CN108306329B - Positive damping reconstruction impedance stability control method of high-voltage direct-current transmission system - Google Patents

Positive damping reconstruction impedance stability control method of high-voltage direct-current transmission system Download PDF

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CN108306329B
CN108306329B CN201810165760.6A CN201810165760A CN108306329B CN 108306329 B CN108306329 B CN 108306329B CN 201810165760 A CN201810165760 A CN 201810165760A CN 108306329 B CN108306329 B CN 108306329B
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current
voltage
transfer function
impedance
transmission system
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CN108306329A (en
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罗安
姜捷
周乐明
陈燕东
刘傲洋
郭健
周小平
伍文华
杨苓
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Hunan University
State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
Qingdao Power Supply Co of State Grid Shandong Electric Power Co Ltd
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Hunan University
State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
Qingdao Power Supply Co of State Grid Shandong Electric Power Co Ltd
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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
    • 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]

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Abstract

The invention discloses a positive damping reconstruction impedance stability control method of a high-voltage direct-current power transmission system. When the switching frequency of the rectifier station is low, the oscillation frequency of the dc side is out of the control bandwidth, and the virtual resistance becomes a negative resistance characteristic, which deteriorates the system stability. The invention carries out phase correction on the negative resistance outside the bandwidth without changing the amplitude of the virtual resistance, effectively improves the damping characteristic of the high-voltage direct-current power transmission system, inhibits the oscillation of the direct-current side of the system and improves the stability of the system.

Description

Positive damping reconstruction impedance stability control method of high-voltage direct-current transmission system
Technical Field
The invention relates to the field of high-voltage direct-current transmission systems, in particular to a positive damping reconstruction impedance stability control method of a high-voltage direct-current transmission system.
Background
The high-voltage direct-current transmission system is a cascade system formed by direct-current transmission cables between the rectifier station and the inverter station, has the characteristics of high voltage level, high power level and small controller bandwidth, and can be used as an effective mode for long-distance transmission of a new energy power station. In order to increase the damping of the system and inhibit the oscillation of a direct current side, a traditional control method adopted by a rectifier station of a high-voltage direct current transmission system is to introduce a virtual resistance link into a control loop. When the working switching frequency of the rectifier station is high, the virtual resistor can effectively suppress the resonance peak of the system, as shown in fig. 5 (a); however, when the operating switching frequency of the rectifier station is low, as can be seen from fig. 8, the lower the switching frequency is, the narrower the control loop bandwidth of the rectifier is, and the phase outside the control loop bandwidth may dip below-90 degrees, if the resonant frequency of the system exceeds the control loop cut-off frequency, the dc side output impedance will deteriorate into negative resistance, resulting in a change in the length of the transmission line, and the system may have a resonance peak, as shown in (a) of fig. 6, which seriously affects the stability of the system.
Disclosure of Invention
The invention aims to solve the technical problem that the prior art is insufficient, and provides a method for controlling the stability of the positive damping reconstruction impedance of a high-voltage direct-current power transmission system, so that the damping characteristic of the high-voltage direct-current power transmission system is effectively improved, the oscillation of the direct-current side of the system is restrained, and the stability of the system is improved.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a positive damping reconstruction impedance stabilization control method for a high-voltage direct-current power transmission system comprises the following steps:
1) direct current of rectifier station controllerDirect current voltage instruction value U of voltage outer ringdcnSubtracting the output current i from the DC sidedcrMultiplied by a virtual impedance Zv(s) the final voltage reference value is obtained
Figure BDA0001584397550000011
2) Reference value of voltage
Figure BDA0001584397550000012
And the output voltage udcrSubtracting to obtain an error value euAnd the error value e is calculateduTransfer function G with outer loop voltage PI controlleru(s) are multiplied to obtain the command current
Figure BDA0001584397550000013
3) Will output a current idcAnd Gff(s) plus the command current
Figure BDA0001584397550000014
Obtaining the q-axis active current reference value
Figure BDA0001584397550000021
And reference the d-axis reactive current
Figure BDA0001584397550000022
Is set to 0, wherein Gff(s) is a transfer function of the current feedforward coefficient;
4) according to
Figure BDA0001584397550000023
And
Figure BDA0001584397550000024
and carrying out grid-connected current control to generate SPWM waves to drive the rectifier.
Virtual impedance ZvThe expression of(s) is:
Zv(s)＝RvGpd(s)
wherein G ispd(s) is a phase correctionThe positive transfer function is carried out on the positive transfer function,
Figure BDA0001584397550000025
Rvis the amplitude of the virtual resistance, omegapFor correcting the zero pole, f, of the transfer function for the phaseswFor the operating switching frequency of the rectifier station, fcriticalS is the complex frequency in order to keep the control loop bandwidth below the station operating switching frequency of the system resonant frequency.
Transfer function GuThe expression of(s) is:
Figure BDA0001584397550000026
wherein k isupIs the proportionality coefficient, k, of the PI controlleruiIs the integral coefficient of the PI controller; s is the complex frequency.
GffThe expression of(s) is as follows:
Figure BDA0001584397550000027
wherein, UdcrIs a large signal steady-state value of DC side voltage, UqAnd measuring a large-signal steady-state value of the q-axis voltage for alternating current.
Compared with the prior art, the invention has the beneficial effects that: the invention introduces a virtual resistance link in a rectifier control loop of a power transmission system in order to increase the damping of a high-voltage direct-current power transmission system and inhibit the direct-current side oscillation. When the working switching frequency of the rectifier station is high, the virtual resistor can effectively inhibit the resonance peak of the system; however, when the operating switching frequency of the rectifier station is low, as can be seen from the phase-frequency characteristics of the dc-side output impedance of the rectifier, the lower the switching frequency, the narrower the control loop bandwidth of the rectifier, and the phase thereof falls below-90 degrees outside the control loop bandwidth, and if the resonant frequency of the system exceeds the cut-off frequency, the dc-side output impedance will deteriorate to negative resistance. The phase correction transfer function is used as a phase correction link to carry out positive damping reconstruction design on the virtual impedance, so that the virtual impedance compensates the phase of the output impedance of the rectifier station above the cut-off frequency of the control loop, and the negative resistance characteristic of the output impedance above the cut-off frequency can be corrected to be the positive resistance characteristic. The damping characteristic of the high-voltage direct-current transmission system is effectively improved, so that the oscillation of the direct-current side of the system is restrained, and the stability of the system is improved.
Drawings
Fig. 1 is a block diagram of a high voltage direct current transmission system according to the invention;
FIG. 2 is a block diagram of the overall control of the rectification station for positive damping impedance reconstruction using a phase correction transfer function according to an embodiment of the present invention;
FIG. 3 is a block diagram of a control of a small signal model of a rectifier station for positive damping impedance reconstruction using a phase correction transfer function according to an embodiment of the present invention;
fig. 4 is a small-signal dc impedance model of the hvdc transmission system according to an embodiment of the present invention;
FIG. 5 shows the total output impedance Z of the HVDC system before and after adding the virtual resistor when the switching frequency of the rectifying station of the HVDC system is high according to an embodiment of the present inventionout(s) according to the length C of the transmission linelineAnd an image of the input signal frequency ω variation; wherein (a) is before introducing the virtual impedance; (b) after introducing the virtual impedance;
FIG. 6 shows the total output impedance Z of the HVDC transmission system before and after reconstruction by using the virtual positive damping impedance when the switching frequency of the rectification station of the HVDC transmission system is low in accordance with an embodiment of the present inventionout(s) according to the length C of the transmission linelineAnd an image of the input signal frequency ω variation; (a) before impedance reconstruction; (b) after impedance reconstruction;
FIG. 7 is a diagram illustrating an output impedance transfer function Z of a rectifying station with a high switching frequency according to an embodiment of the present inventiono(s) and HVDC Transmission System Overall equivalent output impedance transfer function Zout(s) bode diagram;
FIG. 8 is a diagram illustrating an output impedance transfer function Z of a rectifying station at a low switching frequency according to an embodiment of the present inventiono(s) and HVDC Transmission System Overall equivalent output impedance transfer function Zout(s) bode diagram;
FIG. 9 is a Bode plot of a phase correction transfer function used in accordance with an embodiment of the present invention;
FIG. 10 is a diagram illustrating an output impedance transfer function Z of a rectification station after a phase correction transfer function is used to reconstruct a virtual positive damping impedance according to an embodiment of the present inventiono(s) and HVDC Transmission System Overall equivalent output impedance transfer function ZoutBode diagram of(s).
Detailed Description
Fig. 1 is a structural diagram of a high-voltage direct-current transmission system according to the present invention, which includes an ac power grid, a grid-side single-inductor filter, a rectifier station, a dc-side capacitor, a dc cable pi-type equivalent model, an inverter station, an inverter-side LC filter, and a power distribution network as a load. The rectifier station is responsible for stabilizing the direct current side voltage, and the inverter station works in an alternating current voltage control mode and can be regarded as a constant-power load. Wherein v isgFor line side AC line voltage igFor the network-side input of an alternating current, L and r form a network-side filter of the rectifier station, CdcrFor a DC-side energy-storage capacitor udcrIs the voltage of the DC-side capacitor, idcrFor the DC side input current of the inverter station, CcabIs the equivalent capacitance of a DC cable, LcabIs an equivalent inductance, R, of a DC cablecabIs a DC cable resistance, LdfAnd CdfAnd forming an output filter of the inverter station. In this embodiment, vg＝110kV，L＝30mH，r＝0.02Ω，Cdcr＝90μF，udcr＝250kV，Ccab＝0.55μF/km，Lcab＝0.47mH/km，Rcab＝0.016Ω/km。
FIG. 2 is a block diagram of the overall control of the rectification station using a phase correction transfer function for positive damping impedance reconstruction according to an embodiment of the present invention, where if the rectification station is in operation, the switching frequency fswHigher, resulting in a larger control loop bandwidth, or a sufficiently long line length to allow the system resonant frequency frBelow the cut-off frequency fcAs shown in fig. 7, the output impedance at the resonance point is not deteriorated to be negative resistance, and the selection switch S of the virtual impedance link is set to 1, so that:
Zv(s)＝Rv
wherein R isvIs the magnitude of the virtual resistance.
If the switching frequency f of the rectifier station is in operationswLower resulting in a smaller control loop bandwidth or shorter line length resulting in a system resonant frequency frAbove the cut-off frequency fcAs shown in fig. 8, the selection switch S of the virtual impedance element is set to 2, and the virtual impedance Z to the controller is set to 2v(s) introducing a phase correction transfer function Gpd(s) performing positive damping impedance reconstruction, wherein the expression is as follows:
Figure BDA0001584397550000041
wherein ω ispIs the zero pole of the phase correction transfer function and s is the complex frequency. In summary, the virtual impedance Zv(s) the expression is:
Figure BDA0001584397550000042
in this embodiment, Rv＝1Ω，ωp＝6000rad/s，fsw＝1950Hz。
The direct current voltage instruction value U of the outer ring of the direct current voltage of the rectifier station controllerdcnSubtracting the output current i of the DC sidedcrAnd a virtual impedance ZvTo obtain a final reference value of
Figure BDA0001584397550000043
In this embodiment, Udcn＝250kV；
Reference value of voltage
Figure BDA0001584397550000044
And the output voltage udcrSubtracting to obtain an error value euAnd the difference e is calculateduTransfer function G with outer loop voltage PI controlleru(s) are multiplied to obtain the command current
Figure BDA0001584397550000045
Wherein, the transfer function G of the outer ring voltage PI controlleruThe expression of(s) is:
Figure BDA0001584397550000046
wherein k isupIs the proportionality coefficient, k, of the PI controlleruiIs the integral coefficient of the PI controller and s is the complex frequency. In the present embodiment, kup＝0.01，kui＝10。
Will be provided with
Figure BDA0001584397550000047
Plus the output current idcAnd Gff(s) obtaining a q-axis active current reference value by multiplying
Figure BDA0001584397550000048
And reference the d-axis reactive current
Figure BDA0001584397550000049
Set to 0, wherein the transfer function G of the current feedforward coefficientff(s) the expression is:
Figure BDA0001584397550000051
Udcris a large signal steady-state value of DC side voltage, UqAnd measuring a large-signal steady-state value of the q-axis voltage for alternating current. The feedforward control can improve the load disturbance resistance of the rectifier station, and in the embodiment, Gff(s) ≈ 2.6. According to
Figure BDA0001584397550000052
And
Figure BDA0001584397550000053
and carrying out grid-connected current feedforward control to generate an SPWM wave to drive the rectifier.
FIG. 3 is a control block diagram of a small signal model of a rectifier station for performing virtual positive damping impedance reconstruction by using a phase correction transfer function, which is mainly used for solving an output impedance transfer function Z of the rectifier station according to an embodiment of the present inventiono(s), the expression of which is:
Figure BDA0001584397550000054
wherein s is the complex frequency Zv(s) is a virtual impedance link transfer function; g2(s) is the small signal quantity Deltau of the DC side voltagedcrSmall signal disturbance quantity delta i with q-axis current at AC sideqThe expression of the ratio of (a) to (b) is:
Figure BDA0001584397550000055
Udcris a large signal steady-state value of the voltage at the DC side, IdcrIs a large signal steady-state value of the direct current side current, CdcrFor a DC-side energy-storage capacitor, UqMeasuring a steady-state value of a large signal of the q-axis voltage for alternating current;
Gu(s) is a transfer function of the outer loop voltage PI controller, and the expression is as follows:
Figure BDA0001584397550000056
kupis the proportionality coefficient, k, of the PI controlleruiIs the integral coefficient of the PI controller, s is the complex frequency;
Ti(s) is a current inner loop transfer function, and the expression is as follows:
Figure BDA0001584397550000057
in the formula kpwmFor the inverter gain, L and r are the inductance and resistance of the AC side filter, Gi(s) is a current inner loop PI controller, whose expression is:
Figure BDA0001584397550000058
kipis the proportionality coefficient, k, of the PI controlleriiIs the integral coefficient of the PI controller, s is the complex frequency;
G1(s) is the small signal quantity Deltau of the DC side voltagedcrDisturbance quantity delta i with DC side current small signaldcrThe expression of the ratio of (a) to (b) is:
Figure BDA0001584397550000061
in the present embodiment, kip＝0.068，kii＝30，kpwm＝125k。
FIG. 4 is a small signal DC impedance model of the HVDC transmission system according to an embodiment of the present invention, which is mainly used to determine the transfer function Z of the total equivalent output impedance of the HVDC transmission systemout(s) in the figure,. DELTA.udcrFor small signal disturbances of the DC side voltage, Zo(s) is the transfer function of the output impedance of the rectifier station, Zcable(s) is the equivalent model transfer function of the transmission cable, CdciFor the output capacitance of the inverter station, Zout(s) is the overall equivalent output impedance transfer function of the power transmission system, and the expression is as follows:
Figure BDA0001584397550000062
wherein C iscabIs the equivalent capacitance of a DC cable, LcabIs an equivalent inductance, R, of a DC cablecabIs a direct current cable resistance, s is a complex frequency; zin(s)＝RiThe small signal equivalent input impedance of the inversion station is expressed as negative resistance, and the calculation formula is as follows:
Figure BDA0001584397550000063
wherein U isdcrThe voltage is a large-signal steady-state quantity of the direct-current side, and P is a large-signal steady-state quantity of the transmission power. In this embodiment, Udcr＝250kV，P＝200MW，Ri＝-312.5Ω。
FIG. 5 shows the total output impedance Z of the HVDC system before and after adding the virtual resistor when the switching frequency of the rectifying station of the HVDC system is high according to an embodiment of the present inventionout(s) according to the length C of the transmission linelineAnd the law of the change of the input signal frequency omega,fig. 5 (a) shows before the introduction of the virtual impedance, and fig. 5 (b) shows after the introduction of the virtual impedance. Wherein, as can be seen from (a) of FIG. 5, with ClineIs increased, resonance is suppressed to a certain extent and the resonance frequency omega is reducedrMoving to low frequency; as can be seen from (b) of FIG. 5, a dummy resistance R is introducedvAfter that, the resonance peak is effectively suppressed. In this embodiment, Cline＝5km，Rv＝1Ω。
FIG. 6 shows the total output impedance Z of the HVDC transmission system before and after reconstruction with the positive damping impedance when the switching frequency of the HVDC transmission system rectifier station is low in accordance with an embodiment of the present inventionout(s) according to the length C of the transmission linelineAnd the law of the change of the input signal frequency ω, fig. 6 (a) is before impedance reconstruction, and fig. 6 (b) is after impedance reconstruction. As can be seen from fig. 6 (a), when the switching frequency of the rectifier station is low, the dummy resistor R is introducedvBut when C islineWhen the specific value is reached, the system still has a larger resonance peak; as can be seen from (b) of fig. 6, after reconstruction with the virtual positive damping impedance, the resonance peak is effectively suppressed.
FIG. 7 is a diagram illustrating an output impedance transfer function Z of a rectifying station with a high switching frequency according to an embodiment of the present inventiono(s) and HVDC Transmission System Overall equivalent output impedance transfer function ZoutBode diagram of(s). It can be seen that when the switching frequency is high, the control loop bandwidth is large, Zout(s) resonant frequency frAt a cut-off frequency fcAnd as the line length increases frDecrease of ZoThe resistive component of(s) appears as positive damping, which is beneficial to system stability.
FIG. 8 is a diagram illustrating an output impedance transfer function Z of a rectifying station at a low switching frequency according to an embodiment of the present inventiono(s) and HVDC Transmission System Overall equivalent output impedance transfer function Zout(s) bode diagram; it can be seen that when the switching frequency is low, the control loop bandwidth is small, Zout(s) resonant frequency frAt a cut-off frequency fcAbove, and as the line length increases frDecrease of ZoThe resistive component of(s) appears as negative damping, which is detrimental to system stability.
FIG. 9 is the bookPhase correction transfer function G used in one embodiment of the inventionpdBode diagram of(s), in the present embodiment, Gpd(s) is represented by
Figure BDA0001584397550000071
FIG. 10 is a diagram illustrating a transfer function Z of the output impedance of the rectification station after the phase correction transfer function is used for the reconstruction of the positive damping impedance according to an embodiment of the present inventiono(s) and HVDC Transmission System Overall equivalent output impedance transfer function ZoutBode diagram of(s). After adopting an impedance stabilization control strategy of positive damping reconstruction, the output impedance Z of the rectifying stationo(s) the phase outside the control loop bandwidth rises from-90 degrees or less to-90 degrees or more, the negative damping characteristic exhibited is corrected to a positive damping characteristic even if Z isout(s) resonance frequency frThe resonance peak can still be effectively suppressed outside the control loop bandwidth, and the effect before and after the suppression of the resonance peak existing in the system is shown in fig. 3. Therefore, the method is beneficial to improving the stability of the high-voltage direct-current power transmission system.

Claims (1)

1. A positive damping reconstruction impedance stabilization control method of a high-voltage direct-current power transmission system is characterized by comprising the following steps:
1) the direct current voltage instruction value U of the outer ring of the direct current voltage of the rectifier station controllerdcnSubtracting the output current i from the DC sidedcrMultiplied by a virtual impedance Zv(s) the final voltage reference value is obtained
Figure FDA0002620273570000011
2) Reference value of voltage
Figure FDA0002620273570000012
And the output voltage udcrSubtracting to obtain an error value euAnd the error value e is calculateduTransfer function G with outer loop voltage PI controlleru(s) are multiplied to obtain the command current
Figure FDA0002620273570000013
Wherein G isuThe expression of(s) is:
Figure FDA0002620273570000014
kupis the proportionality coefficient, k, of the PI controlleruiIs the integral coefficient of the PI controller, s is the complex frequency;
3) will output a current idcAnd Gff(s) plus the command current
Figure FDA0002620273570000015
Obtaining the q-axis active current reference value
Figure FDA0002620273570000016
And reference the d-axis reactive current
Figure FDA0002620273570000017
Is set to 0, wherein Gff(s) is the transfer function of the current feedforward coefficient, expressed as:
Figure FDA0002620273570000018
Udcris a large signal steady-state value of DC side voltage, UqMeasuring a steady-state value of a large signal of the q-axis voltage for alternating current;
4) according to
Figure FDA0002620273570000019
And
Figure FDA00026202735700000110
carrying out grid-connected current control to generate SPWM waves to drive a rectifier;
virtual impedance ZvThe expression of(s) is:
Zv(s)＝RvGpd(s)
wherein G ispd(s) is a phase correction transfer function,
Figure FDA00026202735700000111
Rvis the amplitude of the virtual resistance, omegapFor correcting the zero pole, f, of the transfer function for the phaseswFor the operating switching frequency of the rectifier station, fcriticalS is the complex frequency in order to keep the control loop bandwidth below the station operating switching frequency of the system resonant frequency.
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