltage actual value of current conversion station i and reference
Value, Udci *=1p.u., 0.95p.u.<Udci<1.05p.u.；Pi、Pi *For the active power actual value and reference value of current conversion station i,
Pi *=0p.u., -1p.u.<Pi<0p.u.；kdroopi_fixedThe sagging coefficient of fixation for current conversion station i, kdroopi_fixed>0, p.u.
It is the unit of per unit value, electrical subject usually uses in theory analysis.
By line impedance factor εi=0 curve is set as with reference to sagging curve.
With reference to the power impact factor ξ of sagging curvei0It represents, active power Pi0It represents.Its P-V curve representation formula
Compared to reference to sagging curve, when -1<εi<0, | Pi|>|Pi0|, i-th of current conversion station GSCiUndertake more power point
Match.Work as εi>0, | Pi|<|Pi0|, GSCiUndertake less power distribution.
Different εiIt can lead to GSCiP-V characteristic curves occur in various degree, the offsets of different directions.By rational
Setting principle makes the P-V characteristic curves after offset to optimal power allocation direction approximation, and then realizes and do not depending on high-speed communication
Under the premise of optimize line loss purpose.
Adaptive droop control method in the present invention and traditional droop control method are compared.
Using the current conversion station of traditional droop control method, P-V curve representations formula such as formula (3).
Adaptive droop control voltage deviation is set as △ U1, traditional droop control voltage deviation is set as △ U2, then
By Pi≤ 0, kdroopi_fixed>0,0≤ξi≤ 1, therefore △ U1≤△U2。
Therefore the MTDC systems of the method for the present invention is used to have the advantages that voltage deviation is small.
A kind of MTDC system topologicals of involved typical connection marine wind electric field are as shown in Fig. 2 in the present embodiment：n
The current conversion station (WFC) of a connection marine wind electric field, by the electric energy rectification that wind power plant is sent out to DC network；PCC1、PCC2It refers both to straight
Flow points of common connection, PCC1Locate electric energy through submarine cable l0It is delivered to PCC2；The current conversion station (GSC) of m connection AC network, will
From PCC2The electric energy inversion of distribution networks.MTDC systems include n input node, m output node, and design parameter is usually by sea
Windward electric field location, land AC network tie point, submarine cable distribution determine.
In general, the current conversion station of connection marine wind electric field is using power control or determines alternating voltage control, AC network is connected
Current conversion station using the adaptive droop control strategy of the present invention.
The present invention has the advantages that the low concept for being based primarily upon optimal power allocation of line loss.Power distribution pertains only to adopt
With the output node of droop control.
Optimal power allocation condition is proved by taking the MTDC systems of two output nodes as an example.By Fig. 3, formula (5), formula can be obtained
(6)。
PPCC2=Ploss+P3+P4(6) in formula, PlossRefer to PCC2To GSC3、GSC4Line loss, R3Refer to PCC2Point arrives GSC3
Cable l3Equiva lent impedance (branch impedance is reduced to resistance), R4Refer to PCC2Point arrives GSC4Cable l4Equiva lent impedance (branch impedance
It is reduced to resistance).
Ignore Udc3、Udc4P in deviation and formula (6)lossInfluence, simultaneous formula (5), formula (6).
PPCC2、Udc3Under the premise of certain, formula (7) is one about P3Quadratic equation with one unknown.By quadratic equation with one unknown
Characteristic is it is found that the optimal power allocation condition such as formula (8) of two output nodes.
According to existing conclusion, optimal power allocation condition such as formula (9) during m output node.
In formula, Rn+1、Rn+2···、Rn+mRefer to PCC2Point arrives the equiva lent impedance (branch impedance of corresponding receiving end current conversion station cable
It is reduced to resistance).
The factor for influencing the loss of MTDC system lines includes two aspects：DC voltage, power distribution.DC voltage influences
The whole line loss of DC network, DC voltage is higher, and whole line loss is lower.But DC voltage is excessively high, and main equipment insulate in system
Nargin can reduce, and main equipment may damage.Compared to reduce line loss, DC voltage quality be MTDC System Priorities consider because
Element.Power distribution then influences PCC2To the line loss of GSC.Power distribution is closer to optimal power allocation, PCC2To the line of GSC
Path loss consumption is lower.Therefore, the optimal power allocation condition of formula (9) is of great significance for reducing MTDC system line losses.
Present invention introduces line impedance impact factor εi, make current conversion station P-V characteristic curves that different degrees of, different directions occur
Offset.By rational setting principle, make the P-V characteristic curves after offset to optimal power allocation direction approximation, Jin Ershi
Optimize the purpose of line loss under the premise of not depending on high-speed communication now.Using the adaptive droop control strategy change of current of the invention
The P-V characteristic curves such as Fig. 4 to stand.
Work as Udci0=Udci, simultaneous formula (1), (2) have
When -1<εi<0, | Pi|>|Pi0|, GSCiMore power distributions are undertaken, as shown in Fig. 6 (a)；Work as εi>0, | Pi|<|
Pi0|, GSCiLess power distribution is undertaken, as shown in Fig. 6 (b).In addition, it need to particularly point out：It is ε to determine active power curvesi=-
1 special case；Traditional droop control is εiThe special case of=∞.
The present invention relates to adjusting for two parameters, fixed sagging coefficient kdroopi_fixed, line impedance impact factor εi。
Fixed sagging coefficient kdroopi_fixedSetting method is as follows：
By Fig. 2 MTDC system topologicals it is found that the common m of GSC using droop control are a.For prevent single converter station overload and shadow
The phenomenon that ringing whole system operation, need to rationally set kdroopi_fixedValue, realize that each current conversion station is fully loaded simultaneously under extreme case
Purpose.To reach the purpose, only formula (1) need to be allowed to meet Udci=Udcimax, Pi=PiN.
Under normal conditions, m GSC possesses identical Udc *、Udcmax, therefore kdroopi_fixedMeet formula (12).
kdroop(n+1)_fixed:kdroop(n+2)_fixed…:kdroop(n+m)_fixed=P(n+1)N:P(n+2)N…:P(n+m)N
(12)
Line impedance impact factor εiSetting method is as follows：
After determining MMC-MTDC system design parameters, ε can be carried outiAdjust work.With GSCiFor, introduce optimal work(
Power accounting a when rate is distributedi% is derived by formula (9)；εiPower accounting b when=0i% is pushed away by formula (2), formula (12) simultaneous
Lead (bi% is set up for each operating point).
Enable Udci0=Udci, simultaneous formula (1), formula (14) can obtain and use PCC during with reference to sagging curve2The active power of point：
Introduce the voltage deviation △ U of underload pointlow_load.Adaptive sagging curve passes through (ai%PPCC2, Udci *+△
Ulow_load), you can make GSCiMeet optimal power allocation condition at underload point. Udci>Udci *+△Ulow_loadWhen, it is optimal
The effect of power distribution can be gradually weak, i.e., on underload point, the method for the present invention, which is constantly in, forces optimal power allocation
Nearly state.
By (ai%PPCC2, Udci *+△Ulow_load) formula (1) is substituted into, ε can be obtainediSetting valve.
It examines
Otherwise it needs to adjust by boundary value respectively.
On underload point, the effect of optimal power allocation can be gradually weak, provides proof procedure here.
Complete εiAfter adjusting, there is only variable P on the right side of formula (10)i。Pi- 1p.u. is reduced to from 0p.u., when -1<εi<0,
Pi/Pi0Monotone decreasing；Work as εi>0, Pi/Pi0Monotonic increase.Therefore, when -1<εi<0, Pi/Pi0From a of underload pointi%/bi%
(ai%/bi%>1) 1 is decayed to；Work as εi>0, Pi/Pi0From a of underload pointi%/bi% (ai%/bi%<1) 1 is decayed to.
Fig. 5 provides -1<εi<Line loss schematic diagram when 0.Whole line loss can subtract with the increase of DC voltage
It is small, therefore ordinate PlossFlexibility and changeability.Fig. 5 only provides GSCiInfluence of the power allocation case for line loss.Using this hair
Bright method, during underload point, the A points in figure；During more than underload point, the workspace in figure；During rated power, in figure
Middle B points.Overcompensation phenomenon can only occur in the very small extreme case of power.
Embodiment 1：Based on building four end MMC-MTDC as shown in Figure 6 in electromagnetic transient simulation software PSCAD/EMTDC
Simulation model.WFC1And WFC2Wind farm side current conversion station is represented, belongs to input node, using power control；GSC3And GSC4It represents
Grid side current conversion station, belongs to output node, using adaptive droop control strategy herein.l1=30km, l2=20km, l3=
40km, l4=20km, l0=80km, cable unit distance impedance value are 0.01 Ω/km.Simulating, verifying steady-state operation, power waves
When dynamic, N-1 is run, control method proposed by the present invention is to the control effect of system.
The major parameter of 1 analogue system of table.
According to parameter tuning principle of the present invention, parameter tuning is completed.kdroop3=20, kdroop4=20.ε3=1.88, ε4=-
0.53。
GSC3、GSC4P-V characteristic curves such as Fig. 7, Fig. 8.Amplitude limit link is in order to avoid system when instantaneously sagging coefficient is excessive
The unstable phenomenon being likely to occur.Amplitude limit link k in this exampledroop=100.
To test the characteristic of the present invention, WFC comprehensively1And WFC2Change to the active power that MTDC is inputted from 0~400MW.
MTDC system dcs voltage responsive such as Fig. 9.Except zero energy and Operation at full power, the DC voltage deviation of strategy, which is respectively less than, herein passes
System droop control strategy.The excellent weak process of power distribution such as Figure 10. P4/P3Gradually 1 is decayed to from 2 at underload point.Figure 10
Attenuation is the result by amplitude limit link and coordinate interval (40MW) combined influence since 1.9.
When table 2 provides output of wind electric field variation, l3、l4Line loss comparing result.The strategy of comparison is respectively：Using
ε3=ε4The MTDC systems of reference sagging curve when=0；Adaptive droop control method using the present invention.Two kinds of tactful phases
There is the deviation of maximum 0.1kV in the DC voltage with node, eliminate DC voltage deviation for whole by being averaged here
The influence of body line loss.As can be seen from Table 2, the line loss of the method for the present invention reduction has preferable economical at kW grades
Benefit.
Table 2
Figure 11~13 show the simulation waveform using adaptive droop control method proposed by the present invention.
Wherein, the simulation waveform of MTDC systems when Figure 11 is steady-state operation.
The simulation waveform of MTDC systems when Figure 12 is changed power, simulation be wind speed variation operating mode, document [15]
Strategy, strategy when being exactly using with reference to sagging curve, bibliography [15] are:Luo Yongjie, Li Yaohua, Wang Ping wait multiterminal soft
Property DC transmission system DC voltage adaptive droop control strategy study [J] Proceedings of the CSEEs, 2016 (10)：
2588-2599. shows the Approximation effect to optimal power allocation, and then introduce circuit by being compared with document strategy
The advantages of low is lost.
Figure 13 is the simulation waveform of MTDC systems when current conversion station 3 is out of service.
From simulation result as can be seen that control method proposed by the invention can be stablized under various operating modes, reliably transport
Row, has the advantages that voltage deviation is small, line loss is low.
The 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, several 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 (4)
1. a kind of MMC-MTDC system self-adaptions droop control method, it is characterized in that, introduce power impact factor, line impedance shadow
The factor is rung, the active power inputted using current conversion station exchange side PPC points is as input quantity, using sagging coefficient as output quantity, in shadow
Sagging coefficient is adjusted in real time under the action of the sound factor, makes P-V characteristic curves under the premise of high-speed communication is not depended on to optimal work(
Rate distributes direction approximation.
2. a kind of MMC-MTDC system self-adaptions droop control method according to claim 1, it is characterized in that, including as follows
Step：
Step 1) determines the ginseng of MTDC systems according to marine wind electric field position, land AC network tie point, submarine cable distribution
Fixed sagging coefficient k is completed in number settingdroopi_fixedWith line impedance factor εiAdjust work；The MTDC systems include n
A input node, m output node；
Step 2) measures local electrical quantities, i.e., the active-power P that current conversion station i exchange side PCC points flow intoi, which is sent to local
Controller；
Step 3) local controller according toPiNIt is the rated active power of current conversion station i, calculates instantaneous
Sagging coefficient kdroopiValue, as new instantaneous sagging coefficient kdroopi_fixed, controller is using new instantaneous sagging coefficient ginseng
It is controlled with MTDC system coordinations, forms new sagging curve.
3. a kind of MMC-MTDC system self-adaptions droop control method according to claim 1, it is characterized in that, the step
1) sagging coefficient k indroopi_fixedSetting method is as follows：
To realize each current conversion station while fully loaded purpose, k under extreme casedroopi_fixedMeet：UdcimaxDC voltage maximum value, U for current conversion station idci *DC voltage for current conversion station i
Reference value.
4. a kind of MMC-MTDC system self-adaptions droop control method according to claim 1, it is characterized in that, the step
1) line impedance impact factor ε iniSetting method is as follows：
For i-th of current conversion station, power accounting a during optimal power allocation is introducedi%, according to optimal power during m output node
Distributive condition is：Wherein, Pn+i, i=1,2 ..., m are represented i-th
The optimal power of output node, Rn+1、Rn+2···、Rn+mRefer to direct current points of common connection PCC2Point is electric to corresponding receiving end current conversion station
The equiva lent impedance of cable (branch impedance is reduced to resistance), it is known that εiPower accounting b when=0i% can be obtained according to P-V curves：
Introduce the voltage deviation Δ U of underload pointlow_load, ε can be obtainediSetting valve：
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Cited By (4)
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|---|---|---|---|---|
| CN109274113A (en) * | 2018-09-06 | 2019-01-25 | 华北电力大学（保定） | A kind of Polynuclear complex mission nonlinear droop control method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109274113A (en) * | 2018-09-06 | 2019-01-25 | 华北电力大学（保定） | A kind of Polynuclear complex mission nonlinear droop control method |
| CN109274113B (en) * | 2018-09-06 | 2022-02-18 | 华北电力大学（保定） | Nonlinear droop control method for hybrid multi-terminal direct current transmission system |
| CN110289647A (en) * | 2019-06-28 | 2019-09-27 | 合肥工业大学 | The adaptive sagging and hysteresis control method of current transformer is interconnected in alternating current-direct current mixing micro-capacitance sensor |
| CN110289647B (en) * | 2019-06-28 | 2020-08-21 | 合肥工业大学 | Adaptive droop and hysteresis control method for interconnected converters in alternating current-direct current hybrid microgrid |
| CN113381431A (en) * | 2021-05-26 | 2021-09-10 | 中铁十六局集团电气化工程有限公司 | Adaptive droop control strategy applied to multi-terminal flexible direct-current power transmission system |
| CN113489044A (en) * | 2021-07-12 | 2021-10-08 | 国网新疆电力有限公司营销服务中心(资金集约中心、计量中心) | Multi-terminal flexible direct current transmission self-adaptive droop control method considering line resistance |
| CN113489044B (en) * | 2021-07-12 | 2022-07-26 | 国网新疆电力有限公司营销服务中心(资金集约中心、计量中心) | Multi-terminal flexible direct current transmission self-adaptive droop control method considering line resistance |
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