CN109274113B - Nonlinear droop control method for hybrid multi-terminal direct current transmission system - Google Patents

Nonlinear droop control method for hybrid multi-terminal direct current transmission system Download PDF

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CN109274113B
CN109274113B CN201811039775.4A CN201811039775A CN109274113B CN 109274113 B CN109274113 B CN 109274113B CN 201811039775 A CN201811039775 A CN 201811039775A CN 109274113 B CN109274113 B CN 109274113B
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converter station
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刘英培
杨小龙
梁海平
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North China Electric Power University
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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
    • H02J1/00—Circuit arrangements for dc mains or dc distribution networks
    • 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 nonlinear droop control method for a hybrid multi-terminal direct current transmission system is used for carrying out nonlinear droop control on a plurality of LCC converter stations in the hybrid multi-terminal direct current transmission system, when the direct current voltage of the direct current transmission system is changed due to the change of transmission power, the LCC converter stations automatically adjust the transmission power of the LCC converter stations to maintain the power balance of the direct current transmission system, and in the process that the direct current voltage is maintained to be stable by the LCC converter stations together, the converter station with larger current margin bears larger power variation, and the converter station with smaller current margin bears smaller power variation, so that the situation that part of the converter stations lose the response capability to power change due to full load is avoided. Under the condition of fully considering the current margin of each converter station, the stability of the direct current voltage is commonly maintained by the plurality of LCC converter stations, the active power of each converter station can be coordinated and distributed, and the static deviation of the direct current voltage of each converter station is effectively reduced.

Description

Nonlinear droop control method for hybrid multi-terminal direct current transmission system
Technical Field
The invention relates to the technical field of power transmission and distribution, in particular to a power coordination control method of a direct current power transmission system based on nonlinear droop control.
Background
The voltage source converter-based high-voltage direct current transmission technology (VSC-HVDC) can realize independent control of active power and reactive power, does not need an alternating current power grid to provide phase-change voltage and reactive power, and is favorable for realizing new energy power generation grid connection. The high-voltage direct-current transmission technology (line communated converter-HVDC, LCC-HVDC) based on the power grid commutation converter has the advantages of high technical maturity, low cost, large capacity and the like. The characteristics of LCC and VSC converter technologies are comprehensively considered, and the advantages of LCC-HVDC and VSC-HVDC are combined, so that a hybrid multi-terminal direct current transmission system containing both LCC and VSC converter stations can be formed. Compared with the traditional double-end direct current transmission technology, the double-end direct current transmission structure comprises a plurality of converter stations, the structure is more economical, flexible and reliable, the advantages in the aspects of new energy and conventional energy power generation collection, multi-region power feed-in and the like are obvious, more than 10 conventional direct current transmission lines and a plurality of flexible direct current transmission lines are built in China, and the technical guarantee is provided for developing a direct current transmission network in the future. By complementing the respective economic and technical advantages of the conventional direct current and the flexible direct current, the system can be used for large-scale and long-distance transmission of new energy such as wind power, photovoltaic and the like to a load center.
Compared with a two-end high-voltage direct-current transmission system, the multi-end direct-current transmission system is more complex in control method, a power coordination control strategy is needed to reasonably distribute system power, and the stability of direct-current voltage needs to be improved. Compared with master-slave control, the droop control has the advantages that a plurality of converter stations participate in power and direct-current voltage regulation, the droop control is independent of a communication system, and the droop control has higher reliability. However, the traditional droop control slope is fixed, the direct-current voltage is easy to exceed the limit, the dynamic power margin of each converter station is not considered, and the stable operation of a power grid cannot be ensured.
Disclosure of Invention
The invention aims to provide a nonlinear droop control method of a hybrid multi-terminal direct current transmission system aiming at the defects of the prior art, so that the current margin of each converter station is fully utilized, full-load operation of part of the converter stations is avoided, the static deviation of direct current voltage caused by power change is reduced, and the voltage stability of the direct current transmission system is improved.
The problems of the invention are solved by the following technical scheme:
a nonlinear droop control method for a hybrid multi-terminal direct current transmission system is used for carrying out nonlinear droop control on a plurality of LCC converter stations in the hybrid multi-terminal direct current transmission system, when the direct current voltage of the direct current transmission system is changed due to the change of transmission power, the LCC converter stations automatically adjust the transmission power of the LCC converter stations to maintain the power balance of the direct current transmission system, and in the process that the direct current voltage is maintained to be stable by the LCC converter stations together, the converter station with larger current margin bears larger power variation, and the converter station with smaller current margin bears smaller power variation, so that the situation that part of the converter stations lose the response capability to power change due to full load is avoided.
According to the nonlinear droop control method of the hybrid multi-terminal direct current transmission system, the specific processing steps of the nonlinear droop control of the converter station are as follows:
a. calculating the maximum allowable variation of the direct-current voltage of the converter station:
when I is less than or equal to IrefIn time, the maximum allowable variation of the dc voltage is:
Udcref－Udcmin
when I is>IrefIn time, the maximum allowable variation of the dc voltage is:
Udcmax－Udcref
wherein I is a direct current measured value of the LCC converter station; i isrefDirect current of a reference operating point of the LCC converter station; u shapedcmax、UdcminRespectively is an upper limit value and a lower limit value of the direct current of the LCC converter station; u shapedcrefDirect current voltage of a reference operation point of the LCC converter station;
b. calculating the current margin of the LCC converter station under the actual operation state:
when I is less than or equal to IrefThen, the current margin is:
I－Imin
when I is>IrefThen, the current margin is:
Imax－I
wherein, Imax、IminRespectively is an upper limit value and a lower limit value of direct current of the LCC converter station;
c. calculating the values of the nonlinear droop control parameters mu and lambda of the LCC converter station, wherein the expression is as follows:
Figure BDA0001791819590000021
d. detecting direct-current voltage value U of LCC converter stationdcWhen the direct current exceeds a set value, the amplitude limit correction is carried out on the direct current through a low-voltage current limiting link;
e. calculating direct-current voltage instruction value U of LCC converter stationdcr：
Figure BDA0001791819590000031
Using a DC voltage command value UdcrAnd controlling the LCC converter station.
In the nonlinear droop control method for the hybrid multi-terminal direct current transmission system, the upper limit value U of the direct current voltage of the LCC converter stationdcmaxIs taken to be 1.05UdcrefLower limit value U of direct current voltage of LCC converter stationdcminIs 0.95Udcref。
In the nonlinear droop control method for the hybrid multi-terminal direct current transmission system, the direct current upper limit value I of the LCC converter stationmaxTaking the DC rated value of the LCC converter station and the DC lower limit value I of the LCC converter stationminTake 0.
The invention carries out nonlinear droop control on a plurality of LCC converter stations in the hybrid multi-terminal direct current transmission system, so that the LCC converter stations can maintain the stability of direct current voltage together. And detecting the current margin of the LCC converter stations, and when the direct-current voltage of the direct-current transmission system is changed due to the change of the transmission power, reasonably distributing the unbalanced power born by each converter station according to the magnitude of the current margin by each converter station according to the nonlinear droop control characteristic. And because the droop coefficient of the nonlinear droop control is no longer a fixed value and the magnitude of the droop coefficient is more reasonable, the static deviation of the direct-current voltage of each converter station is smaller in the process of coordinately distributing the active power of each converter station.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1 is a block diagram of a four-terminal hybrid DC power transmission system;
FIG. 2 is a U-I characteristic diagram of a VSC converter station of a hybrid multi-terminal direct-current transmission system;
FIG. 3 is a graph of nonlinear droop control characteristics;
FIG. 4 is an operational diagram of a transmitting end transmission power change converter station;
FIG. 5 is a graph of the effect of different mu and lambda values on the nonlinear droop control characteristics;
FIG. 6 is a graph of low voltage current limit control characteristics;
FIG. 7 is a control schematic diagram of an LCC converter station;
fig. 8 is an active power waveform of the VSC converter station;
fig. 9 is a current waveform of a nonlinear droop control LCC converter station;
fig. 10 is a current waveform of a constant slope droop control LCC converter station;
FIG. 11 is a LCC side DC bus voltage waveform;
the reference numbers and symbols used in the drawings and text are respectively: VSC, voltage source converter station, LCC, power grid commutation converter station, T1-T4, first-fourth converter transformer, BVVSC-side DC bus, BLLCC side, DC bus, UdcmaxLCC converter station DC voltage upper limit, UdcminLower limit value of direct current voltage of LCC converter station, ImaxLCC converter station DC upper limit value, IminLCC converter station DC current lower limit value, UdcLCC converter station dc voltage, I, LCC converter station dc current, UdcrLCC converter station DC voltage command value UdcrrefDirect voltage of reference operating point of LCC converter station, IrefDirect current of reference operating point of LCC converter station, Iref_orDirect current scheduling command of a reference operating point of a converter station, Iref_upThe method comprises the steps of obtaining a direct current upper limit value of a converter station reference operation point, an inversion angle of a beta converter station, an inversion angle of an LCC converter station, P, VSC converter station transmission power, K droop coefficients, mu and lambda and nonlinear droop control parameters.
Detailed Description
The current margin of each LCC converter station is considered, the plurality of converter stations jointly maintain the stability of the direct-current voltage, so that the converter station with large current margin bears larger power variation, the converter station with small current margin bears smaller power variation, and the condition that partial converter stations are fully loaded and lose the response capability to power variation is avoided. The invention can coordinate and distribute the active power of each converter station and effectively reduce the static deviation of the direct-current voltage of each converter station.
The nonlinear droop control adopted by the converter stations is a mode of direct-current voltage droop control, when the converter stations adopt the droop control, a plurality of converter stations with active power regulation capacity change the instruction value of active power according to a preset droop characteristic diagram by measuring the change of direct-current voltage, so that the rapid distribution of unbalanced power is realized, and the system is balanced again.
The invention selects a plurality of LCC converter stations to participate in active power balance of a hybrid multi-terminal direct-current transmission system, adopts a nonlinear droop control method, and when the converter stations in the system quit operation and the transmission power of the converter stations changes, the active power balance of the direct-current transmission system is broken, the direct-current voltage on a direct-current circuit also changes, the LCC converter stations adjust the magnitude of the direct current according to a nonlinear droop characteristic curve, the active power transmitted by the LCC converter stations changes, and the power balance and the stability of the direct-current voltage of the hybrid multi-terminal direct-current transmission system are maintained.
Referring to fig. 1, the VSC1 and the VSC2 are selected to adopt constant active power control, and can be used for accessing new energy such as wind power, photovoltaic and the like; and the LCC3 and the LCC4 are selected to adopt nonlinear droop control to balance active power fluctuation of the direct current transmission system. When the transmission power of the converter station changes or the converter station actively quits operation, the direct current and the transmission power of the LCC3 and the LCC4 are adjusted by measuring the direct current voltage change, and the active power balance of the direct current transmission system and the stability of the direct current voltage are maintained.
The LCC converter station adopts the following specific steps of nonlinear droop control:
the first step is as follows: calculating the maximum allowable variation of the direct-current voltage of the converter station, wherein the expression is as follows: u shapedcref－Udcmin(I≤Iref)，Udcmax－Udcref(I>Iref) Wherein U isdcmax、UdcminRespectively an upper limit value and a lower limit value of the direct current of the LCC converter station, UdcrefAnd the direct current voltage is the direct current voltage of the reference operation point of the LCC converter station. In order to ensure that the direct-current voltage of the converter station is in a reasonable range, the fluctuation range of the direct-current voltage is regulated to be +/-5 percent, so that U is calculateddcmaxValue of 1.05Udcref，UdcminValue of 0.95Udcref；
The second step is that: calculating the current margin of the LCC converter station in the actual operation state, wherein the expression is as follows: I-Imin(I≤Iref)，Imax－I(I>Iref) In which Imax、IminRespectively setting an upper direct current limit value and a lower direct current limit value of the LCC converter station, wherein the upper direct current limit value of the converter station is a rated value, the lower direct current limit value of the converter station is 0, the direct current value of the converter station is ensured to be in a reasonable interval, and I is a direct current measured value of the LCC converter station;
the third step: under the nonlinear droop control method, the droop coefficient is defined as
Figure BDA0001791819590000051
Droop coefficient calculation formula:
Figure BDA0001791819590000052
wherein mu and lambda are nonlinear droop control parameters;
the fourth step: and determining the values of the nonlinear droop control parameters mu and lambda of the LCC converter station, and referring to fig. 5 and a calculation formula of the droop coefficient K, it can be known that K changes along with the difference of the values of mu and lambda. The droop coefficient K is too large, and when the active power transmitted by the converter station fluctuates, the change amount of the direct-current voltage is large, which is not beneficial to the stability of the voltage of the converter station; the droop coefficient K is too small, and when the converter station voltage fluctuates slightly, the change amount of active power is large, which is not beneficial to the active power control of the converter station. The values of mu and lambda are reasonable within [2,6], in order to coordinate and utilize the current margins of the converter stations, the droop coefficient of the converter station with larger current margin is relatively smaller, and the droop coefficient of the converter station with smaller current margin is relatively larger, and the expression is as follows:
Figure BDA0001791819590000061
wherein, IrefDirect current of a reference operating point of the LCC converter station;
the fifth step: measuring direct-current voltage value U of LCC converter stationdcAnd through the low-voltage current limiting link, when the direct current is overlarge, amplitude limiting correction is carried out on the direct current. Referring to FIG. 6, when the DC voltage is measuredUdcThen input to a low voltage limiting module, UdcObtaining the DC current limit value, such as I, of the converter station by using the low-voltage-limiting characteristic curverefIf it is greater than the limit value, it is reduced to the limit value, e.g. IrefIf the value is less than the limit value, the value is kept unchanged;
and a sixth step: calculating a DC voltage command value UdcrThe expression is as follows:
Figure BDA0001791819590000062
referring to fig. 7, a dc voltage command value U is obtaineddcrAnd then, the voltage is input into a voltage control module of the LCC converter station, and the direct-current voltage of the converter station is controlled by adjusting the size of the inversion angle beta.
Referring to fig. 2, in the hybrid multi-terminal dc transmission system, the VSC converter station does not directly control the dc voltage thereof, and may use active power control or ac voltage control to provide ac support for the connected wind farm. The relation between the direct current and the direct voltage of the VSC converter station is P ═ UdcAnd I, the active power of the wind power station is given by a scheduling command or the wind power station connected with the wind power station is given active power. When the transmission power of the VSC converter station takes different values from left to right in fig. 2, the U-I characteristic curve of the VSC converter station is approximately vertical and moves to the right along with the increase of the transmission power P.
Referring to fig. 3, the transmission power of the VSC1 and VSC2 of the converter station is P1、P2The direct current value of the reference operating point of the LCC3 and LCC4 of the converter station is Iref3、Iref4. LCC converter station direct current upper limit value I based on nonlinear control methodmaxAnd a lower limit value IminBetween, the dc voltage of the converter station is at an upper limit UdcmaxAnd a lower limit value UdcminAnd the converter station is ensured to operate in a reasonable interval. When the DC voltage of the converter station is UdcrefAt this time, the LCC converter station operates at the reference operating point. When the reference operating point current values of all LCC converter stations are different, the nonlinear droop control characteristic curves of all LCC converter stations are different, so that all LCC converter stations can almost simultaneously achieve the aim of nonlinear droop control when a nonlinear droop control method is adoptedAnd (4) full loading.
Referring to fig. 4, the nonlinear droop control method can maintain the stability of the dc power transmission system when the power transmitted by the dc power transmission system changes. Taking the active power increase transmitted by the sending-end converter station as an example, the total power transmitted by the two nonlinear droop control converter stations in the initial state is Pd＝Udcref∑IrefUnder the nonlinear droop control method, the voltages of the two converter stations are adjusted according to the respective U-I characteristic curves until P'd＝U′dcref∑I′refPower balance, U 'of direct current transmission system is satisfied'dcref、I′refRespectively the dc voltage and the dc current of the new operating point of the converter station.
Referring to fig. 8, in the initial state, the active power instruction values of the VSC1 and the VSC2 are 200MW and 220MW, respectively, the power instruction value of the VSC1 at 9s is changed from 200MW to 300MW, and the power instruction value of the VSC2 is changed from 220MW to 380 MW.
Referring to fig. 9 and 10, the reference operating point direct current of the LCC3 and the reference operating point direct current of the LCC4 are 0.7kA and 0.3kA, respectively, and when the power transmitted by the sending-end VSC converter station is increased at 9s, the voltage of the LCC-side direct current bus rises, and the current value of the LCC converter station becomes large. Under the constant slope droop control strategy, due to the fact that the droop coefficient is fixed, direct currents of two converter stations rise by 0.3kA, direct currents of LCC3 reach the upper limit value of 1kA, and full-load operation is conducted and the control is switched to constant current control. Under the nonlinear droop control strategy, the direct current of the LCC3 and the LCC4 respectively rises by 0.14kA and 0.44 kA. It can be seen that under the nonlinear droop control strategy, the current rise value of the LCC4 with large current margin is larger, and the full load of the LCC3 is avoided.
Referring to fig. 11, under the constant slope droop control strategy, the voltage of the LCC-side dc bus is increased from 400kV to 405.8kV, and under the nonlinear droop control strategy, the voltage of the LCC-side dc bus is increased from 400kV to 403kV, which shows that the voltage variation of the dc bus is smaller under the nonlinear droop control strategy.

Claims (3)

1. A nonlinear droop control method for a hybrid multi-terminal direct current transmission system is characterized in that the method carries out nonlinear droop control on a plurality of LCC converter stations in the hybrid multi-terminal direct current transmission system, when the direct current voltage of the direct current transmission system is changed due to the change of transmission power, the LCC converter stations automatically adjust the transmission power of the LCC converter stations to maintain the power balance of the direct current transmission system, and in the process that the direct current voltage is maintained to be stable by the LCC converter stations together, the converter station with larger current margin bears larger power variation, and the converter station with smaller current margin bears smaller power variation, so that the situation that part of the converter stations lose the response capability to power variation due to full load is avoided;
the specific steps of the converter station nonlinear droop control are as follows:
a. calculating the maximum allowable variation of the direct-current voltage of the converter station:
when I is less than or equal to IrefIn time, the maximum allowable variation of the dc voltage is:
Udcref－Udcmin
when I is>IrefIn time, the maximum allowable variation of the dc voltage is:
Udcmax－Udcref
wherein I is a direct current measured value of the LCC converter station; i isrefDirect current of a reference operating point of the LCC converter station; u shapedcmax、UdcminRespectively is an upper limit value and a lower limit value of the direct current of the LCC converter station; u shapedcrefDirect current voltage of a reference operation point of the LCC converter station;
b. calculating the current margin of the LCC converter station under the actual operation state:
when I is less than or equal to IrefThen, the current margin is:
I－Imin
when I is>IrefThen, the current margin is:
Imax－I
wherein Imax、IminRespectively is an upper limit value and a lower limit value of direct current of the LCC converter station;
c. under the nonlinear droop control method, the droop coefficient is defined as
Figure FDA0003324691500000011
Droop coefficient calculation formula:
Figure FDA0003324691500000021
wherein mu and lambda are nonlinear droop control parameters;
calculating the values of the nonlinear droop control parameters mu and lambda of the LCC converter station, wherein the expression is as follows:
Figure FDA0003324691500000022
d. detecting direct-current voltage value U of LCC converter stationdcWhen the direct current exceeds a set value, the amplitude limit correction is carried out on the direct current through a low-voltage current limiting link;
e. calculating direct-current voltage instruction value U of LCC converter stationdcr：
Figure FDA0003324691500000023
Using a DC voltage command value UdcrControlling the LCC converter station; and inputting the obtained direct-current voltage instruction value Udcr into an LCC converter station voltage control module, and controlling the direct-current voltage of the converter station by adjusting the size of the inversion angle beta.
2. The method according to claim 1, wherein the LCC converter station DC upper limit value U is a maximum value of the LCC converter station DC voltagedcmaxIs taken to be 1.05UdcrefLower limit value U of direct current voltage of LCC converter stationdcminIs 0.95Udcref。
3. The method according to claim 2, wherein the LCC converter station DC upper limit value ImaxObtaining the DC rated value of the LCC converter station and the DC of the LCC converter stationLower limit value IminTake 0.
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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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