CN108306329A - The positive damping of HVDC transmission system reconstructs impedance stabilization control method - Google Patents
The positive damping of HVDC transmission system reconstructs impedance stabilization control method Download PDFInfo
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- CN108306329A CN108306329A CN201810165760.6A CN201810165760A CN108306329A CN 108306329 A CN108306329 A CN 108306329A CN 201810165760 A CN201810165760 A CN 201810165760A CN 108306329 A CN108306329 A CN 108306329A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]
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Abstract
The invention discloses a kind of positive dampings of HVDC transmission system to reconstruct impedance stabilization control method, when the switching frequency of converting plant is higher, by introducing virtual resistance, enhances the system damping in control bandwidth, inhibits DC side oscillation.And when the switching frequency of converting plant is relatively low, DC side frequency of oscillation is in outside control bandwidth, and virtual resistance will become negative resistance property, deteriorates system stability instead.The present invention to bandwidth outside negative resistance carry out phasing, without change virtual resistance amplitude, effectively improve the damping characteristic of HVDC transmission system, it is suppressed that the oscillation of system dc side, improve system stability.
Description
Technical field
The present invention relates to HVDC transmission system field, the positive damping of especially a kind of HVDC transmission system reconstructs
Impedance stabilization control method.
Background technology
HVDC transmission system is the cascade system being made up of direct current transportation cable between converting plant and Inverter Station, is had
The feature that voltage class is high, power grade is big, controller bandwidth is small can be used as one kind of new energy power station long distance power transmission effectively
Mode.To increase the damping of system, inhibit DC side oscillation, the Traditional control side of the converting plant use of HVDC transmission system
Method is the introducing virtual resistance link in control ring.When the operating switch frequency of converting plant is higher, virtual resistance can be effective
The resonance peak of suppression system, as shown in (a) of Fig. 5；However when the operating switch frequency of converting plant is relatively low, by the straight of rectifier
Stream side output impedance phase-frequency characteristic is as shown in Figure 8, and switching frequency is lower, and the control loop bandwidth of rectifier is narrower, and is controlling
If its phase may sink to -90 degree hereinafter, the resonant frequency of system exceeds control ring cutoff frequency, DC side except loop bandwidth
It is negative resistance that output impedance, which will deteriorate, and when transmission line length being caused to change, there may be resonance peaks for system, such as (a) institute of Fig. 6
Show, seriously affects the stability of system.
Invention content
The technical problem to be solved by the present invention is in view of the shortcomings of the prior art, provide a kind of HVDC transmission system
Positive damping reconstruct impedance stabilization control method, the damping characteristic of HVDC transmission system is effectively improved, to suppression system
The oscillation of DC side improves system stability.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of HVDC transmission system is just
Damping reconstruct impedance stabilization control method, includes the following steps：
1) by the DC voltage command value U of Rectifier control device DC voltage outer shrouddcnIt subtracts by DC side output current
idcrIt is multiplied by virtual impedance Zv(s) afterwards gained value, obtaining final voltage reference value is
2) by voltage reference valueWith output voltage udcrSubtract each other to obtain error amount eu, and by error amount euWith outer loop voltag
The transmission function G of PI controllersu(s) it is multiplied, obtains instruction current
3) by output current idcWith Gff(s) product adds instruction currentObtain q axis watt current reference valuesAnd it will
D axis reactive current reference valuesIt is set as 0, wherein Gff(s) be current feed-forward coefficient transmission function；
4) basisWithGrid-connected current control is carried out, SPWM waves is generated and drives rectifier.
Virtual impedance Zv(s) expression formula is：
Zv(s)=RvGpd(s)
Wherein, Gpd(s) it is that phasing passes letter,RvFor virtual resistance
Amplitude, ωpFor the zero pole point of phasing transmission function, fswFor converting plant operating switch frequency, fcriticalTo control
Loop bandwidth is less than the converting plant operating switch frequency of system resonance frequencies, and s is complex frequency.
Transmission function Gu(s) expression formula is：
Wherein, kupIt is the proportionality coefficient of PI controllers, kuiIt is the integral coefficient of PI controllers；S is complex frequency.
Gff(s) expression formula is as follows：
Wherein, UdcrFor the big signal steady-state value of DC voltage, UqThe big signal steady-state value of q shaft voltages is surveyed for exchange.
Compared with prior art, the advantageous effect of present invention is that：The present invention is to increase HVDC transmission system
Damping, inhibit DC side oscillation, in the rectifier control ring of transmission system introduce virtual resistance link.When the work of converting plant
Make switching frequency it is higher when, virtual resistance be capable of effectively suppression system resonance peak；However when the operating switch frequency of converting plant
When relatively low, by the DC side output impedance phase-frequency characteristic of rectifier as it can be seen that switching frequency is lower, the control loop bandwidth of rectifier is just
It is narrower, and if being sunk to -90 degree controlling its phase except loop bandwidth hereinafter, the resonant frequency of system exceeds the cutoff frequency
Rate, it is negative resistance that DC side output impedance, which will deteriorate,.Using phasing pass letter as phasing link to virtual impedance into
Row positive damping Configuration design so that virtual impedance mends the phase of converting plant output impedance on control ring cutoff frequency
It repays, the negative resistance property that can show output impedance on cutoff frequency is corrected to positive resistance characteristic.The present invention is effective
The damping characteristic of HVDC transmission system is improved, to the oscillation of suppression system DC side, improves system stability.
Description of the drawings
Fig. 1 is the structure chart of HVDC transmission system mentioned by the present invention；
Fig. 2 is the converting plant overall control that one embodiment of the invention passes that letter carries out positive damping impedance reconstruct using phasing
Block diagram；
Fig. 3 is the small signal mode of converting plant that one embodiment of the invention passes that letter carries out positive damping impedance reconstruct using phasing
Type control block diagram；
Fig. 4 is the small signal DC impedance model of one embodiment of the invention HVDC transmission system；
When Fig. 5 is that one embodiment of the invention HVDC transmission system converting plant switching frequency is higher, virtual resistance is added
It is front and back, transmission system totality output impedance Zout(s) with transmission line length ClineWith the image of frequency input signal ω variations；
Wherein, (a) is before introducing virtual impedance；(b) it is after introducing virtual impedance；
When Fig. 6 is that one embodiment of the invention HVDC transmission system converting plant switching frequency is relatively low, using virtual positive resistance
Before and after damped impedance reconstruct, transmission system totality output impedance Zout(s) with transmission line length ClineBecome with frequency input signal ω
The image of change；(a) it is before impedance reconstructs；(b) it is after impedance reconstructs；
Fig. 7 be one embodiment of the invention converting plant when switching frequency is higher, output impedance transmission function Zo(s) and it is high
Press DC transmission system totality equivalent output impedance transmission function Zout(s) Bode diagram；
Fig. 8 be one embodiment of the invention converting plant when switching frequency is relatively low, output impedance transmission function Zo(s) and it is high
Press DC transmission system totality equivalent output impedance transmission function Zout(s) Bode diagram；
Fig. 9 is passed the Bode diagram of letter by one embodiment of the invention using phasing；
Figure 10 is converting plant after one embodiment of the invention passes the virtual positive damping impedance reconstruct of letter progress using phasing
Output impedance transmission function Zo(s) and HVDC transmission system totality equivalent output impedance transmission function Zout(s) Byrd
Figure.
Specific implementation mode
Fig. 1 is the structure chart of HVDC transmission system mentioned by the present invention, including AC network, net side list inductor filter
Device, converting plant, DC bus capacitor, direct current cables π types equivalent model, Inverter Station and inverter side LC filters and as load
Power distribution network.Converting plant is responsible for stable DC side voltage, and Inverter Station works in alternating voltage control model, can be considered that invariable power is negative
It carries.Wherein, vgFor net side ac line voltage, igFor net side input AC electric current, L and r constitute the net side filter of converting plant,
CdcrFor DC side storage capacitor, udcrFor the voltage of DC bus capacitor, idcrFor Inverter Station DC side input current, CcabFor direct current
Cable equivalent capacity, LcabFor direct current cables equivalent inductance, RcabFor direct current cables resistance, LdfAnd CdfConstitute Inverter Station output filter
Wave device.In the present embodiment, vg=110kV, L=30mH, r=0.02 Ω, Cdcr=90 μ F, udcr=250kV, Ccab=0.55 μ
F/km, Lcab=0.47mH/km, Rcab=0.016 Ω/km.
Fig. 2 is the converting plant overall control that one embodiment of the invention passes that letter carries out positive damping impedance reconstruct using phasing
Block diagram, if switching frequency f when converting plant worksswIt is higher so that control loop bandwidth is larger or line length is long enough that system
Resonant frequency frLess than cutoff frequency fc, as shown in fig. 7, then the output impedance at resonance point does not deteriorate as negative resistance, virtual impedance
The selecting switch S of link is set to 1 so that：
Zv(s)=Rv
Wherein, RvFor the amplitude of virtual resistance.
Switching frequency f when if converting plant worksswIt is relatively low so that control loop bandwidth is smaller or line length is shorter so that being
Resonant frequency of uniting frHigher than cutoff frequency fc, as shown in figure 8, then the selecting switch S of virtual impedance link is set to 2, to controller
Virtual impedance Zv(s) it introduces phasing and passes letter Gpd(s) positive damping impedance reconstruct is carried out, expression formula is：
Wherein ωpThe zero pole point of letter is passed for phasing, s is complex frequency.To sum up, virtual impedance Zv(s) expression formula is：
In the present embodiment, Rv=1 Ω, ωp=6000rad/s, fsw=1950Hz.
By the DC voltage command value U of Rectifier control device DC voltage outer shrouddcnSubtract DC side output current idcrWith
Virtual impedance ZvProduct, obtaining final reference value isIn the present embodiment, Udcn=250kV；
By voltage reference valueWith output voltage udcrSubtract each other to obtain error amount eu, and by difference euIt is controlled with outer loop voltag PI
The transmission function G of device processedu(s) it is multiplied, obtains instruction currentWherein, the transmission function G of outer loop voltag PI controllersu(s)
Expression formula is：
Wherein, kupIt is the proportionality coefficient of PI controllers, kuiIt is the integral coefficient of PI controllers, s is complex frequency.In this reality
It applies in example, kup=0.01, kui=10.
It willIn addition output current idcWith Gff(s) product obtains q axis watt current reference valuesAnd by d axis reactive currents
Reference valueIt is set as 0, wherein the transmission function G of current feed-forward coefficientff(s) expression formula is：
UdcrFor the big signal steady-state value of DC voltage, UqThe big signal steady-state value of q shaft voltages is surveyed for exchange.Feedforward control can
To improve the anti-disturbance ability of converting plant, in the present embodiment, Gff(s)≈2.6.According toWithBefore carrying out grid-connected current
Feedback control generates SPWM waves and drives rectifier.
Fig. 3 is the small letter of converting plant that one embodiment of the invention passes that letter carries out virtual positive damping impedance reconstruct using phasing
Number model cootrol block diagram, is mainly used for seeking converting plant output impedance transmission function Zo(s), expression formula is：
Wherein, s is complex frequency Zv(s) it is virtual impedance link transmission function；G2(s) it is the small semaphore Δ of DC voltage
udcrWith the small signal disturbance amount Δ i of exchange side q shaft currentsqRatio, expression formula is：
UdcrFor the big signal steady-state value of DC voltage, IdcrFor the big signal steady-state value of DC side electric current, CdcrIt is stored up for DC side
Energy capacitance, UqThe big signal steady-state value of q shaft voltages is surveyed for exchange；
Gu(s) it is the transmission function of outer loop voltag PI controllers, expression formula is：
kupIt is the proportionality coefficient of PI controllers, kuiIt is the integral coefficient of PI controllers, s is complex frequency；
Ti(s) it is current inner loop transmission function, expression formula is：
K in formulapwmFor inverter gain, L and r are respectively the inductance and resistance value of wave filter on AC side, Gi(s) it is electric current
Inner ring PI controllers, expression formula are：
kipIt is the proportionality coefficient of PI controllers, kiiIt is the integral coefficient of PI controllers, s is complex frequency；
G1(s) it is the small semaphore Δ u of DC voltagedcrWith DC side Small Current Signal disturbance quantity Δ idcrRatio,
Expression formula is：
In the present embodiment, kip=0.068, kii=30, kpwm=125k.
Fig. 4 is the small signal DC impedance model of one embodiment of the invention HVDC transmission system, is mainly used for seeking height
Press the transmission function Z of DC transmission system totality equivalent output impedanceout(s), in figure, Δ udcrIt is disturbed for the small signal of DC voltage
It is dynamic, Zo(s) it is converting plant output impedance transmission function, Zcable(s) it is the equivalent model transmission function of power transmission cable, CdciIt is inverse
Become station output capacitance, Zout(s) it is the overall equivalent output impedance transmission function of transmission system, expression formula is：
Wherein CcabFor direct current cables equivalent capacity, LcabFor direct current cables equivalent inductance, RcabFor direct current cables resistance, s is
Complex frequency；Zin(s)=RiFor the small signal equivalent input impedance of Inverter Station, negative resistance is shown as, calculation formula is：
Wherein UdcrFor the big signal steady-state quantity of DC voltage, P is the big signal steady-state quantity of transimission power.In the present embodiment
In, Udcr=250kV, P=200MW, Ri=-312.5 Ω.
When Fig. 5 is that one embodiment of the invention HVDC transmission system converting plant switching frequency is higher, virtual resistance is added
It is front and back, transmission system totality output impedance Zout(s) with transmission line length ClineThe rule changed with frequency input signal ω,
(a) of Fig. 5 is before introducing virtual impedance, and (b) of Fig. 5 is after introducing virtual impedance.Wherein, by (a) of Fig. 5 as it can be seen that with
ClineIncrease, resonance inhibited and resonance frequency omega by certainrIt is moved to low frequency；By (b) of Fig. 5 as it can be seen that introducing virtual electricity
Hinder RvAfterwards, resonance peak is effectively inhibited.In the present embodiment, Cline=5km, Rv=1 Ω.
When Fig. 6 is that one embodiment of the invention HVDC transmission system converting plant switching frequency is relatively low, hindered using positive damping
Before and after anti-reconstruct, transmission system totality output impedance Zout(s) with transmission line length ClineWith frequency input signal ω variations
(a) of rule, Fig. 6 is before impedance reconstructs, and (b) of Fig. 6 is after impedance reconstructs.Wherein, by (a) of Fig. 6 as it can be seen that converting plant switchs
When frequency is relatively low, although introducing virtual resistance Rv, but work as ClineWhen reaching particular value, system still remains larger resonance peak；
By (b) of Fig. 6 as it can be seen that after being reconstructed using virtual positive damping impedance, resonance peak is effectively inhibited.
Fig. 7 be one embodiment of the invention converting plant when switching frequency is higher, output impedance transmission function Zo(s) and it is high
Press DC transmission system totality equivalent output impedance transmission function Zout(s) Bode diagram.As it can be seen that when switching frequency is higher, control
Loop bandwidth is larger, Zout(s) resonant frequency frPositioned at cutoff frequency fcHereinafter, and increasing f with line lengthrIt reduces, Zo(s)
Resistive component shows as positive damping, is conducive to system stabilization.
Fig. 8 be one embodiment of the invention converting plant when switching frequency is relatively low, output impedance transmission function Zo(s) and it is high
Press DC transmission system totality equivalent output impedance transmission function Zout(s) Bode diagram；As it can be seen that when switching frequency is relatively low, control
Loop bandwidth is smaller, Zout(s) resonant frequency frPositioned at cutoff frequency fcMore than, and increase f with line lengthrIt reduces, Zo(s)
Resistive component shows as negative damping, is unfavorable for system stabilization.
Fig. 9 passes letter G by one embodiment of the invention using phasingpd(s) Bode diagram, in the present embodiment, Gpd
(s) expression formula is
Figure 10 is converting plant output after one embodiment of the invention passes letter progress positive damping impedance reconstruct using phasing
Impedance transfer function Zo(s) and HVDC transmission system totality equivalent output impedance transmission function Zout(s) Bode diagram.It adopts
After impedance stabilization control strategy with positive damping reconstruct, the output impedance Z of converting planto(s) phase except loop bandwidth is being controlled
By having risen to -90 Dus or more below -90 degree, the negative resistance character shown is corrected as positive damping characteristic, even if Zout
(s) resonant frequency frOutside control loop bandwidth, resonance peak can still be effectively suppressed, to resonance existing for system
Effect is as shown in Figure 3 before and after the inhibition at peak.As it can be seen that the present invention is conducive to improve the stability of HVDC transmission system.
Claims (2)
1. a kind of positive damping of HVDC transmission system reconstructs impedance stabilization control method, which is characterized in that including following step
Suddenly：
1) by the DC voltage command value U of Rectifier control device DC voltage outer shrouddcnIt subtracts by DC side output current idcrMultiply
With virtual impedance Zv(s) afterwards gained value, obtaining final voltage reference value is
2) by voltage reference valueWith output voltage udcrSubtract each other to obtain error amount eu, and by error amount euIt is controlled with outer loop voltag PI
The transmission function G of deviceu(s) it is multiplied, obtains instruction currentWherein, Gu(s) expression formula is：
kupIt is the proportionality coefficient of PI controllers, kuiIt is the integral coefficient of PI controllers, s is complex frequency,
3) by output current idcWith Gff(s) product adds instruction currentObtain q axis watt current reference valuesAnd by d axis without
Work(current reference valueIt is set as 0, wherein Gff(s) be current feed-forward coefficient transmission function, expression formula is：
UdcrFor the big signal steady-state value of DC voltage, UqThe big signal steady-state value of q shaft voltages is surveyed for exchange,
4) basisWithGrid-connected current control is carried out, SPWM waves is generated and drives rectifier.
2. the positive damping of HVDC transmission system according to claim 1 reconstructs impedance stabilization control method, feature
It is, virtual impedance Zv(s) expression formula is：
Zv(s)=RvGpd(s)
Wherein, Gpd(s) it is that phasing passes letter,RvFor the width of virtual resistance
Value, ωpFor the zero pole point of phasing transmission function, fswFor converting plant operating switch frequency, fcriticalTo make control ring band
Width is less than the converting plant operating switch frequency of system resonance frequencies, and s is complex frequency.
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| CN109936154A (en) * | 2019-03-28 | 2019-06-25 | 广东志成冠军集团有限公司 | A kind of island source impedance reconfigurable control method |
| CN110266229A (en) * | 2019-07-23 | 2019-09-20 | 哈尔滨工业大学 | The resonance suppressing method of no electrolytic capacitor permanent magnet synchronous electric air conditioner drive system |
| CN110350791A (en) * | 2019-08-06 | 2019-10-18 | 华北电力大学（保定） | Improve the active damping method of photovoltaic cascade converter multi-mode control stability |
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| CN113488985A (en) * | 2021-07-16 | 2021-10-08 | 天津大学 | Method for adjusting load input impedance to meet system stability |
| CN114104013A (en) * | 2021-11-12 | 2022-03-01 | 中国矿业大学 | Speed control method for inhibiting wheel sliding of mining unmanned electric locomotive |
| CN114104013B (en) * | 2021-11-12 | 2024-04-09 | 中国矿业大学 | Speed control method for inhibiting wheel slip of mining unmanned electric locomotive |
| CN114977286A (en) * | 2022-05-17 | 2022-08-30 | 浙江大学 | Impedance remodeling method and device for single-phase full-bridge inverter |
| CN114977286B (en) * | 2022-05-17 | 2024-08-23 | 浙江大学 | Impedance remodeling method and device for single-phase full-bridge inverter |
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