CN108988383A - A kind of double-fed fan motor unit and MMC-HVDC interacted system method for analyzing stability and device - Google Patents
A kind of double-fed fan motor unit and MMC-HVDC interacted system method for analyzing stability and device Download PDFInfo
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Abstract
The present invention relates to a kind of double-fed fan motor units and MMC-HVDC interacted system method for analyzing stability and device, which comprises to the dynamic model linearization process of the double-fed fan motor unit and MMC-HVDC interacted system that pre-establish；According to Liapunov's stability criterion, the stability of the double-fed fan motor unit Yu MMC-HVDC interacted system is judged using the root locus of the dynamic model after linearization process, the dynamic model of the double-fed fan motor unit pre-established and MMC-HVDC interacted system provided by the invention, it is easy to debug and extend, when if you need to build the more inverter models of multimachine, can more people simultaneously build after integrate again, have good versatility, greatly improve the efficiency of modeling.
Description
Technical Field
The invention relates to the field of power system modeling, in particular to a method and a device for analyzing the stability of a double-fed wind turbine generator and an MMC-HVDC interconnection system.
Background
The wind power plant is connected with the power grid through the MMC-HVDC system, so that the wind power plant becomes an important means for large-scale wind power delivery and consumption, and the stability possibly existing in the application process of connecting the wind power plant with the power grid through the MMC-HVDC system needs to be deeply analyzed.
At present, a time domain simulation-based model and an impedance-based model are mainly adopted for analyzing the grid-connected stability of a wind power plant through an MMC-HVDC system.
The stability analysis based on the time domain simulation model consumes a large amount of simulation time, the cause of system instability cannot be researched, and the instability power point can be judged only by a trial and error method; the stability analysis based on the impedance model needs to regard the subsystem as a black box, and the reason of instability in the system cannot be researched;
therefore, the invention needs to provide a method for analyzing the stability of a model of an interconnection system of a doubly-fed wind turbine generator and an MMC-HVDC based on a state space method.
Disclosure of Invention
The invention provides a dynamic model of a double-fed wind turbine generator and an MMC-HVDC interconnection system and a modeling method, aiming at improving the modeling efficiency, integrating a plurality of persons after being built simultaneously if a multi-machine multi-converter model needs to be built, and being easy to debug and expand and having good universality.
The purpose of the invention is realized by adopting the following technical scheme:
the improvement of a method for analyzing the stability of a double-fed wind turbine generator and an MMC-HVDC interconnection system is that the method comprises the following steps:
carrying out linear processing on a pre-established dynamic model of the double-fed wind turbine generator and the MMC-HVDC interconnection system;
and according to the Lyapunov stability criterion, judging the stability of the double-fed wind turbine generator and the MMC-HVDC interconnection system by using the root track of the dynamic model after linear processing.
Preferably, the pre-established dynamic model of the interconnected system of the doubly-fed wind turbine generator and the MMC-HVDC comprises:
the system comprises a double-fed wind turbine generator model, a conversion interface model and an MMC-HVDC system model;
the conversion interface model is used for determining a generator terminal voltage update value of the double-fed wind turbine generator model according to alternating current side current output by the MMC-HVDC system model, inputting the generator terminal voltage update value into the double-fed wind turbine generator model, determining a converter bus voltage of the MMC-HVDC system model according to the generator terminal voltage update value of the double-fed wind turbine generator model, and inputting the converter bus voltage into the MMC-HVDC system model.
Further, the doubly-fed wind turbine generator model comprises:
the system comprises a phase-locked loop model, a wind turbine transmission model, a generator body model, a rotor side converter model, a DC-link model, a network side converter control model and a network side converter alternating current loop model;
the input of the phase-locked loop model is a generator terminal voltage q-axis component output by the conversion interface model;
the input of the wind turbine transmission model is wind speed and the rotating speed of the generator output by the generator body model;
the input of the generator body model is the mechanical torque of the generator output by the wind turbine transmission model, the phase-locked angle output by the phase-locked loop model, the d-axis and q-axis components of the generator terminal voltage output by the conversion interface model and the d-axis and q-axis components of the generator rotor voltage output by the rotor side converter model;
the input of the rotor side converter model is a rotating speed control instruction value and a reactive power instruction value output by a generator stator;
the input of the DC-link model is d-axis and q-axis components of generator rotor voltage output by the rotor side converter model, d-axis and q-axis components of generator terminal voltage output by the conversion interface model, d-axis and q-axis components of generator rotor current output by the motor body model and d-axis and q-axis components of grid side converter inductive current output by the grid side converter alternating current loop model;
the input of the network side converter control model is a direct-current voltage control instruction value, a network side converter q-axis current control instruction value and a direct-current capacitor voltage output by the DC-link model;
and the input of the network side converter alternating current loop model is d-axis and q-axis components of the network side converter alternating current side voltage output by the network side converter control model and d-axis and q-axis components of the generator terminal voltage output by the conversion interface model.
Further, the MMC-HVDC system model comprises:
the system comprises an MMC current converter body model, an MMC circulating current suppression controller model and an MMC vector controller model;
the input of the MMC current converter body model is d-axis and q-axis components of a current converter bus voltage output by the conversion interface model, d-axis and q-axis components of an MMC alternating-current side output voltage control instruction value output by the MMC vector controller model and d-axis and q-axis components of an MMC double frequency voltage control instruction value output by the MMC circulating current suppression controller model;
the input of the MMC ring current suppression controller model is d-axis and q-axis components of a double-frequency current control instruction value of the MMC and d-axis and q-axis components of a double-frequency current actual value of the MMC output by the MMC current converter body model;
and the input of the MMC vector controller model is d-axis and q-axis components of the converter bus voltage output by the conversion interface model, d-axis and q-axis components of the converter body bus voltage control instruction value and d-axis and q-axis components of alternating-current side current output by the MMC converter body model.
Further, the determining an updated value of the generator-side voltage of the doubly-fed wind turbine generator model according to the alternating-current side current output by the MMC-HVDC system model includes:
converting an alternating current side current output by the MMC-HVDC system model by using a first conversion matrix;
according to the alternating current side current output by the MMC-HVDC system model after the conversion of the rotating coordinate system, determining the generator terminal voltage update value of the doubly-fed wind turbine generator model according to the following formula:
wherein, CgIs the parallel capacitance u at the generator end in the doubly-fed wind turbine generator modelds、uqsRespectively updating d-axis and q-axis components, i, of generator terminal voltage of the doubly-fed wind turbine generator modelds、iqsRespectively outputting d-axis and q-axis components, i, of the stator current of the generator for a generator body model in a doubly-fed wind turbine generator modeldg、iqgD-axis component and q-axis component, i, of grid-side converter inductive current output by grid-side converter alternating current circuit model in doubly-fed wind turbine generator system model1d、i1qRespectively converting alternating current side current output by an MMC-HVDC system model into d-axis and q-axis components under a wind power plant coordinate system, wherein w is synchronous angular frequency, u isqs′、uds' are respectively q-axis and d-axis components of a moment value on the generator terminal voltage of the doubly-fed wind turbine model.
Further, the performing rotation coordinate system conversion on the alternating-current side current output by the MMC-HVDC system model by using the first conversion matrix includes:
and converting the rotating coordinate system of the alternating current side current output by the MMC-HVDC system model according to the following formula:
wherein i1dConverting alternating current side current output by an MMC-HVDC system model into d-axis component i in a wind power plant coordinate system1qConverting alternating current side current output by an MMC-HVDC system model into q-axis component theta under a wind power plant coordinate system1Is the angle of rotation of the MMC-HVDC side d-axis rotation coordinate system within time t, theta2Is the angle of rotation of the MMC-HVDC side q-axis rotation coordinate system within time t, IsdD-axis component of AC side current, I, output for MMC-HVDC system modelsqIs the q-axis component of the ac side current output to the MMC-HVDC system model.
Further, the determining the converter bus voltage of the MMC-HVDC system model according to the generator terminal voltage update value of the doubly-fed wind turbine generator model includes:
performing rotating coordinate system conversion on the generator terminal voltage update value of the doubly-fed wind turbine generator model by using a second conversion matrix;
and performing KVL calculation on the generator terminal voltage converted by the rotating coordinate system to obtain the converter bus voltage of the MMC-HVDC system model.
Further, the step of performing rotating coordinate system conversion on the generator terminal voltage update value of the doubly-fed wind turbine generator model by using a second conversion matrix comprises:
and converting a rotating coordinate system of the generator terminal voltage update value of the doubly-fed wind turbine generator model according to the following formula:
wherein, UedConverting generator terminal voltage update value of doubly-fed wind turbine generator model into d-axis component, U, of MMC-HVDC side coordinate systemeqConverting generator terminal voltage update value of doubly-fed wind turbine generator model into q-axis component theta under MMC-HVDC side coordinate system1To MMC-HVDC side dThe axis rotation coordinate system rotates by an angle, θ, within time t2Is the angle of rotation of the MMC-HVDC side q-axis rotation coordinate system within time t, udsD-axis component, u, of generator-side voltage update value for doubly-fed wind turbine generator modelqsAnd updating the q-axis component of the generator terminal voltage updating value of the doubly-fed wind turbine generator model.
The utility model provides a double-fed wind turbine generator system and MMC-HVDC interconnected system stability analysis device, its improvement lies in, the device includes:
the acquisition unit is used for carrying out linear processing on a pre-established dynamic model of the double-fed wind turbine generator and the MMC-HVDC interconnection system;
and the judging unit is used for judging the stability of the double-fed wind turbine generator and the MMC-HVDC interconnection system by utilizing the root track of the dynamic model after linearization processing according to the Lyapunov stability criterion.
The invention has the beneficial effects that:
according to the pre-established dynamic model of the interconnected system of the double-fed wind turbine generator and the MMC-HVDC, the double-fed wind turbine generator and the MMC current converter are divided into sub-modules according to functions, dynamic analysis modeling is respectively carried out on the sub-modules, and finally the sub-modules are integrated into a large model according to the input-output relation of the sub-modules.
Performing linearization processing on a pre-established dynamic model of the double-fed wind turbine generator and the MMC-HVDC interconnection system, and acquiring a root track of the dynamic model after linearization processing when the parameter to be judged changes; according to the root track, the stability of the double-fed wind turbine generator and the MMC-HVDC interconnection system is judged by utilizing the Lyapunov stability criterion, the time consumed in the stability analysis process can be reduced, and the reason of system instability can be researched.
Drawings
FIG. 1 is a flow chart of a method for analyzing stability of a double-fed wind turbine generator and an MMC-HVDC interconnection system according to the present invention;
fig. 2 is a root trajectory of a dynamic model after linearization processing when output power of a doubly-fed wind turbine generator changes according to an embodiment of the present invention;
fig. 3 is a main circuit structure diagram of a double-fed wind turbine generator and an MMC-HVDC interconnection system provided in the embodiment of the present invention;
fig. 4 is a logic relationship diagram of a dynamic model of a doubly-fed wind turbine generator and an MMC-HVDC interconnection system provided by the embodiment of the present invention;
fig. 5 is a voltage transformation diagram of different coordinate systems of the doubly-fed wind turbine generator and the MMC-HVDC interconnection system provided by the embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a stability analysis device for an interconnected system of a doubly-fed wind turbine generator and an MMC-HVDC.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a method for analyzing the stability of a double-fed wind turbine generator and an MMC-HVDC interconnection system, as shown in figure 1, comprising the following steps:
101. carrying out linear processing on a pre-established dynamic model of the double-fed wind turbine generator and the MMC-HVDC interconnection system;
102. and according to the Lyapunov stability criterion, judging the stability of the double-fed wind turbine generator and the MMC-HVDC interconnection system by using the root track of the dynamic model after linear processing.
For example, the influence of the change of the output power of the doubly-fed wind turbine generator on the stability of the interconnected system is judged.
Firstly, linearization processing is carried out on a pre-established dynamic model of the double-fed wind turbine generator and the MMC-HVDC interconnection system by utilizing linearization mathematical software, the change step length is made to be 20MW within the output power range of 350-1500 MW, and a root track of the dynamic model after linearization processing is drawn when the output power of the double-fed wind turbine generator changes, as shown in figure 2.
And then according to the root locus, utilizing a Lyapunov stability criterion, if all characteristic roots of the linearized model are in the left half plane of the s plane, the interconnected system is stable, and if the characteristic roots exist in the right half plane of the s plane, the interconnected system is unstable. For example, as shown in fig. 2, the characteristic roots of the system are all on the left half plane of the s-plane, which indicates that the interconnected system is stable in the range of 350-1500 MW power output by the doubly-fed wind turbine. Similarly, the stability of the system can be analyzed by scanning the root track for other parameters based on the dynamic model.
For example, a main circuit structure diagram of the double-fed wind turbine generator and the MMC-HVDC interconnected system is shown in fig. 3, the wind energy drives a fan impeller to input mechanical power, the double-fed wind turbine generator converts the mechanical energy into electric energy, the outlet electric energy flows through a 0.69/33kV converter, and the 33/230kV boost converter is connected to an MMC converter station through an alternating current line after two-stage boosting. RSC and GSC are respectively a machine side converter and a grid side converter of the double-fed wind turbine generator, and a direct current-capacitance connection (DC-link) is adopted between the two converters. For the MMC converter station, the amplitude and the frequency of alternating voltage of a wind power plant and a common junction point of the converter station are controlled during normal operation, stable alternating voltage is provided for the wind power plant, and the normal and stable operation of related control of the wind power plant is ensured.
As shown in fig. 4, determining a pre-established dynamic model of the interconnection system between the doubly-fed wind turbine generator and the MMC-HVDC system according to the main circuit structure diagram of the interconnection system between the doubly-fed wind turbine generator and the MMC-HVDC system includes:
the system comprises a double-fed wind turbine generator model, a conversion interface model and an MMC-HVDC system model;
the conversion interface model is used for determining a generator terminal voltage update value of the double-fed wind turbine generator model according to alternating current side current output by the MMC-HVDC system model, inputting the generator terminal voltage update value into the double-fed wind turbine generator model, determining a converter bus voltage of the MMC-HVDC system model according to the generator terminal voltage update value of the double-fed wind turbine generator model, and inputting the converter bus voltage into the MMC-HVDC system model.
The MMC-HVDC is modular multilevel converter direct current transmission.
The doubly-fed wind turbine generator model comprises:
the system comprises a phase-locked loop model, a wind turbine transmission model, a generator body model, a rotor side converter model, a DC-link model, a network side converter control model and a network side converter alternating current loop model;
the input of the phase-locked loop model is a generator terminal voltage q-axis component output by the conversion interface model;
the dynamic analytic equation of the phase-locked loop model is as follows:
wherein, thetaPLLIs phase-locked angle, omega is phase-locked angular frequency, KpPLLIs the proportionality coefficient, K, of a phase-locked loop PI controlleriPLLIs the integral coefficient, U, of a phase-locked loop PI controllertqFor three-phase voltage, omega, at wind turbine endnThe angular frequency is rated for the ac system.
The input of the wind turbine transmission model is wind speed and the rotating speed of the generator output by the generator body model;
the dynamic analytic equation of the wind turbine transmission model is as follows:
wherein, TmMechanical torque output for a wind turbine transmission model, rho is air density, vwIs the wind speed, CPIs the coefficient of wind energy conversion, omegarIs the generator speed.
The input of the generator body model is the mechanical torque of the generator output by the wind turbine transmission model, the phase-locked angle output by the phase-locked loop model, the d-axis and q-axis components of the generator terminal voltage output by the conversion interface model and the d-axis and q-axis components of the generator rotor voltage output by the rotor side converter model;
the dynamic analytic equation of the generator body model is as follows:
Te＝Lm(iqsidr-idsiqr)
wherein,
ids、iqsoutputting d-axis and q-axis components, i, of generator stator current for generator body modeldr、iqrD-and q-axis components, u, of the generator rotor voltage, respectivelyds、uqsD-and q-axis components, u, of generator terminal voltage, respectivelydr、uqrD-axis and q-axis components of the generator rotor voltage, respectively, and J is the generator moment of inertia, omegarFor generator speed, TmMechanical torque, T, output for a wind turbine drive modeleFor electromagnetic torque of the generator, LmFor mutual inductance of windings, LsFor generator stator winding inductance, LrFor generator rotor winding inductance, RsIs the generator stator resistance, RrAs generator rotor resistance, ωmIs the electrical angular velocity, omega, of the generator rotorsIs the generator stator voltage angular velocity.
The input of the rotor side converter model is a rotating speed control instruction value and a reactive power instruction value output by a generator stator;
the dynamic analytic equation of the rotor side converter model is as follows:
wherein,command values, K, for the d-and q-axis components of the generator rotor current, respectivelyp1Controlling the proportional amplification factor, K, of the outer ring for the speedi1Integral amplification factor, K, of the outer ring for speed controlp2For proportional amplification factor, K, of the outer loop of the reactive controli2For the integral amplification factor of the reactive control outer loop,for controlling the command value, omega, of the generator speedrIs the rotational speed of the generator,reference value of reactive power, Q, for the output of the stator of a wind turbinesActual value of reactive power u output by stator of wind turbine generatordr、uqrD-and q-axis components, K, respectively, of the generator rotor voltagep3Proportional amplification factor, K, for the current control of the inner loop of the rotor-side converteri3Integral amplification factor, i, of the inner loop for the current control of the rotor-side converterrdIs d-axis component of generator rotor current, Urid、UriqThe d-axis and q-axis components of the feed-forward decoupling compensation term for the current inner loop, respectively.
The input of the DC-link model is d-axis and q-axis components of generator rotor voltage output by the rotor side converter model, d-axis and q-axis components of generator terminal voltage output by the conversion interface model, d-axis and q-axis components of generator rotor current output by the motor body model and d-axis and q-axis components of grid side converter inductive current output by the grid side converter alternating current loop model;
the dynamic analytic equation of the DC-link model is as follows:
Pg＝udsidg+uqsiqg
Pr＝udridr+uqriqr
wherein C is a DC capacitor, udcIs a DC capacitor voltage, PgActive power, P, of the grid-side converterrIs the active power of the rotor-side converter uds、uqsD-and q-axis components, i, of generator-side voltagedg、iqgFor d-and q-axis components, u, of the net-side converter inductor currentdr、uqrFor d-and q-axis components of the generator rotor voltage, idr、iqrAre the d-axis and q-axis components of the generator rotor current.
The input of the network side converter control model is a direct-current voltage control instruction value, a network side converter q-axis current control instruction value and a direct-current capacitor voltage output by the DC-link model;
the dynamic analytic equation of the grid side converter control model is as follows:
wherein, Kp4Controlling the proportional amplification factor, K, of the outer loop for the DC voltagei4The integral amplification factor of the outer loop is controlled for the dc voltage,for controlling the command value, V, for DC voltagedcIs a DC capacitor voltage udg、uqgD-axis and q-axis voltages, K, respectively, at the AC side of the grid-side converterp5Proportional amplification factor, K, for current control of the inner loop of the network-side converteri5The integral amplification factor of the inner loop is controlled for the grid side converter current,respectively controlling instruction values i of d-axis and q-axis currents of the grid-side converterdg、idgThe d-axis and q-axis components of the net side converter inductor current, respectively.
And the input of the network side converter alternating current loop model is d-axis and q-axis components of the network side converter alternating current side voltage output by the network side converter control model and d-axis and q-axis components of the generator terminal voltage output by the conversion interface model.
The dynamic analytic equation of the network side converter alternating current loop model is as follows:
wherein L isgIs a network side converter inductor idg、iqgD-axis and q-axis components of the grid side converter inductive current, omega is the angular frequency of the generator terminal voltage, uds、uqsD-and q-axis components of generator-side voltage, udg、uqgFor controlling model output of grid-side converterD-axis and q-axis components of the ac side voltage of the grid side converter.
The MMC-HVDC system model comprises:
the system comprises an MMC current converter body model, an MMC circulating current suppression controller model and an MMC vector controller model;
the input of the MMC current converter body model is d-axis and q-axis components of a current converter bus voltage output by the conversion interface model, d-axis and q-axis components of an MMC alternating-current side output voltage control instruction value output by the MMC vector controller model and d-axis and q-axis components of an MMC double frequency voltage control instruction value output by the MMC circulating current suppression controller model;
the input of the MMC ring current suppression controller model is d-axis and q-axis components of a double-frequency current control instruction value of the MMC and d-axis and q-axis components of a double-frequency current actual value of the MMC output by the MMC current converter body model;
the dynamic analytic equation of the MMC circulating current suppression controller model is as follows:
wherein f is1、f2Is the integral value of d-axis and q-axis components of the deviation of the frequency doubling circulating current,d-axis and q-axis components, I, of double-frequency current control command value for MMCcird、IcirqD-axis and q-axis components, U, of double-frequency voltage control command value for MMCcird、UcirqD-axis and q-axis components, K, of a double-frequency voltage control command value for an MMCpcirProportional coefficient, K, for a circulating current suppression PI controllericirThe integral coefficient of the PI controller for the circulation current suppression, omega is the angular frequency of the generator terminal voltage, LarmIs an MMC bridge arm reactance.
And the input of the MMC vector controller model is d-axis and q-axis components of the converter bus voltage output by the conversion interface model, d-axis and q-axis components of the converter body bus voltage control instruction value and d-axis and q-axis components of alternating-current side current output by the MMC converter body model.
The dynamic analytic equation of the MMC vector controller model is as follows:
wherein,command values for d-axis and q-axis components of the AC side current, Kp6Is the proportionality coefficient, K, of a PI controller for a d-axis voltage loopi6Is the integral coefficient of the d-axis voltage loop PI controller,Kp7is the proportionality coefficient of a q-axis voltage loop PI controller, Ki7Is the integral coefficient of the q-axis voltage loop PI controller,for d-and q-axis components, U, of converter body bus voltage control command valuessd、UsqFor the d-axis and q-axis components of the inverter body bus voltage control,outputting d-axis and q-axis components, K, of a voltage control command value for the AC side of an MMCp8Is the proportionality coefficient, K, of the MMC current inner loop PI controlleri8Integral coefficient, i, of MMC current inner loop PI controllersd、isqAre the d-axis and q-axis components of the ac side current.
As shown in fig. 5, according to the difference of park transformation phase angles, the construction and integration of the two modules are completed by using a transmission transformation matrix between the doubly-fed wind turbine generator model and the MMC-HVDC model.
The method for determining the generator terminal voltage updating value of the doubly-fed wind turbine generator model according to the alternating current side current output by the MMC-HVDC system model comprises the following steps:
converting an alternating current side current output by the MMC-HVDC system model by using a first conversion matrix;
according to the alternating current side current output by the MMC-HVDC system model after the conversion of the rotating coordinate system, determining the generator terminal voltage update value of the doubly-fed wind turbine generator model according to the following formula:
wherein, CgFor doubly-fed wind generatorsParallel connection of generator terminals in the model groupds、uqsRespectively updating d-axis and q-axis components, i, of generator terminal voltage of the doubly-fed wind turbine generator modelds、iqsRespectively outputting d-axis and q-axis components, i, of the stator current of the generator for a generator body model in a doubly-fed wind turbine generator modeldg、iqgD-axis component and q-axis component, i, of grid-side converter inductive current output by grid-side converter alternating current circuit model in doubly-fed wind turbine generator system model1d、i1qRespectively converting alternating current side current output by an MMC-HVDC system model into d-axis and q-axis components under a wind power plant coordinate system, wherein w is synchronous angular frequency, u isqs′、uds' are respectively q-axis and d-axis components of a moment value on the generator terminal voltage of the doubly-fed wind turbine model.
The method for converting the rotating coordinate system of the alternating current side current output by the MMC-HVDC system model by utilizing the first conversion matrix comprises the following steps:
and converting the rotating coordinate system of the alternating current side current output by the MMC-HVDC system model according to the following formula:
wherein i1dConverting alternating current side current output by an MMC-HVDC system model into d-axis component i in a wind power plant coordinate system1qConverting alternating current side current output by an MMC-HVDC system model into q-axis component theta under a wind power plant coordinate system1Is the angle of rotation of the MMC-HVDC side d-axis rotation coordinate system within time t, theta2Is the angle of rotation of the MMC-HVDC side q-axis rotation coordinate system within time t, IsdD-axis component of AC side current, I, output for MMC-HVDC system modelsqIs the q-axis component of the ac side current output to the MMC-HVDC system model.
The method for determining the converter bus voltage of the MMC-HVDC system model according to the generator terminal voltage update value of the doubly-fed wind turbine generator model comprises the following steps:
performing rotating coordinate system conversion on the generator terminal voltage update value of the doubly-fed wind turbine generator model by using a second conversion matrix;
and performing KVL calculation on the generator terminal voltage converted by the rotating coordinate system to obtain the converter bus voltage of the MMC-HVDC system model.
And the second conversion matrix is used for converting the rotating coordinate system of the generator terminal voltage update value of the doubly-fed wind turbine generator model, and the method comprises the following steps:
and converting a rotating coordinate system of the generator terminal voltage update value of the doubly-fed wind turbine generator model according to the following formula:
wherein, UedConverting generator terminal voltage update value of doubly-fed wind turbine generator model into d-axis component, U, of MMC-HVDC side coordinate systemeqConverting generator terminal voltage update value of doubly-fed wind turbine generator model into q-axis component theta under MMC-HVDC side coordinate system1Is the angle of rotation of the MMC-HVDC side d-axis rotation coordinate system within time t, theta2Is the angle of rotation of the MMC-HVDC side q-axis rotation coordinate system within time t, udsD-axis component, u, of generator-side voltage update value for doubly-fed wind turbine generator modelqsAnd updating the q-axis component of the generator terminal voltage updating value of the doubly-fed wind turbine generator model.
Based on the same concept, the invention also provides a device for analyzing the stability of the interconnected system of the doubly-fed wind turbine generator and the MMC-HVDC, as shown in fig. 6, the device comprises:
the acquisition unit is used for carrying out linear processing on a pre-established dynamic model of the double-fed wind turbine generator and the MMC-HVDC interconnection system;
and the judging unit is used for judging the stability of the double-fed wind turbine generator and the MMC-HVDC interconnection system by utilizing the root track of the dynamic model after linearization treatment according to the Lyapunov stability criterion.
In the obtaining unit, a pre-established dynamic model of the interconnected system of the doubly-fed wind turbine generator and the MMC-HVDC comprises:
the system comprises a double-fed wind turbine generator model, a conversion interface model and an MMC-HVDC system model;
the conversion interface model is used for determining a generator terminal voltage update value of the double-fed wind turbine generator model according to alternating current side current output by the MMC-HVDC system model, inputting the generator terminal voltage update value into the double-fed wind turbine generator model, determining a converter bus voltage of the MMC-HVDC system model according to the generator terminal voltage update value of the double-fed wind turbine generator model, and inputting the converter bus voltage into the MMC-HVDC system model.
The doubly-fed wind turbine generator model comprises:
the system comprises a phase-locked loop model, a wind turbine transmission model, a generator body model, a rotor side converter model, a DC-link model, a network side converter control model and a network side converter alternating current loop model;
the input of the phase-locked loop model is a generator terminal voltage q-axis component output by the conversion interface model;
the input of the wind turbine transmission model is wind speed and the rotating speed of the generator output by the generator body model;
the input of the generator body model is the mechanical torque of the generator output by the wind turbine transmission model, the phase-locked angle output by the phase-locked loop model, the d-axis and q-axis components of the generator terminal voltage output by the conversion interface model and the d-axis and q-axis components of the generator rotor voltage output by the rotor side converter model;
the input of the rotor side converter model is a rotating speed control instruction value and a reactive power instruction value output by a generator stator;
the input of the DC-link model is d-axis and q-axis components of generator rotor voltage output by the rotor side converter model, d-axis and q-axis components of generator terminal voltage output by the conversion interface model, d-axis and q-axis components of generator rotor current output by the motor body model and d-axis and q-axis components of grid side converter inductive current output by the grid side converter alternating current loop model;
the input of the network side converter control model is a direct-current voltage control instruction value, a network side converter q-axis current control instruction value and a direct-current capacitor voltage output by the DC-link model;
and the input of the network side converter alternating current loop model is d-axis and q-axis components of the network side converter alternating current side voltage output by the network side converter control model and d-axis and q-axis components of the generator terminal voltage output by the conversion interface model.
The MMC-HVDC system model comprises:
the system comprises an MMC current converter body model, an MMC circulating current suppression controller model and an MMC vector controller model;
the input of the MMC current converter body model is d-axis and q-axis components of a current converter bus voltage output by the conversion interface model, d-axis and q-axis components of an MMC alternating-current side output voltage control instruction value output by the MMC vector controller model and d-axis and q-axis components of an MMC double frequency voltage control instruction value output by the MMC circulating current suppression controller model;
the input of the MMC ring current suppression controller model is d-axis and q-axis components of a double-frequency current control instruction value of the MMC and d-axis and q-axis components of a double-frequency current actual value of the MMC output by the MMC current converter body model;
and the input of the MMC vector controller model is d-axis and q-axis components of the converter bus voltage output by the conversion interface model, d-axis and q-axis components of the converter body bus voltage control instruction value and d-axis and q-axis components of alternating-current side current output by the MMC converter body model.
The method for determining the generator terminal voltage updating value of the doubly-fed wind turbine generator model according to the alternating current side current output by the MMC-HVDC system model comprises the following steps:
converting an alternating current side current output by the MMC-HVDC system model by using a first conversion matrix;
according to the alternating current side current output by the MMC-HVDC system model after the conversion of the rotating coordinate system, determining the generator terminal voltage update value of the doubly-fed wind turbine generator model according to the following formula:
wherein, CgIs the parallel capacitance u at the generator end in the doubly-fed wind turbine generator modelds、uqsRespectively updating d-axis and q-axis components, i, of generator terminal voltage of the doubly-fed wind turbine generator modelds、iqsRespectively outputting d-axis and q-axis components, i, of the stator current of the generator for a generator body model in a doubly-fed wind turbine generator modeldg、iqgD-axis component and q-axis component, i, of grid-side converter inductive current output by grid-side converter alternating current circuit model in doubly-fed wind turbine generator system model1d、i1qRespectively converting alternating current side current output by an MMC-HVDC system model into d-axis and q-axis components under a wind power plant coordinate system, wherein w is synchronous angular frequency, u isqs′、uds' are respectively q-axis and d-axis components of a moment value on the generator terminal voltage of the doubly-fed wind turbine model.
The method for converting the rotating coordinate system of the alternating current side current output by the MMC-HVDC system model by utilizing the first conversion matrix comprises the following steps:
and converting the rotating coordinate system of the alternating current side current output by the MMC-HVDC system model according to the following formula:
wherein i1dConverting alternating current side current output by an MMC-HVDC system model into d-axis component i in a wind power plant coordinate system1qConverting alternating current side current output by an MMC-HVDC system model into q-axis component theta under a wind power plant coordinate system1Is the angle of rotation of the MMC-HVDC side d-axis rotation coordinate system within time t, theta2Is the angle of rotation of the MMC-HVDC side q-axis rotation coordinate system within time t, IsdD-axis component of AC side current, I, output for MMC-HVDC system modelsqIs the q-axis component of the ac side current output to the MMC-HVDC system model.
The method for determining the converter bus voltage of the MMC-HVDC system model according to the generator terminal voltage update value of the doubly-fed wind turbine generator model comprises the following steps:
performing rotating coordinate system conversion on the generator terminal voltage update value of the doubly-fed wind turbine generator model by using a second conversion matrix;
and performing KVL calculation on the generator terminal voltage converted by the rotating coordinate system to obtain the converter bus voltage of the MMC-HVDC system model.
And the second conversion matrix is used for converting the rotating coordinate system of the generator terminal voltage update value of the doubly-fed wind turbine generator model, and the method comprises the following steps:
and converting a rotating coordinate system of the generator terminal voltage update value of the doubly-fed wind turbine generator model according to the following formula:
wherein, UedConverting generator terminal voltage update value of doubly-fed wind turbine generator model into d-axis component, U, of MMC-HVDC side coordinate systemeqConverting generator terminal voltage update value of doubly-fed wind turbine generator model into q-axis component theta under MMC-HVDC side coordinate system1Is the angle of rotation of the MMC-HVDC side d-axis rotation coordinate system within time t, theta2Is the angle of rotation of the MMC-HVDC side q-axis rotation coordinate system within time t, udsD-axis component, u, of generator-side voltage update value for doubly-fed wind turbine generator modelqsAnd updating the q-axis component of the generator terminal voltage updating value of the doubly-fed wind turbine generator model.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (9)
1. A method for analyzing stability of a doubly-fed wind turbine generator and an MMC-HVDC interconnection system is characterized by comprising the following steps:
carrying out linear processing on a pre-established dynamic model of the double-fed wind turbine generator and the MMC-HVDC interconnection system;
and according to the Lyapunov stability criterion, judging the stability of the double-fed wind turbine generator and the MMC-HVDC interconnection system by using the root track of the dynamic model after linear processing.
2. The method of claim 1, wherein the pre-established dynamic model of the interconnected system of the doubly-fed wind turbine generator and the MMC-HVDC comprises:
the system comprises a double-fed wind turbine generator model, a conversion interface model and an MMC-HVDC system model;
the conversion interface model is used for determining a generator terminal voltage update value of the double-fed wind turbine generator model according to alternating current side current output by the MMC-HVDC system model, inputting the generator terminal voltage update value into the double-fed wind turbine generator model, determining a converter bus voltage of the MMC-HVDC system model according to the generator terminal voltage update value of the double-fed wind turbine generator model, and inputting the converter bus voltage into the MMC-HVDC system model.
3. The method of claim 2, wherein the doubly-fed wind turbine model comprises:
the system comprises a phase-locked loop model, a wind turbine transmission model, a generator body model, a rotor side converter model, a DC-link model, a network side converter control model and a network side converter alternating current loop model;
the input of the phase-locked loop model is a generator terminal voltage q-axis component output by the conversion interface model;
the input of the wind turbine transmission model is wind speed and the rotating speed of the generator output by the generator body model;
the input of the generator body model is the mechanical torque of the generator output by the wind turbine transmission model, the phase-locked angle output by the phase-locked loop model, the d-axis and q-axis components of the generator terminal voltage output by the conversion interface model and the d-axis and q-axis components of the generator rotor voltage output by the rotor side converter model;
the input of the rotor side converter model is a rotating speed control instruction value and a reactive power instruction value output by a generator stator;
the input of the DC-link model is d-axis and q-axis components of generator rotor voltage output by the rotor side converter model, d-axis and q-axis components of generator terminal voltage output by the conversion interface model, d-axis and q-axis components of generator rotor current output by the motor body model and d-axis and q-axis components of grid side converter inductive current output by the grid side converter alternating current loop model;
the input of the network side converter control model is a direct-current voltage control instruction value, a network side converter q-axis current control instruction value and a direct-current capacitor voltage output by the DC-link model;
and the input of the network side converter alternating current loop model is d-axis and q-axis components of the network side converter alternating current side voltage output by the network side converter control model and d-axis and q-axis components of the generator terminal voltage output by the conversion interface model.
4. The method of claim 2, wherein the MMC-HVDC system model comprises:
the system comprises an MMC current converter body model, an MMC circulating current suppression controller model and an MMC vector controller model;
the input of the MMC current converter body model is d-axis and q-axis components of a current converter bus voltage output by the conversion interface model, d-axis and q-axis components of an MMC alternating-current side output voltage control instruction value output by the MMC vector controller model and d-axis and q-axis components of an MMC double frequency voltage control instruction value output by the MMC circulating current suppression controller model;
the input of the MMC ring current suppression controller model is d-axis and q-axis components of a double-frequency current control instruction value of the MMC and d-axis and q-axis components of a double-frequency current actual value of the MMC output by the MMC current converter body model;
and the input of the MMC vector controller model is d-axis and q-axis components of the converter bus voltage output by the conversion interface model, d-axis and q-axis components of the converter body bus voltage control instruction value and d-axis and q-axis components of alternating-current side current output by the MMC converter body model.
5. The method of claim 2, wherein determining generator-side voltage update values for the doubly-fed wind turbine model from the ac-side current output by the MMC-HVDC system model comprises:
converting an alternating current side current output by the MMC-HVDC system model by using a first conversion matrix;
according to the alternating current side current output by the MMC-HVDC system model after the conversion of the rotating coordinate system, determining the generator terminal voltage update value of the doubly-fed wind turbine generator model according to the following formula:
wherein, CgIs the parallel capacitance u at the generator end in the doubly-fed wind turbine generator modelds、uqsRespectively updating d-axis and q-axis components, i, of generator terminal voltage of the doubly-fed wind turbine generator modelds、iqsRespectively outputting d-axis and q-axis components, i, of the stator current of the generator for a generator body model in a doubly-fed wind turbine generator modeldg、iqgD-axis component and q-axis component, i, of grid-side converter inductive current output by grid-side converter alternating current circuit model in doubly-fed wind turbine generator system model1d、i1qRespectively converting alternating current side current output by an MMC-HVDC system model into d-axis and q-axis components under a wind power plant coordinate system, wherein w is synchronous angular frequency, u isqs′、uds' are respectively q-axis and d-axis components of a moment value on the generator terminal voltage of the doubly-fed wind turbine model.
6. The method of claim 5, wherein the rotating coordinate system converting the AC side current output by the MMC-HVDC system model using the first conversion matrix comprises:
and converting the rotating coordinate system of the alternating current side current output by the MMC-HVDC system model according to the following formula:
wherein i1dConverting alternating current side current output by an MMC-HVDC system model into d-axis component i in a wind power plant coordinate system1qConverting alternating current side current output by an MMC-HVDC system model into q-axis component theta under a wind power plant coordinate system1Is the angle of rotation of the MMC-HVDC side d-axis rotation coordinate system within time t, theta2Is the angle of rotation of the MMC-HVDC side q-axis rotation coordinate system within time t, IsdD-axis component of AC side current, I, output for MMC-HVDC system modelsqIs the q-axis component of the ac side current output to the MMC-HVDC system model.
7. The method of claim 2, wherein determining the converter bus voltage of the MMC-HVDC system model from generator-side voltage update values of a doubly-fed wind turbine model comprises:
performing rotating coordinate system conversion on the generator terminal voltage update value of the doubly-fed wind turbine generator model by using a second conversion matrix;
and performing KVL calculation on the generator terminal voltage converted by the rotating coordinate system to obtain the converter bus voltage of the MMC-HVDC system model.
8. The method of claim 7, wherein the converting the generator-side voltage update value of the doubly-fed wind turbine model into a rotating coordinate system by using the second conversion matrix comprises:
and converting a rotating coordinate system of the generator terminal voltage update value of the doubly-fed wind turbine generator model according to the following formula:
wherein, UedConverting generator terminal voltage update value of doubly-fed wind turbine generator model into MMC-HVDC side coordinate systemD-axis component of (U)eqConverting generator terminal voltage update value of doubly-fed wind turbine generator model into q-axis component theta under MMC-HVDC side coordinate system1Is the angle of rotation of the MMC-HVDC side d-axis rotation coordinate system within time t, theta2Is the angle of rotation of the MMC-HVDC side q-axis rotation coordinate system within time t, udsD-axis component, u, of generator-side voltage update value for doubly-fed wind turbine generator modelqsAnd updating the q-axis component of the generator terminal voltage updating value of the doubly-fed wind turbine generator model.
9. The utility model provides a double-fed wind turbine generator system and MMC-HVDC interconnected system stability analysis device which characterized in that, the device includes:
the acquisition unit is used for carrying out linearization processing on a pre-established dynamic model of the double-fed wind turbine generator and the MMC-HVDC interconnection system;
and the judging unit is used for judging the stability of the double-fed wind turbine generator and the MMC-HVDC interconnection system by utilizing the root track of the dynamic model after linearization processing according to the Lyapunov stability criterion.
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