CN109274113A - A kind of Polynuclear complex mission nonlinear droop control method - Google Patents
A kind of Polynuclear complex mission nonlinear droop control method Download PDFInfo
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- CN109274113A CN109274113A CN201811039775.4A CN201811039775A CN109274113A CN 109274113 A CN109274113 A CN 109274113A CN 201811039775 A CN201811039775 A CN 201811039775A CN 109274113 A CN109274113 A CN 109274113A
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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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
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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
A kind of Polynuclear complex mission nonlinear droop control method, the method carries out non-linear sagging control to multiple LCC converter stations in Polynuclear complex system, when transimission power variation causes the DC voltage of DC transmission system to change, LCC converter station automatically adjusts its transimission power, maintain DC transmission system power-balance, and during maintaining DC voltage stability jointly by the more a converter stations of LCC, the biggish converter station of current margins undertakes biggish power variation, the lesser converter station of current margins undertakes lesser power variation, the responding ability to changed power is lost due to fully loaded to avoid part converter station.The present invention is maintained the stabilization of DC voltage by multiple LCC converter stations in the case where fully considering the current margins of each converter station jointly, the static deviation of each converter station DC voltage can be effectively reduced with the active power of each converter station of coordinated allocation.
Description
Technical field
The present invention relates to transmission & distribution electro-technical field, especially a kind of DC transmission system function based on non-linear sagging control
Rate control method for coordinating.
Background technique
High voltage dc transmission technology (voltage source converter-HVDC, VSC- based on voltage source converter
HVDC the independent control of active and reactive power) may be implemented, provide commutation voltage and reactive power without AC network, favorably
In realization new energy power generation grid-connection.High voltage dc transmission technology (line commutated based on line commutation inverter
Converter-HVDC, LCC-HVDC) have many advantages, such as that technical maturity is high, at low cost, capacity is big.Comprehensively consider LCC and VSC
The characteristics of commutation technique, can be formed while the mixing of the converter station containing LCC and VSC in conjunction with the advantage of LCC-HVDC and VSC-HVDC
Multi-terminal direct current transmission system.Relative to traditional both-end HVDC Transmission Technology, containing multiple converter stations, such structure is more passed through
Ji, flexibly, it is reliable, collect in new energy and conventional energy resource power generation, multizone electric power in terms of with the obvious advantage, China
Being completed has more than 10 customary DC transmission lines of electricity and several flexible DC transmission routes, mentions to develop direct current transportation network in the future
Technical guarantee is supplied.By the way that customary DC and the respective economic and technical of flexible direct current have complementary advantages, can be used for wind-powered electricity generation, light
The new energy such as volt are extensive, long-distance sand transport to load center.
Relative to both ends HVDC transmission system, multi-terminal direct current transmission system control method is more complicated, and power is needed to assist
It adjusts control strategy to carry out reasonable distribution to system power, and the stability of DC voltage need to be improved.It is sagging compared with master & slave control
The adjusting that control has multiple converter stations to participate in power and DC voltage, and communication system is not depended on, there is higher reliability.But
It is that the sagging control slope of tradition is fixed, DC voltage is easy out-of-limit, does not account for the dynamic power nargin of each converter station, can not be true
Protect power grid operation.
Summary of the invention
It is an object of the invention to aiming at the disadvantages of the prior art, provide a kind of Polynuclear complex mission nonlinear
Droop control method avoids part converter station full-load run to make full use of the current margins of each converter station, reduces because power becomes
DC voltage static deviation caused by change improves the voltage stability of DC transmission system.
Problem of the present invention is solved with following technical proposals:
A kind of Polynuclear complex mission nonlinear droop control method, the method is to Polynuclear complex
Multiple LCC converter stations in system carry out non-linear sagging control, when transimission power variation leads to the direct current of DC transmission system
When voltage changes, LCC converter station automatically adjusts its transimission power, maintains DC transmission system power-balance, and by
During the more a converter stations of LCC maintain DC voltage stability jointly, the biggish converter station of current margins undertakes biggish power
Variable quantity, the lesser converter station of current margins undertake lesser power variation, lose to avoid part converter station because fully loaded
To the responding ability of changed power.
Above-mentioned Polynuclear complex mission nonlinear droop control method, the non-linear sagging control of converter station
Specific processing step is as follows:
A. the maximum allowable variable quantity of converter station DC voltage is calculated:
As I≤IrefWhen, the maximum allowable variable quantity of DC voltage are as follows:
Udcref- Udcmin
Work as I > IrefWhen, the maximum allowable variable quantity of DC voltage are as follows:
Udcmax- Udcref
Wherein, I is LCC converter station DC current measures；IrefThe DC current of operating point is referred to for LCC converter station；
Udcmax、UdcminRespectively LCC converter station DC voltage upper limit value and lower limit value；UdcrefIt is LCC converter station with reference to the straight of operating point
Galvanic electricity pressure；
B. current margins under LCC converter station actual motion state are calculated:
As I≤IrefWhen, current margins are as follows:
I-Imin
Work as I > IrefWhen, current margins are as follows:
Imax- I
Wherein, Imax、IminRespectively LCC converter station DC current upper limit value and lower limit value；
C. the value of non-linear sagging control parameter μ, λ of LCC converter station is calculated, expression formula is as follows:
D. LCC converter station DC voltage value U is detecteddc, when DC current is more than setting value, pass through current limiting low-voltage link pair
It carries out clipping amendment；
E. LCC converter station DC voltage instruction value U is calculateddcr:
Utilize DC voltage instruction value UdcrLCC converter station is controlled.
Above-mentioned Polynuclear complex mission nonlinear droop control method, the LCC converter station DC voltage upper limit
Value UdcmaxValue be 1.05Udcref, LCC converter station DC voltage lower limit value UdcminValue be 0.95Udcref。
Above-mentioned Polynuclear complex mission nonlinear droop control method, the LCC converter station DC current upper limit
Value ImaxTake LCC converter station DC current rated value, LCC converter station DC current lower limit value IminIt is taken as 0.
The present invention carries out non-linear sagging control to multiple LCC converter stations in Polynuclear complex system, makes it
The common stabilization for maintaining DC voltage.The current margins for detecting LCC converter station, when transimission power variation leads to DC transmission system
DC voltage when changing, according to non-linear sagging control characteristic, each converter station according to current margins size, rationally point
The imbalance power undertaken with each converter station.And since the sagging coefficient of non-linear sagging control is no longer fixed value, sagging
Coefficient magnitude is more reasonable so that during the active power of each converter station of coordinated allocation each converter station DC voltage static state
Deviation is smaller.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawing.
Fig. 1 is four end Hybrid HVDC system construction drawings；
Fig. 2 is Polynuclear complex system VSC converter station U-I performance plot；
Fig. 3 is non-linear sagging control characteristic figure；
Fig. 4 is that sending end transimission power changes converter station operation figure；
Fig. 5 is different μ, λ value is to the influence diagram of non-linear sagging control characteristic；
Fig. 6 is current limiting low-voltage control characteristic figure；
Fig. 7 is LCC converter station control principle drawing；
Fig. 8 is VSC converter station active power waveform；
Fig. 9 is non-linear sagging control LCC converter station current waveform；
Figure 10 is to determine the sagging control LCC converter station current waveform of slope；
Figure 11 is the side LCC DC bus-bar voltage waveform；
It is respectively as follows: VSC, voltage source converter station, LCC, line commutation converter station, T1 with label used herein and symbol in figure
~T4, the first converter power transformer~the 4th converter power transformer, BV, the side VSC DC bus, BL, the side LCC DC bus,
Udcmax, LCC converter station DC voltage upper limit value, Udcmin, LCC converter station DC voltage lower limit value, Imax, LCC converter station direct current
Current upper limit value, Imin, LCC converter station DC current lower limit value, Udc, LCC converter station DC voltage, I, LCC converter station direct current
Stream, Udcr, LCC converter station DC voltage instruction value, Udcrref, LCC converter station refer to operating point DC voltage, Iref, LCC changes
Stream station refers to the DC current of operating point, Iref_or, converter station with reference to operating point DC current dispatch command, Iref_up, change
Stream station refers to the DC current upper limit value of operating point, β, LCC converter station inverse envelope, P, VSC converter station transimission power, K, sagging system
Number, μ and λ, non-linear sagging control parameter.
Specific embodiment
The present invention considers the current margins of each LCC converter station, maintains the stabilization of DC voltage jointly by multiple converter stations,
The converter station for keeping current margins big undertakes biggish power variation, and the small converter station of current margins undertakes lesser changed power
Amount avoids the occurrence of the case where part converter station is fully loaded with and loses to changed power responding ability.The present invention can be each with coordinated allocation
The static deviation of each converter station DC voltage is effectively reduced in converter station active power.
The non-linear sagging control that converter station uses is a kind of mode of the sagging control of DC voltage, when under converter station use
The multiple converter stations for having active power regulation ability when controlling that hang down pass through the variation of measurement DC voltage, according to what is pre-established
Droop characteristic figure changes the instruction value of active power, realizes the quick distribution of imbalance power, system is made to reach balance again.
The present invention chooses multiple LCC converter stations and participates in Polynuclear complex system active power balance, takes non-thread
Property droop control method, when converter station is out of service in system, the variation of converter station transimission power when, DC transmission system wattful power
Rate balance is broken, and the DC voltage on DC line also changes therewith, and LCC converter station is according to non-linear droop characteristic tune
The size of DC current is saved, the active power of the transmission of LCC converter station changes therewith, maintains Polynuclear complex system
Power-balance and DC voltage stabilization.
Referring to Fig. 1, VSC1 and VSC2 are chosen using active power controller is determined, and can be used for the access of the new energy such as wind-powered electricity generation, photovoltaic；
It chooses LCC3 and LCC4 and uses non-linear sagging control, balance DC transmission system active power fluctuation.When the transmission of converter station
After changed power or converter station active are out of service, pass through and measure DC voltage change, adjusts LCC3 and LCC4 DC current, passes
Defeated power maintains the stabilization of DC transmission system active power balance and DC voltage.
Specific step is as follows using non-linear sagging control for LCC converter station:
Step 1: calculating the maximum allowable variable quantity of converter station DC voltage, expression formula are as follows: Udcref- Udcmin(I≤Iref),
Udcmax- Udcref(I>Iref), wherein Udcmax、UdcminRespectively LCC converter station DC voltage upper limit value and lower limit value, UdcrefFor
LCC converter station refers to the DC voltage of operating point.It is to guarantee converter station DC voltage in reasonable range, it is specified that DC voltage
Fluctuation range is ± 5%, so UdcmaxValue is 1.05Udcref, UdcminValue is 0.95Udcref；
Step 2: calculating current margins under LCC converter station actual motion state, expression formula are as follows: I-Imin(I≤Iref),
Imax- I (I > Iref), wherein Imax、IminRespectively LCC converter station DC current upper limit value and lower limit value, converter station DC current
The upper limit takes its rated value, and DC current lower limit value is taken as 0, guarantees converter station DC current values in reasonable interval, I is the LCC change of current
It stands DC current measures；
Step 3: defining sagging coefficient is under nonlinear droop control methodSagging coefficient calculates public
Formula:
Wherein, μ, λ are non-linear sagging control parameter；
Step 4: the value of non-linear sagging control parameter μ, λ of LCC converter station is determined, referring to the meter of Fig. 5 and sagging COEFFICIENT K
K known to formula is calculated to change with the value difference of μ, λ.Sagging COEFFICIENT K is excessive, when the active power fluctuation of converter station transmission,
The variable quantity of DC voltage can be caused larger, be unfavorable for the stabilization of converter station voltage；Sagging COEFFICIENT K is too small, when converter station voltage
When the fluctuation of very little occurs, the variable quantity of active power can be caused larger, be unfavorable for the active power controller to converter station.μ,λ
Value it is relatively reasonable in [2,6], in order to coordinate to make under the biggish converter station of current margins using each converter station current margins
The coefficient that hangs down is relatively small, keeps the sagging coefficient of the lesser converter station of current margins relatively large, expression formula is as follows:
Wherein, IrefThe DC current of operating point is referred to for LCC converter station；
Step 5: measurement LCC converter station DC voltage value Udc, through current limiting low-voltage link, when DC current is excessive pair
It carries out clipping amendment.Referring to Fig. 6, when measuring DC voltage UdcAfterwards, low pressure pressure limiting module, U are input todcIt is limited by low pressure
Characteristic curve is pressed, converter station DC current limit value, such as I are obtainedrefGreater than limit value, then limit value, such as I are dropped torefLess than limit value,
Then remain unchanged；
Step 6: calculating DC voltage instruction value Udcr, expression formula is as follows:
Referring to Fig. 7, DC voltage instruction value U is obtaineddcrAfterwards, it is input to LCC converter station voltage control module, passes through adjusting
The size of inverterangleβ controls converter station DC voltage.
Referring to fig. 2, VSC converter station does not directly control its DC voltage in Polynuclear complex system, can use
Active power controller or alternating voltage, which control, provides exchange support for the wind power plant connected.The DC current of VSC converter station and
The relational expression of DC voltage is P=UdcI, active power are provided by dispatch command or issue wattful power to be connected wind power plant
Rate.When being from left to right that VSC converter station transimission power takes different value in Fig. 2, the U-I characteristic curve of VSC converter station, the VSC change of current
U-I curve approximation of standing is vertical, and as the increase of transimission power P moves right.
Referring to Fig. 3, converter station VSC1 and VSC2 transimission power is P1、P2, converter station LCC3 and LCC4 are straight with reference to operating point
Galvanic electricity flow valuve is Iref3、Iref4.LCC converter station DC current based on nonlinear control method is in upper limit value ImaxAnd lower limit value
IminBetween, the DC voltage of converter station is in upper limit value UdcmaxWith lower limit value UdcminBetween, it ensure that converter station is run on rationally
Section.When the DC voltage of converter station is UdcrefWhen, LCC converter station is run on reference to operating point.The reference of each LCC converter station is transported
When row point current value difference, non-linear sagging control characteristic curve is not also identical, so as to make each converter station using non-thread
Property droop control method when can almost simultaneously reach fully loaded.
Referring to fig. 4, when the power of DC transmission system transmission changes, nonlinear droop control method can be maintained
The stabilization of DC transmission system.By taking the active power of sending end converter station transmission increases as an example, two non-linear sagging control changes of current
The general power transmitted under original state of standing is Pd=Udcref∑Iref, two converter station foundations under nonlinear droop control method
Respective U-I characteristic curve adjusts the voltage of converter station, until P 'd=U 'dcref∑I′refMeet the power of DC transmission system
Balance, U 'dcref、I′refThe respectively DC voltage and DC current of the new operating point of converter station.
Referring to Fig. 8, under original state, the active power command value of VSC1 and VSC2 are respectively 200MW and 220MW, when 9s
The power command value of VSC1 becomes 300MW from 200MW, and the power command value of VSC2 becomes 380MW from 220MW.
Referring to Fig. 9 and Figure 10, the reference operating point DC current of LCC3 and LCC4 are respectively 0.7kA and 0.3kA, as 9s
After the power increase of sending end VSC converter station transmission, the side LCC DC bus-bar voltage rises, and LCC converter station current value becomes larger.Fixed
Under the sagging control strategy of slope, since sagging coefficient is fixed, the DC current of two converter stations rises 0.3kA, and LCC3 is straight
Galvanic electricity stream reaches upper limit value 1kA, and full-load run is simultaneously switched to constant current control.Under non-linear sagging control strategy, LCC3
0.14kA and 0.44kA are risen respectively with the DC current of LCC4.It can be seen that under non-linear sagging control strategy, current margins
The electric current rising value of big LCC4 is bigger, avoids the fully loaded of LCC3.
Referring to Figure 11, in the case where determining the sagging control strategy of slope, the side LCC DC bus-bar voltage is risen to by 400kV
405.8kV, under non-linear sagging control strategy, the side LCC DC bus-bar voltage rises to 403kV by 400kV, it is seen that non-thread
The voltage variety of DC bus is smaller under the sagging control strategy of property.
Claims (4)
1. a kind of Polynuclear complex mission nonlinear droop control method, characterized in that the method is to mixing multiterminal
Multiple LCC converter stations in DC transmission system carry out non-linear sagging control, when transimission power variation leads to DC power transmission system
When the DC voltage of system changes, LCC converter station automatically adjusts its transimission power, maintains DC transmission system power-balance,
And during maintaining DC voltage stability jointly by the more a converter stations of LCC, the biggish converter station of current margins undertake compared with
Big power variation, the lesser converter station of current margins undertake lesser power variation, to avoid part converter station because full
It carries and loses the responding ability to changed power.
2. a kind of Polynuclear complex mission nonlinear droop control method according to claim 1, characterized in that
Specific step is as follows for the non-linear sagging control of converter station:
A. the maximum allowable variable quantity of converter station DC voltage is calculated:
As I≤IrefWhen, the maximum allowable variable quantity of DC voltage are as follows:
Udcref- Udcmin
Work as I > IrefWhen, the maximum allowable variable quantity of DC voltage are as follows:
Udcmax- Udcref
Wherein I is LCC converter station DC current measures；IrefThe DC current of operating point is referred to for LCC converter station；Udcmax、
UdcminRespectively LCC converter station DC voltage upper limit value and lower limit value；UdcrefThe direct current of operating point is referred to for LCC converter station
Pressure；
B. current margins under LCC converter station actual motion state are calculated:
As I≤IrefWhen, current margins are as follows:
I-Imin
Work as I > IrefWhen, current margins are as follows:
Imax- I
Wherein Imax、IminRespectively LCC converter station DC current upper limit value and lower limit value；
C. the value of non-linear sagging control parameter μ, λ of LCC converter station is calculated, expression formula is as follows:
D. LCC converter station DC voltage value U is detecteddc, when DC current be more than setting value when, by current limiting low-voltage link to its into
The amendment of row clipping；
E. LCC converter station DC voltage instruction value U is calculateddcr:
Utilize DC voltage instruction value UdcrLCC converter station is controlled.
3. a kind of Polynuclear complex mission nonlinear droop control method according to claim 2, characterized in that
The LCC converter station DC voltage upper limit value UdcmaxValue be 1.05Udcref, LCC converter station DC voltage lower limit value Udcmin
Value be 0.95Udcref。
4. a kind of Polynuclear complex mission nonlinear droop control method according to claim 3, characterized in that
The LCC converter station DC current upper limit value ImaxTake LCC converter station DC current rated value, LCC converter station DC current lower limit
Value IminIt is taken as 0.
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| CN110492520A (en) * | 2019-08-21 | 2019-11-22 | 国网山西省电力公司电力科学研究院 | DC voltage slop control strategy based on inverter capacity and adjustment speed |
| CN110492513A (en) * | 2019-05-31 | 2019-11-22 | 南京理工大学 | A kind of Novel DC voltage droop control method |
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| CN110198045B (en) * | 2019-05-17 | 2022-11-18 | 华北电力大学（保定） | VSC-MTDC additional frequency adaptive droop control method |
| CN110198045A (en) * | 2019-05-17 | 2019-09-03 | 华北电力大学（保定） | A kind of adaptive droop control method of VSC-MTDC additional frequency |
| CN110492513A (en) * | 2019-05-31 | 2019-11-22 | 南京理工大学 | A kind of Novel DC voltage droop control method |
| CN112054547A (en) * | 2019-06-05 | 2020-12-08 | 西安许继电力电子技术有限公司 | Receiving-end multi-drop-point hybrid direct-current power transmission system starting method and device and storage medium |
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| CN110518617B (en) * | 2019-07-19 | 2022-11-15 | 华北电力大学（保定） | MMC-MTDC droop control method considering operation state of alternating current side |
| CN110492520A (en) * | 2019-08-21 | 2019-11-22 | 国网山西省电力公司电力科学研究院 | DC voltage slop control strategy based on inverter capacity and adjustment speed |
| CN110492520B (en) * | 2019-08-21 | 2023-05-26 | 国网山西省电力公司电力科学研究院 | DC voltage slope control strategy based on converter capacity and regulation speed |
| CN110880778A (en) * | 2019-11-01 | 2020-03-13 | 天津大学 | Improved nonlinear droop control method for multi-terminal flexible direct-current power transmission system |
| CN111509762A (en) * | 2020-05-25 | 2020-08-07 | 华北电力大学 | PMT control method and system of multi-terminal flexible direct current converter station |
| CN111934340A (en) * | 2020-08-24 | 2020-11-13 | 华中科技大学 | Adaptive power-voltage droop control method and system for direct current transmission system |
| CN112865160A (en) * | 2020-12-31 | 2021-05-28 | 天津大学 | Adaptive voltage droop control system and method of multi-terminal hybrid direct-current power transmission system |
| CN113489044A (en) * | 2021-07-12 | 2021-10-08 | 国网新疆电力有限公司营销服务中心(资金集约中心、计量中心) | Multi-terminal flexible direct current transmission self-adaptive droop control method considering line resistance |
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